Mechanical arm walking mechanism

Abstract

The utility model discloses a mechanical arm walking mechanism which comprises a walking motor set and a walking assembly, and the walking motor set is connected with the walking assembly and drives the walking assembly to walk. The walking assembly comprises a walking support, a walking main wheel and a walking auxiliary wheel, wherein the walking main wheel and the walking auxiliary wheel are connected to the walking support. The walking mechanism specially used for grabbing and transferring the appliance is designed, and the walking mechanism is composed of a walking motor set and a walking assembly. The walking motor set is used for driving the walking assembly to run, the walking assembly is composed of a walking support, a walking main wheel and a walking auxiliary wheel, the walking main wheel and the walking auxiliary wheel are arranged on the walking support, and the walking main wheel and the walking auxiliary wheel are arranged front and back and synchronously walk on the corresponding walking rails and can drive a heavy structure to walk stably. Manufacturing is convenient, and cost is low.

Description

Technical Field

[0001] This utility model belongs to the field of factory-scale silkworm rearing, and specifically relates to a robotic arm walking mechanism. Background Technology

[0002] Traditional silkworm rearing methods are small-scale family-run operations, typically using small bamboo baskets for feeding. These baskets are simple in structure, easy to manufacture, and can be hand-woven, resulting in low costs. This small-scale rearing method is entirely manual, requiring human intervention from egg to adult to cocoon harvesting. It is time-consuming, labor-intensive, and has very low efficiency. Furthermore, it is limited by seasonal conditions, allowing silkworms to be raised only at specific times, resulting in extremely low annual cocoon production. This method cannot meet the needs of modern society and has been gradually phased out.

[0003] To compensate for the shortcomings of traditional workshop-style silkworm rearing, large-scale, factory-style silkworm rearing technology has emerged. To meet the requirements of large-scale silkworm rearing, specialized silkworm rearing equipment is needed, such as shelves, silkworm frames, and cocoon cages. Based on these equipment, processes such as silkworm rearing, transfer of silkworms between different age groups, and feed delivery are carried out. It is evident that these equipment play an important role in factory-style silkworm rearing technology.

[0004] After silkworm rearing, equipment inevitably retains residues such as feed and silkworm excrement, and its surface is teeming with bacteria. It requires thorough cleaning and disinfection before reuse. Therefore, factory-scale silkworm rearing technology often necessitates corresponding cleaning equipment or lines. Existing cleaning equipment typically includes rinsing and soaking. Rinsing removes residues from the equipment, while soaking disinfects the surface bacteria. To achieve automated soaking, a robotic arm is needed to grasp and transfer the equipment, automating processes such as loading, soaking, and unloading. During the grasping and transferring process, lateral movement is essential. Therefore, designing a stable lateral movement mechanism is crucial. This mechanism controls the probability of malfunctions during lateral movement, improves the continuity of soaking operations, and ultimately increases soaking efficiency. Utility Model Content

[0005] The purpose of this utility model is to provide a robotic arm walking mechanism. In view of the defects in the prior art, a walking mechanism specifically designed for grasping and transferring instruments is provided. It can move sideways stably, and has a simple structure, is easy to manufacture, and has low cost.

[0006] To solve the above technical problems, the following technical solution is adopted:

[0007] A robotic arm walking mechanism is characterized by comprising a walking motor unit and a walking component, wherein the walking motor unit is connected to and drives the walking component to walk.

[0008] Furthermore, the walking assembly includes a walking bracket and a main walking wheel and a secondary walking wheel connected to the walking bracket, with the main walking wheel driven by a walking motor unit.

[0009] Furthermore, the walking assembly has two or more sets that cooperate with each other.

[0010] Furthermore, the traveling assembly also includes a main traveling sprocket, a secondary traveling sprocket, and a traveling chain. The main traveling sprocket is connected to the traveling motor unit, and the main traveling sprocket is connected to and drives the secondary traveling sprocket through the traveling chain. The secondary traveling sprocket is connected to the main traveling sprocket.

[0011] Furthermore, the walking motor unit is connected to and drives the walking main sprocket via the walking shaft.

[0012] Furthermore, the walking assembly also includes guide rollers disposed on the walking bracket, which are used to guide the walking assembly.

[0013] Furthermore, the guide rollers include a matching left roller and a right roller.

[0014] Furthermore, the walking support is equipped with at least two sets of guide rollers.

[0015] The above technical solution has the following beneficial effects:

[0016] This utility model designs a walking mechanism specifically for grasping and transferring instruments. The walking mechanism consists of a walking motor unit and a walking component. The walking motor unit drives the walking component, which comprises a walking support frame and main and auxiliary walking wheels mounted on the frame. The main and auxiliary walking wheels are arranged front and rear, moving synchronously on corresponding walking tracks. This mechanism can stably move heavy structures, and it is simple in structure, easy to manufacture, and low in cost. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings:

[0018] Figure 1 This is a schematic diagram of the walking mechanism;

[0019] Figure 2 for Figure 1 A schematic diagram of the structure in direction A;

[0020] Figure 3 for Figure 1 Schematic diagram of the structure in direction B;

[0021] Figure 4 This is a schematic diagram of the walking mechanism installed on the robotic arm;

[0022] The accompanying reference numerals are as follows: 1. Traveling mechanism; 11. Traveling motor assembly; 12. Traveling shaft; 13. First traveling component; 131. First main traveling sprocket; 132. First traveling chain; 133. First secondary traveling sprocket; 134. First main traveling wheel; 135. First traveling bracket; 136. First roller; 1361. ， First right roller 1362, first travel auxiliary roller 137, second travel assembly 14, second travel main sprocket 141, second travel chain 142, second travel auxiliary sprocket 143, second travel main roller 144, second travel bracket 145, second roller 146, second left roller 1461, second right roller 1462, second travel auxiliary roller 147, robotic arm 2, frame 3, lifting mechanism 4, gripping mechanism 5, pressing mechanism 6, shelf 7. Detailed Implementation

[0023] This utility model aims to provide a robotic arm walking mechanism specifically designed for grasping and transferring implements. The walking mechanism comprises a walking motor unit and a walking assembly. The walking motor unit drives the walking assembly, which consists of a walking support frame and main and auxiliary walking wheels mounted on the frame. The main and auxiliary walking wheels are arranged front and rear, moving synchronously on corresponding walking tracks. This mechanism can stably move structures of considerable weight. Furthermore, this walking mechanism has a simple structure, is easy to manufacture, and has low cost.

[0024] The technical solution of this utility model will be described in detail below with reference to specific embodiments:

[0025] like Figures 1 to 3As shown, the traveling mechanism travels on the traveling track of the frame. It includes a traveling motor unit 11 and a traveling component. The traveling motor unit 11 is connected to and drives the traveling component through a traveling shaft 12, causing the traveling component to travel laterally on the traveling track. The traveling component includes a first traveling component 13 on the left and a second traveling component 14 on the right. The first traveling component 13 includes a first traveling bracket 135 and a first traveling main wheel 134 and a first traveling secondary wheel 137 connected to the first traveling bracket 135. It also includes a first traveling main sprocket 131, a first traveling secondary sprocket 133, and a first traveling chain 132. The traveling shaft 12 on the left side of the traveling motor unit 11 is connected to and drives the first traveling main sprocket 131. The first traveling main sprocket 131 drives the first traveling secondary sprocket 133 through the first traveling chain 132. The first traveling secondary sprocket 133 is connected to and drives the first traveling main wheel 134, which in turn drives the first traveling secondary wheel 137. In addition, the front and rear ends of the first walking support 135 are connected to a first guide roller 136, which includes a first left roller 1361 and a first right roller 1362, which cooperate with each other. The first left roller 1361 rolls on the left side of the walking track, and the first right roller 1362 rolls on the right side of the walking track, which not only plays a guiding role, but also improves the stability of walking.

[0026] The second traveling assembly 14 includes a second traveling bracket 145 and a second traveling main wheel 144 and a second traveling auxiliary wheel 147 connected to the second traveling bracket 145. It also includes a second traveling main sprocket 141, a second traveling auxiliary sprocket 143, and a second traveling chain 142. The traveling shaft 12 on the right side of the traveling motor unit 11 connects to and drives the second traveling main sprocket 141. The second traveling main sprocket 141 drives the second traveling auxiliary sprocket 143 via the second traveling chain 142. The second traveling auxiliary sprocket 143 connects to and drives the second traveling main wheel 144, which in turn drives the second traveling auxiliary wheel 147. Furthermore, the front and rear ends of the second traveling bracket 145 are connected to second guide rollers 146. These second guide rollers 146 include a second left roller 1461 and a second right roller 1462, which cooperate with each other. The second left roller 1461 rolls on the left side of the traveling track, and the second right roller 1462 rolls on the right side of the traveling track, serving not only a guiding function but also improving the stability of the travel.

[0027] The first walking component 13 and the second walking component 14 cooperate to move laterally along their corresponding tracks in synchronized motion, thereby driving the entire robotic arm 4 to move laterally. This walking mechanism 1 has a simple structure and strong practicality. By setting two sets of walking components, the stability of the robotic arm 4's movement can be enhanced. In addition, the first guide roller 136 and the second guide roller 146 not only serve a guiding function but also improve the stability of movement.

[0028] like Figure 4 As shown, the walking mechanism 1 is mounted on the robotic arm 2, and drives the shelf 7 to move laterally by driving the robotic arm 2. The robotic arm also includes a frame 3, a lifting mechanism 4, a gripping mechanism 5, and a pressing mechanism 6. The lifting mechanism 4 is mounted on the frame 3 and is used to drive the shelf 7 to rise and fall. The gripping mechanism 43 is mounted on the lifting mechanism 42 and is used to grip the shelf 7. The pressing mechanism 6 is used to press down the gripped shelf 7.

[0029] The above are merely specific embodiments of this utility model, but the technical features of this utility model are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on this utility model to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of this utility model.

Claims

1. A robotic arm walking mechanism, characterized in that: The device includes a walking motor unit and a walking assembly. The walking motor unit is connected to and drives the walking assembly to walk. The walking assembly includes a walking bracket and a main walking wheel and a secondary walking wheel connected to the walking bracket. The main walking wheel is driven by the walking motor unit.

2. The robotic arm walking mechanism according to claim 1, characterized in that: The walking assembly has two or more sets that cooperate with each other.

3. The robotic arm walking mechanism according to claim 1, characterized in that: The traveling assembly also includes a main traveling sprocket, a secondary traveling sprocket, and a traveling chain. The main traveling sprocket is connected to the traveling motor unit, and the main traveling sprocket is connected to and drives the secondary traveling sprocket through the traveling chain. The secondary traveling sprocket is connected to the main traveling sprocket.

4. The robotic arm walking mechanism according to claim 3, characterized in that: The walking motor unit is connected to and drives the walking main sprocket via the walking shaft.

5. The robotic arm walking mechanism according to claim 1, characterized in that: The walking assembly also includes guide rollers disposed on the walking bracket for guiding the walking assembly.

6. The robotic arm walking mechanism according to claim 5, characterized in that: The guide rollers include a cooperating left roller and a right roller.

7. The robotic arm walking mechanism according to claim 5, characterized in that: The walking support is equipped with at least two sets of guide rollers.

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