Guiding and deviation rectifying device for automatic loading tracked robot

Abstract

The utility model relates to the technical field of tracked robot equipment, and discloses a guide deviation rectifying device for an automatic loading tracked robot, which comprises a workbench for the automatic loading tracked robot to advance, and a jacking positioning device is arranged in the workbench. The automatic loading tracked robot is provided with a jacking positioning device, the automatic loading tracked robot is provided with a positioning ring matched with the jacking positioning device, a guide rail is arranged on the table top of the working table, the guide rail is arranged on the table top, corresponding to the jacking positioning device, of the working table, and the guide of the guide rail is a working driving route of the automatic loading tracked robot. Rolling wheels are fixedly installed on a track supporting frame of the automatic loading tracked robot and arranged in the guide rails. The automatic loading tracked robot solves the problem that production efficiency is affected by positioning failure due to the fact that a track is prone to deviation after loading of an existing automatic loading tracked robot is completed.

Description

TECHNICAL FIELD

[0001] The utility model relates to a crawler robot device technical field, concretely relates to a kind of automatic car-loading crawler robot guiding deviation rectification device. BACKGROUND

[0002] Automatic car-loading crawler robot is a kind of robot system that can independently complete goods loading task, it uses crawler walking mechanism, by integrating advanced sensor, controller and mechanical arm, robot can independently identify goods, plan path, grab goods and accurately place it on vehicle.

[0003] Automatic car-loading crawler robot realizes the positioning of robot by jacking positioning device, but in actual application, automatic car-loading crawler robot often appears crawler deviation after loading, and offset is larger, makes four positioning rings exceed the effective range of jacking positioning device, leads to robot alarm shutdown, and manual repositioning calibration is needed, seriously affect production efficiency. UTILITY MODEL CONTENTS

[0004] Therefore, the utility model aims at providing a kind of automatic car-loading crawler robot guiding deviation rectification device, to solve the positioning failure of existing automatic car-loading crawler robot after loading and the problem of affecting production efficiency.

[0005] To solve the above problem, the utility model is realized as follows: a kind of automatic car-loading crawler robot guiding deviation rectification device, including the workbench that automatic car-loading crawler robot travels, jacking positioning device is provided in the workbench, positioning ring that is paired with the jacking positioning device is provided on the automatic car-loading crawler robot, it is characterized by: guide rail is provided on the table top of the workbench, the guide rail is set on the table top of workbench corresponding the jacking positioning device area, the guide of the guide rail is the working travel route of the automatic car-loading crawler robot, the roller is fixedly installed on the crawler support frame of the automatic car-loading crawler robot, the roller is set in the guide rail.

[0006] Preferably, the bottom of the workbench is fixedly installed with bottom plate, the bottom of the bottom plate is fixedly installed with multiple universal wheels.

[0007] Preferably, the bottom plate is fixedly installed with a shell, the shell is assembled with a positioning mechanism, the positioning mechanism comprises a double-shaft motor and a bearing seat fixedly installed on the inner wall of the top of the shell, a rotating shaft is fixedly installed on the output shaft of the double-shaft motor, and a first bevel gear is fixedly installed on the rotating shaft; a sleeve is rotatably installed on the bearing seat, a screw is screwedly installed in the sleeve, a fixed plate is fixedly connected to the bottom end of the screw, and a second bevel gear is arranged outside the sleeve; and the first bevel gear is engaged with the second bevel gear.

[0008] Preferably, a protective shell is fixedly installed on the inner wall of the top of the shell, the protective shell is arranged outside the double-shaft motor, and the protective shell is rotatably connected with the rotating shaft.

[0009] Preferably, the bottom plate is provided with a plurality of anti-skid protrusions fixedly installed on the bottom of the fixed plate.

[0010] Preferably, the fixed plate is fixedly installed with a plurality of anti-skid protrusions, and the plurality of anti-skid protrusions are made of rubber.

[0011] Preferably, a connecting block is fixedly installed on the inner wall of the shell, a limiting rod is slidably installed on the connecting block, and the bottom end of the limiting rod is fixedly connected with the top of the fixed plate.

[0012] Compared with the related art, the automatic loading caterpillar robot guiding and correcting device has the following beneficial effects:

[0013] Compared with the prior art, the utility model discloses a caterpillar robot working travel route in the jacking positioning device area of the working platform and sets up a guide rail, and the caterpillar robot is connected with the support frame on the roller, and the roller is arranged in the guide rail, so that when the caterpillar robot travels to the jacking positioning device and starts the action such as cargo grabbing and loading, the roller plays a limiting role in the guide rail and can effectively prevent the caterpillar robot from deviating, thereby avoiding subsequent manual positioning and calibration work and improving production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a structure schematic view of the automatic loading caterpillar robot guiding and correcting device provided by the utility model.

[0015] Figure 2 It is a top view schematic view. Figure 1

[0016] Preferably, the bottom plate is fixedly installed with a shell, the shell is assembled with a positioning mechanism, the positioning mechanism comprises a double-shaft motor and a bearing seat fixedly installed on the inner wall of the top of the shell, a rotating shaft is fixedly installed on the output shaft of the double-shaft motor, and a first bevel gear is fixedly installed on the rotating shaft; a sleeve is rotatably installed on the bearing seat, a screw is screwedly installed in the sleeve, a fixed plate is fixedly connected to the bottom end of the screw, and a second bevel gear is arranged outside the sleeve; and the first bevel gear is engaged with the second bevel gear.

[0008] Preferably, a protective shell is fixedly installed on the inner wall of the top of the shell, the protective shell is arranged outside the double-shaft motor, and the protective shell is rotatably connected with the rotating shaft.

[0009] Preferably, the bottom plate is provided with a plurality of anti-skid protrusions fixedly installed on the bottom of the fixed plate.

[0010] Preferably, the fixed plate is fixedly installed with a plurality of anti-skid protrusions, and the plurality of anti-skid protrusions are made of rubber.

[0011] Preferably, a connecting block is fixedly installed on the inner wall of the shell, a limiting rod is slidably installed on the connecting block, and the bottom end of the limiting rod is fixedly connected with the top of the fixed plate.

[0012] Compared with the related art, the automatic loading caterpillar robot guiding and correcting device has the following beneficial effects:

[0013] Compared with the prior art, the utility model discloses a caterpillar robot working travel route in the jacking positioning device area of the working platform and sets up a guide rail, and the caterpillar robot is connected with the support frame on the roller, and the roller is arranged in the guide rail, so that when the caterpillar robot travels to the jacking positioning device and starts the action such as cargo grabbing and loading, the roller plays a limiting role in the guide rail and can effectively prevent the caterpillar robot from deviating, thereby avoiding subsequent manual positioning and calibration work and improving production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a structure schematic view of the automatic loading caterpillar robot guiding and correcting device provided by the utility model.

[0015] Figure 2 It is a top view schematic view. Figure 1

[0016] Preferably, the bottom plate is fixedly installed with a shell, the shell is assembled with a positioning mechanism, the positioning mechanism comprises a double-shaft motor and a bearing seat fixedly installed on the inner wall of the top of the shell, a rotating shaft is fixedly installed on the output shaft of the double-shaft motor, and a first bevel gear is fixedly installed on the rotating shaft; a sleeve is rotatably installed on the bearing seat, a screw is screwedly installed in the sleeve, a fixed plate is fixedly connected to the bottom end of the screw, and a second bevel gear is arranged outside the sleeve; and the first bevel gear is engaged with the second bevel gear.

[0008] Preferably, a protective shell is fixedly installed on the inner wall of the top of the shell, the protective shell is arranged outside the double-shaft motor, and the protective shell is rotatably connected with the rotating shaft.

[0009] Preferably, the bottom plate is provided with a plurality of anti-skid protrusions fixedly installed on the bottom of the fixed plate.

[0010] Preferably, the fixed plate is fixedly installed with a plurality of anti-skid protrusions, and the plurality of anti-skid protrusions are made of rubber.

[0011] Preferably, a connecting block is fixedly installed on the inner wall of the shell, a limiting rod is slidably installed on the connecting block, and the bottom end of the limiting rod is fixedly connected with the top of the fixed plate.

[0012] Compared with the related art, the automatic loading caterpillar robot guiding and correcting device has the following beneficial effects:

[0013] Compared with the prior art, the utility model discloses a caterpillar robot working travel route in the jacking positioning device area of the working platform and sets up a guide rail, and the caterpillar robot is connected with the support frame on the roller, and the roller is arranged in the guide rail, so that when the caterpillar robot travels to the jacking positioning device and starts the action such as cargo grabbing and loading, the roller plays a limiting role in the guide rail and can effectively prevent the caterpillar robot from deviating, thereby avoiding subsequent manual positioning and calibration work and improving production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a structure schematic view of the automatic loading caterpillar robot guiding and correcting device provided by the utility model.

[0015] Figure 2 It is a top view schematic view. Figure 1

[0016] Figure 3 As Figure 1 An enlarged structural schematic view of part A shown in the middle is shown in the figure.

[0017] Figure 4 It is the assembly structure schematic view of bearing seat, sleeve and screw rod in the utility model.

[0018] The figure mark: 1, automatic loading track robot;2, workbench;3, support frame;4, gyro wheel;5, guide rail;6, bottom plate;7, universal wheel;8, shell;9, bearing seat;10, sleeve;11, screw rod;12, fixed plate;13, double-shaft motor;14, rotating shaft;15, first bevel gear;16, second bevel gear;17, protective shell;18, jacking positioning device;19, positioning ring. DETAILED DESCRIPTION

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application; the description and the drawings are to be regarded as illustrative in nature and are not intended to limit the application; the terminology used in the description of the application herein including the abstract is for the purpose of providing a state of the art and appropriately supports the application; the terms "comprising," "having," "including," and "containing" used in the detailed description and the claims herein are used in their broadest sense; the terms "first," "second," and the like, used in the description and in the claims herein, are used for distinguishing between similar objects and are not necessarily used to describe a particular sequential or chronological order; the terms "inner," "outer," "left," "right," "front," "back," "up," "down," and the like, used in the description and in the claims herein are used for describing the orientation in the figures and are not necessarily used to describe a specific position or spatial arrangement of an object, unless otherwise specified; the terms "coupled" and "connected," as used in the description and in the claims herein, are used broadly and encompass both direct coupling or connection and indirect coupling or connection through one or more other objects, unless otherwise specified; the term "about" used in the description and in the claims herein means approximately or nearly, as understood by one of ordinary skill in the art; the term "comprising" is not used in its limiting sense and is used to mean "including, but not limited to," and structures described as "comprising" a, "comprise" a, "having" a, "include" a, and "including" a are not limited to structures further comprising other elements illustrative of the various aspects of the present application.

[0020] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiment, or to a single alternative embodiment. It is explicitly contemplated that embodiments described herein can be combined.

[0021] The utility model embodiment provides a kind of automatic loading track robot guiding deviation rectifying device, such as Figures 1-4As shown, the automatic loading crawler robot guiding and correcting device comprises a workbench 2 for the automatic loading crawler robot 1 to travel, the workbench 2 is provided with a jacking positioning device 18, the automatic loading crawler robot is provided with a positioning ring 19 matched with the jacking positioning device, when the crawler robot travels to the positioning area, the positioning rod of the jacking positioning device 18 rises into the positioning ring 19 to limit the robot; the workbench 2 is provided with a guide rail 5 for guiding and correcting on the table top, the guide rail 5 is arranged on the table top corresponding to the jacking positioning device area of the workbench, the guide of the guide rail 5 is arranged according to the working travel route of the automatic loading crawler robot 1, the supporting frame 3 supporting the crawler on the automatic loading crawler robot 1 is fixedly installed with a roller 4, and the installation position of the roller 4 is arranged according to the rolling of the roller 4 in the guide rail 5. Preferably, the opening of the guide rail 5 is in the shape of "eight", which is beneficial to the smooth rolling of the roller 4 into the guide rail 5.

[0022] Preferably, the bottom of the workbench 2 is fixedly installed with a bottom plate 6, and the bottom of the bottom plate 6 is fixedly installed with a plurality of universal wheels 7 for facilitating the movement of the workbench 2.

[0023] Preferably, the bottom plate 6 is fixedly installed with a shell 8, and the shell 8 is assembled with a positioning mechanism, the positioning mechanism comprises a double-shaft motor 13 fixedly installed on the inner wall of the top of the shell and two bearing seats 9, the two bearing seats 9 are respectively arranged on the two sides of the double-shaft motor 13, a rotating shaft 14 is fixedly installed on each output shaft of the double-shaft motor 13, and a first bevel gear 15 is fixedly installed on the rotating shaft 14; a sleeve 10 is rotatably installed on the bearing seat 9, a screw rod 11 is screwedly installed in the sleeve 10, a fixed plate 12 is fixedly connected to the bottom end of the screw rod 11, and a second bevel gear 16 is sleeved outside the sleeve 10; the first bevel gear 15 is engaged with the second bevel gear 16.

[0024] In the embodiment, the automatic loading crawler robot 1 is the prior art responsible for performing the cargo loading task, and the workbench 2 is arranged to cooperate with the travel and positioning of the automatic loading crawler robot 1. The workbench 2 is provided with a jacking positioning device 18, and the automatic loading crawler robot is provided with a positioning ring 19 matched with the jacking positioning device. When the crawler robot travels to the positioning area, the positioning rod of the jacking positioning device 18 rises into the positioning ring 19 to limit the robot. The workbench 2 is provided with guide rails 5 for guiding and correcting deviation on the surface of the workbench corresponding to the jacking positioning device area. The guide rails 5 are arranged according to the working travel route of the automatic loading crawler robot 1. The support frame 3 supporting the crawler of the automatic loading crawler robot 1 is fixedly installed with rollers 4. The installation position of the rollers 4 is arranged so that the rollers 4 can roll in the guide rails 5. When the crawler robot travels to the jacking positioning device and starts the action of cargo grabbing, loading and the like, the rollers in the guide rails can effectively prevent the crawler of the crawler robot from deviating.

[0025] Further, in order to facilitate the transfer of the workbench, a plurality of universal wheels 7 are arranged at the bottom of the device in the embodiment. The workbench can be easily moved to the desired position by the staff. When moved to the desired position, if displacement of the workbench occurs during use, a positioning mechanism can be used to disable the plurality of universal wheels 7 to fix the workbench on the ground, which can effectively prevent displacement of the workbench during operation.

[0026] Specifically, in the embodiment, the positioning mechanism is used to prevent displacement. When the workbench is moved to the desired position, the double-shaft motor 13 is started, which drives the two shafts 14 to rotate, and the two shafts 14 drive the two first bevel gears 15 to rotate, which drive the two sleeves 10 to rotate on the two bearing seats 9 through the two second bevel gears 16. Since the two sleeves 10 are threadedly connected with the two screw rods 11, the rotation of the two sleeves 10 drives the two screw rods 11 to vertically move the fixed plate 12, so that the bottom of the fixed plate 12 can contact or be separated from the ground. When the fixed plate 12 contacts the ground, the plurality of universal wheels 7 lose their function, so that the workbench can be stably used on the placed position and is not prone to displacement during use. When the fixed plate 12 is separated from the ground, the plurality of universal wheels 7 can function, so that the staff can move the workbench by external force.

[0027] The further preferable embodiment of the utility model discloses, the top inner wall of casing 8 is fixedly installed with protective housing 17, protective housing 17 is located the outside of double-shaft motor 13, protective housing 17 with two pivot 14 rotationally connected.In this embodiment, through the use of protective housing 17, not only can the dustproof and waterproof effect of double-shaft motor 13 be played, but also the better supporting effect of two pivot 14 can be played.

[0028] The further preferable embodiment of the utility model discloses, bottom plate 6 is set up as mouth shape, bottom plate 6 is made of metal material.In this embodiment, by setting bottom plate 6 as mouth shape, casing 8 can be conveniently installed on bottom plate 6.

[0029] The further preferable embodiment of the utility model discloses, the bottom of fixed plate 12 is fixedly installed with a plurality of antiskid protrusions, and the plurality of antiskid protrusions are all of rubber material.In this embodiment, through the antiskid protrusion of rubber material, the antiskid performance of fixed plate 12 can be effectively improved, so that the positioning mechanism can stably fix the device on the used position.

[0030] The further preferable embodiment of the utility model discloses, the both sides inner wall of casing 8 are fixedly installed with connecting block, and the both sides connecting block are slidably installed with limiting rod, and the bottom of two limiting rods is fixedly connected with the top of fixed plate 12.In this embodiment, through the cooperation of two connecting blocks and two limiting rods, the stability of fixed plate 12 in the vertical movement process can be improved, and the shaking problem of fixed plate 12 in the vertical movement process can be prevented, and when fixed plate 12 vertically moves, two limiting rods fixed therewith will vertically slide on two connecting blocks respectively.

[0031] The further preferable embodiment of the utility model discloses, two screw rods 11, two first bevel gears 15 and two second bevel gears 16 are all of stainless steel material.In this embodiment, two screw rods 11, two first bevel gears 15 and two second bevel gears 16 of stainless steel material have the characteristics of high strength, high hardness, corrosion resistance, wear resistance, etc., can keep stable performance in the harsh working environment, and have better service life.

[0032] To sum up, the guiding deviation rectifying device provided by the embodiment sets a guide rail 5 in the jacking positioning device area of the working platform according to the working travel route of the caterpillar robot, installs a roller 4 on the support frame connected with the caterpillar of the robot, and sets the roller 4 in the guide rail 5, so that when the caterpillar robot travels to the jacking positioning device for positioning and then starts the action of grabbing and loading goods, the roller 4 in the guide rail 5 plays a limiting role and can effectively prevent the caterpillar of the caterpillar robot from deviating, thereby avoiding subsequent manual positioning and calibration work and improving the production efficiency. Further, the use of the plurality of universal wheels 7 can facilitate the work personnel to transfer the working table to the position required to be used, and the use of the positioning mechanism can fix the working table on the ground placed, disable the plurality of universal wheels 7, and effectively prevent the working table from being displaced during operation.

[0033] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented by other ways.

[0034] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the protection scope of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add or delete the features in the embodiments of the present application according to the circumstances without creative labor, so as to obtain different other technical solutions which do not deviate from the concept of the present application in essence, and these technical solutions also belong to the scope of the present application.

Claims

1. A guiding and correction device for an automated loading tracked robot, comprising a worktable for the automated loading tracked robot to travel on, a lifting and positioning device disposed within the worktable, and a positioning ring on the automated loading tracked robot that is paired with the lifting and positioning device, characterized in that: The workbench is equipped with a guide rail, which is located on the workbench corresponding to the area of ​​the lifting and positioning device. The guide rail guides the working travel path of the automatic loading tracked robot. Rollers are fixedly installed on the track support frame of the automatic loading tracked robot, and the rollers are located inside the guide rail.

2. The guiding and correction device for an automated loading tracked robot according to claim 1, characterized in that: The bottom of the workbench is fixedly installed with a base plate, and the bottom of the base plate is fixedly installed with multiple casters.

3. The guiding and correction device for an automated loading tracked robot according to claim 2, characterized in that: A housing is fixedly mounted on the base plate, and a positioning mechanism is assembled inside the housing. The positioning mechanism includes a dual-axis motor and a bearing seat fixedly mounted on the inner wall of the top of the housing. A rotating shaft is fixedly mounted on the output shaft of the dual-axis motor, and a first bevel gear is fixedly mounted on the rotating shaft. A sleeve is rotatably mounted on the bearing seat, and a screw is threaded onto the sleeve. A fixing plate is fixedly connected to the bottom end of the screw. A second bevel gear is fixedly mounted on the sleeve. The first bevel gear meshes with the second bevel gear.

4. The guiding and correction device for an automated loading tracked robot according to claim 3, characterized in that: A protective shell is fixedly installed on the top inner wall of the housing. The protective shell is located outside the dual-axis motor and is rotatably connected to the rotating shaft.

5. The guiding and correction device for an automated loading tracked robot according to claim 2, characterized in that: The base plate is shaped like an opening and is made of metal.

6. The guiding and correction device for an automated loading tracked robot according to claim 3, characterized in that: The bottom of the fixing plate is fixedly equipped with multiple anti-slip protrusions, all of which are made of rubber.

7. The guiding and correction device for an automated loading tracked robot according to claim 3, characterized in that: A connecting block is fixedly installed on the inner wall of the housing, and a limiting rod is slidably installed on the connecting block. The bottom end of the limiting rod is fixedly connected to the top of the fixing plate.

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