Linear walking platform of robot

Abstract

The utility model relates to the technical field of robot walking platforms, and discloses a linear walking platform of a robot, which comprises a plurality of universal wheels, the upper ends of the plurality of universal wheels are fixedly connected with a lower box body, the four corners of the upper end in the lower box body are fixedly connected with a plurality of air cylinders, and the air cylinders are fixedly connected with the lower box body. Multiple second bearings are fixedly connected to the output ends of the multiple air cylinders, multiple load bearing plates are fixedly connected to the outer rings of the second bearings, multiple first sliding holes are formed in the bottom end of the lower box body, multiple side sliding plates are fixedly connected to the two sides of the upper end of the lower box body, multiple cross-shaped sliding grooves are formed in the middles of the side sliding plates, and multiple second sliding holes are formed in the middle of the cross-shaped sliding grooves. A plurality of moving mechanisms are slidably connected to the inner walls of the cross-shaped sliding grooves. According to the utility model, the moving mechanism can enable the robot to stably run in a straight line, and the cylinder, the load bearing plate, the universal wheels and the second bearing can ensure the stability of the platform during movement and use.

Description

Technical Field

[0001] This utility model relates to the field of robot walking platform technology, and in particular to a robot linear walking platform. Background Technology

[0002] A linear walking robot platform is a robotic system specifically designed to move along a straight path on a flat surface. These robots have applications in many fields, such as logistics and warehousing management, production line automation, and construction.

[0003] Existing linear motion platforms for robots all have well-designed chassis structures to ensure even load distribution and proper mounting, preventing swaying and shaking caused by unbalanced loads. Furthermore, these platforms incorporate intelligent algorithms, enabling efficient, stable, and precise linear motion, thus playing a crucial role in various application scenarios.

[0004] However, existing robot linear motion platforms typically use rubber tires or tracked wheels. Both types of wheels are prone to wear, and tracked wheels often cause the robot to wobble more easily during linear movement. Furthermore, traditional robot linear motion platforms lack load-bearing devices, leading to instability when maintaining linear motion. Therefore, this paper proposes a new robot linear motion platform to address these issues. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a linear walking platform for robots, which aims to improve the problems of easy wear and tear of existing wheels, bumps, and lack of load-bearing devices in the prior art, so as to maintain relative stability when the robot moves.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a robot linear walking platform, including omnidirectional wheels (1), wherein multiple omnidirectional wheels (1) are provided, and a lower housing (2) is fixedly connected to the upper end of the multiple omnidirectional wheels (1). Multiple cylinders (8) are fixedly connected to the four corners of the upper end of the lower housing (2). Multiple bearings (10) are fixedly connected to the output ends of the multiple cylinders (8). The output ends of the multiple cylinders (8) are fixedly connected to the inner rings of the multiple bearings (10). 10) has multiple load-bearing plates (9) fixedly connected to the outer ring. The bottom end of the lower box (2) is provided with multiple sliding holes (7). The output ends of multiple bearings (10) are slidably connected to multiple sliding holes (7). Multiple side slides (3) are fixedly connected to the upper sides of the lower box (2). Multiple cross slides (11) are provided in the middle of the multiple side slides (3). Multiple moving mechanisms (5) are slidably connected to the inner wall of the multiple cross slides (11). One end of the moving mechanism (5) is fixedly connected to a fixed platform (4).

[0007] The casters (1) ensure easy movement of the device. The lower housing (2) ensures that the casters (1), cylinder (8), and side slide (3) have fixed positions and that the robot's linear motion platform is relatively stable. The cylinder (8) provides power for the extension and retraction of the load plate (9) and also ensures the required height when the device is working. The bearing (10) ensures that the load plate (9) in the device can rotate and be stored in the rectangular groove opened around the lower center of the lower housing (2). The load plate (9) ensures that a load can be added when it is extended to ensure that the device can remain stable when the robot is making linear motion. The sliding hole (7) ensures that the output end of the cylinder (8) can extend and retract stably to ensure the normal operation of the load plate (9). The side slide (3) and the cross slide (11) ensure the normal operation of the moving mechanism (5), including the normal movement of the moving mechanism (5) and the ability to support the moving mechanism (5) at a suitable height. The fixed platform (4) ensures that the robot has a fixed position.

[0008] As a further description of the above technical solution: cylindrical T-shaped grooves (12) are provided at both ends of the fixed platform (4). A bearing (6) is fixedly connected to the inner wall of the large groove at one end of the cylindrical T-shaped groove (12). The outer ring of the bearing (6) is fixedly connected to the inner wall of the large groove at one end of the cylindrical T-shaped groove (12). The inner ring of the bearing (6) is fixedly connected to the moving mechanism (5). The inner wall of the small groove at one end of the cylindrical T-shaped groove (12) is slidably connected to the moving mechanism (5).

[0009] The cylindrical T-groove (12) ensures that the bearing (6) has a fixed position and that the moving mechanism (5) can slide relative to the fixed platform (4). The bearing (6) ensures that when the components in the moving mechanism (5) rotate, the fixed platform (4) can remain stationary and move along the side slide (3) along with the moving mechanism (5).

[0010] As a further description of the above technical solution: the moving mechanism (5) includes a motor (507), a limiting slider (508) is fixedly connected to one side of the middle part of the motor (507), the limiting slider (508) is slidably connected to the cross slide groove (11), and the two sides of the middle part of the motor (507) are slidably connected to the cross slide groove (11).

[0011] The motor (507) provides power for the movement of the stationary platform (4) so ​​that the robot can perform linear motion. The limit block ensures that the motor (507) does not rotate itself when driving the gear (503) to rotate, and can follow the gear (503) to perform linear motion;

[0012] As a further description of the above technical solution: the output end of the limiting slider (508) is fixedly connected to the rotating shaft (501), one end of the rotating shaft (501) is fixedly connected to the inner ring of the bearing (6), one side of the middle part of the bearing (6) is slidably connected to the inner wall of the small groove at one end of the cylindrical T-shaped groove (12), and the other side of the middle part of the rotating shaft (501) is fixedly connected to a gear (503).

[0013] The rotating shaft (501) rotates with the output end of the motor (507). The rotating shaft (501) is fixedly connected to the inner ring of bearing 1 (6), and the outer ring of bearing 1 (6) is fixedly connected to the cylindrical T-slot (12). This ensures that the rotating shaft (501) rotates while the fixed platform (4) does not rotate, but instead moves in a straight line. The gear (503) can rotate with the rotating shaft (501) to achieve the purpose of making the fixed platform (4) move in a straight line.

[0014] As a further description of the above technical solution: the lower end of the gear (503) is meshed with a toothed slide rail (504), one end of the toothed slide rail (504) is fixedly connected to the side slide plate (3), and multiple T-shaped limiting grooves (511) are opened on both sides of the toothed slide rail (504).

[0015] The toothed slide rail (504) ensures that the gear (503) can move relatively smoothly on it, so that the robot can move relatively smoothly in a straight line. The T-shaped limiting groove (511) provides a position for the sliding of the T-shaped limiting ring (510), and the T-shaped limiting ring (510) plays a role in limiting the limiting groove (509);

[0016] As a further description of the above technical solution: multiple middle sliders (505) are slidably connected to the inner walls of the multiple T-shaped limiting grooves (511), and a lower limiting block (506) is fixedly connected to the lower end of the multiple middle sliders (505), and the lower limiting block (506) is slidably connected to the toothed slide rail (504).

[0017] The middle slider (505) and the lower limit block (506) are fixedly connected to form a limit on the toothed slide rail (504). The middle slider (505) and the upper slide plate (502) are fixedly connected to ensure that the limiting slide groove (509) can work normally on the toothed slide rail (504) without tooth breakage or slippage.

[0018] As a further description of the above technical solution: the upper ends of the plurality of middle sliders (505) are fixedly connected to upper slide plates (502), the upper slide plates (502) are slidably connected to toothed slide rails (504), and the middle part of the upper slide plates (502) is fixedly connected to a plurality of T-shaped limiting slide rings (510), the T-shaped limiting slide rings (510) are slidably connected to limiting slide grooves (509).

[0019] The upper slide plate (502) and the T-shaped limiting slide ring (510) are fixedly connected, and the rotating shaft (501) slides on the limiting slide groove (509) to ensure that the gear (503) can maintain relatively stable movement. The limiting slide groove (509) provides a sliding position for the T-shaped limiting slide ring (510);

[0020] As a further description of the above technical solution: the universal wheels (1) are fixedly connected to the four corners of the bottom of the lower box (2), and the load-bearing plate (9) can be stored in the rectangular grooves opened around the bottom center of the lower box (2).

[0021] The casters (1) are fixedly connected to the lower housing (2). The load-bearing plate (9) can be stored in the rectangular grooves opened around the bottom center of the lower housing (2). Under the action of the cylinder (8), it is ensured that when the load-bearing plate (9) is stored to a certain height, the support of the device mainly relies on the casters (1). At this time, the load-bearing plate (9) can be rotated to a suitable position so that it can be further stored in the rectangular grooves opened around the bottom center of the lower housing (2).

[0022] This utility model has the following beneficial effects:

[0023] 1. In this utility model, the motor structure drives the gear, T-shaped limiting slide ring, middle slide block, lower limiting block, and upper sliding plate limiting slide block structure to work, thereby avoiding the easy damage and bumping phenomenon of wheels in traditional robot linear motion platform devices.

[0024] 2. In this utility model, the load-bearing plate works in coordination with the cylinder, lower housing, bearing 2, and sliding hole 1 structure, so as to solve the problem of instability of the device when the robot is making linear motion. Attached Figure Description

[0025] Figure 1 This is an overall top view of a robot linear walking platform proposed in this utility model;

[0026] Figure 2 This is an overall side view of a robot linear walking platform proposed in this utility model;

[0027] Figure 3 This is an overall front view of a robot linear walking platform proposed in this utility model;

[0028] Figure 4 This is an overall disassembly diagram of a robot's linear walking platform proposed in this utility model;

[0029] Figure 5 This is a partial schematic diagram of a linear walking platform for a robot proposed in this utility model;

[0030] Figure 6 This is a schematic diagram of the bottom of the lower housing of a robot's linear walking platform proposed in this utility model;

[0031] Figure 7 This is an overall disassembly diagram of the lower housing of a robot's linear walking platform proposed in this utility model;

[0032] Figure 8 This is a schematic diagram of the overall moving mechanism of a robot's linear walking platform proposed in this utility model;

[0033] Figure 9 This is a cross-sectional schematic diagram of the toothed slide rail and side slide plate of a robot linear walking platform proposed in this utility model.

[0034] Figure 10 This is a partial disassembly diagram of the moving mechanism of a robot's linear walking platform proposed in this utility model;

[0035] Figure 11 This is a cross-sectional schematic diagram of the gears of a robot's linear walking platform proposed in this utility model.

[0036] Figure 12 This is a cross-sectional schematic diagram of the fixed platform of a robot's linear walking platform proposed in this utility model.

[0037] Figure 13 for Figure 1 Enlarged view of point A in the middle.

[0038] Legend:

[0039] 1. Casters; 2. Lower housing; 3. Side slide plate; 4. Fixed platform; 5. Moving mechanism; 501. Rotary shaft; 502. Upper slide plate; 503. Gear; 504. Toothed slide rail; 505. Middle slide block; 506. Lower limit block; 507. Motor; 508. Limiting slide block; 509. Limiting slide groove; 510. T-shaped limiting slide ring; 511. T-shaped limiting groove; 6. Bearing 1; 7. Slide hole 1; 8. Cylinder; 9. Load plate; 10. Bearing 2; 11. Cross slide groove; 12. Cylindrical T-slot. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] Reference Figures 1-7 This utility model provides an embodiment of a robot's linear walking platform, including multiple casters (1). A lower housing (2) is fixedly connected to the upper end of each caster (1). Multiple cylinders (8) are fixedly connected to the four corners of the upper end of the lower housing (2). Multiple bearings (10) are fixedly connected to the output ends of the multiple cylinders (8). The output ends of the multiple cylinders (8) are fixedly connected to the inner rings of the multiple bearings (10). Multiple load-bearing plates (9) are fixedly connected to the outer ring. Multiple sliding holes (7) are opened at the bottom of the lower box (2). The output ends of multiple bearings (10) are slidably connected to the multiple sliding holes (7). Multiple side slides (3) are fixedly connected to the upper sides of the lower box (2). Multiple cross slides (11) are opened in the middle of the multiple side slides (3). Multiple moving mechanisms (5) are slidably connected to the inner wall of the multiple cross slides (11). A fixed platform (4) is fixedly connected to one end of the moving mechanism (5).

[0042] Sliding hole 1 (7) ensures that the output end of cylinder (8) can extend and retract stably to ensure the normal operation of load plate (9). Cylinder (8) provides power for the extension and retraction of load plate (9) and also ensures the required height when the device is working. Bearing 2 (10) ensures that the load plate (9) in the device can rotate and be stored in the rectangular groove opened around the lower center of the lower box (2). Load plate (9) can ensure that a load can be added when it is extended to ensure that the device can remain stable when the robot is making linear motion. Universal wheel (1) ensures that the device can be moved easily. Lower box (2) ensures that universal wheel (1), cylinder (8) and side slide (3) have fixed positions and ensures that the robot's linear motion platform is relatively stable. Side slide (3) and cross slide (11) ensure the normal operation of the moving mechanism (5), including the normal movement of the moving mechanism (5) and the ability to support the moving mechanism (5) at a suitable height. Fixed platform (4) ensures that the robot has a fixed position.

[0043] Reference Figures 6-13As a further description of the above technical solution: cylindrical T-shaped grooves (12) are provided at both ends of the fixed platform (4). A bearing (6) is fixedly connected to the inner wall of the large groove at one end of the cylindrical T-shaped groove (12). The outer ring of the bearing (6) is fixedly connected to the inner wall of the large groove at one end of the cylindrical T-shaped groove (12). The inner ring of the bearing (6) is fixedly connected to the moving mechanism (5). The inner wall of the small groove at one end of the cylindrical T-shaped groove (12) is slidably connected to the moving mechanism (5). As a further description of the above technical solution: the moving mechanism (5) includes a motor (507). A limit slider (508) is fixedly connected to one side of the middle part of the motor (507). The limit slider (508) is slidably connected to the cross slide groove (11). The two sides of the middle part of the motor (507) are slidably connected to the cross slide groove (11). The output end of the limiting slider (508) is fixedly connected to the rotating shaft (501). One end of the rotating shaft (501) is fixedly connected to the inner ring of the bearing (6). One side of the middle part of the bearing (6) is slidably connected to the inner wall of the small groove at one end of the cylindrical T-shaped groove (12). The other side of the middle part of the rotating shaft (501) is fixedly connected to a gear (503). The lower end of the gear (503) is meshed with a toothed slide rail (504). One end of the toothed slide rail (504) is fixedly connected to the side slide plate (3). Multiple T-shaped limiting grooves (511) are provided on both sides of the toothed slide rail (504). Multiple middle sliders (505) are slidably connected to the inner walls of the multiple T-shaped limiting grooves (511). The lower end of the multiple middle sliders (505) is fixedly connected to a lower limiting block (506). The lower limiting block (506) is slidably connected to the toothed slide rail (504). The upper ends of the multiple middle sliders (505) are fixedly connected to the upper slide plate (502), the upper slide plate (502) is slidably connected to the toothed slide rail (504), and the upper middle part of the upper slide plate (502) is fixedly connected to multiple T-shaped limiting slide rings (510), the T-shaped limiting slide rings (510) are slidably connected to the limiting slide groove (509).

[0044] Bearing 1 (6) ensures that when the components in the moving mechanism (5) rotate, the fixed platform (4) does not rotate and moves along the side slide (3) with the moving mechanism (5). The cylindrical T-slot (12) ensures that bearing 1 (6) has a fixed position and that the moving mechanism (5) can slide relative to the fixed platform (4). The motor (507) provides power for the movement of the fixed platform (4) so ​​that the robot can perform linear motion. The rotating shaft (501) rotates with the output end of the motor (507). The rotating shaft (501) is fixedly connected to the inner ring of bearing 1 (6), and the outer ring of bearing 1 (6) is fixedly connected to the cylindrical T-slot (12), ensuring that when the rotating shaft (501) rotates, the fixed platform (4) does not rotate but performs linear motion. The limit block ensures that the motor (507) does not rotate itself when driving the gear (503) to rotate, and can follow the gear (503) to perform linear motion. The limiting groove (509) provides a sliding position for the T-shaped limiting ring (510). The gear (503) can rotate with the rotating shaft (501) to achieve the purpose of making the fixed table (4) move linearly. The middle slider (505) and the lower limiting block (506) are fixedly connected to form a limit on the toothed slide rail (504). The middle slider (505) and the upper sliding plate (502) are fixedly connected to ensure that the limiting groove (509) can work normally on the toothed slide rail (504) without tooth breakage or slippage. The T-shaped limiting groove (511) provides a sliding position for the T-shaped limiting ring (510), and the T-shaped limiting ring (510) plays a role in limiting the limiting groove (509). The upper slide plate (502) and the T-shaped limiting slide ring (510) are fixedly connected, and the rotating shaft (501) slides on the limiting slide groove (509) to ensure that the gear (503) can maintain relatively stable movement. The toothed slide rail (504) ensures that the gear (503) can move on it in a relatively stable manner, so that the robot can move relatively smoothly in a straight line.

[0045] Reference Figures 1-4 The casters (1) are fixedly connected to the four corners of the bottom of the lower box (2), and the load-bearing plate (9) can be stored in the rectangular grooves opened around the bottom center of the lower box (2).

[0046] The load-bearing plate (9) can be stored in the rectangular groove opened around the bottom center of the lower box (2). The casters (1) are fixedly connected to the lower box (2). Under the action of the cylinder (8), it is ensured that when the load-bearing plate (9) is stored to a certain height, the support of the device mainly relies on the casters (1). At this time, the load-bearing plate (9) can be rotated to a suitable position so that it can be further stored in the rectangular groove opened around the bottom center of the lower box (2).

[0047] Working principle: First, turn on the motor (507) to drive the rotating shaft (501) to move, and the rotating shaft (501) drives the upper slide plate (502) to move. Since the rotating shaft (501) is fixedly connected to the inner ring of bearing 1 (6), and the outer ring of bearing 1 (6) is fixedly connected to the fixed platform (4), the fixed platform (4) will follow the rotating shaft (501) to move along the side slide plate (3). The upper slide plate (502) moves along the side slide plate (3), and due to the limiting slider (508), it will cause the limiting slider (508) and the motor (507) to move along the side slide plate (3). The moving mechanism (5) drives the fixed platform (4) to move, so that the robot can perform linear motion on the platform. Since the upper slide plate (502) is slidably connected to the limiting groove (509), the middle slide plate (505) is fixedly connected to the middle slide plate (505), and the middle slide plate (505) is slidably connected to the T-shaped limiting groove (511) on the toothed slide rail (504), and the lower limiting block (506) is slidably connected to the bottom end of the toothed slide rail (504), the upper slide plate (502), the middle slide plate (505), the lower limiting block (506) cooperate with the T-shaped limiting groove (511) and the toothed slide rail (504), so that these structures limit the gear (503), ensuring that the gear (503) will not slip, and that the gear (503) can move stably on the toothed slide rail (504). Open the cylinder (8) to drive the load plate (9) downward. When it reaches the appropriate position, the support of the device is still mainly the caster wheel (1). Rotate the load plate (9) to the appropriate position and angle. Continue to open the cylinder (8) so that the main support of the device is provided by the cylinder (8) and the load plate (9). When it reaches the appropriate position, close the cylinder (8) and add a load to the load plate (9) so that the device can remain stable when the robot makes a straight movement.

[0048] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A linear walking platform for a robot, comprising omnidirectional wheels (1), characterized in that: Multiple casters (1) are provided. The upper ends of the multiple casters (1) are fixedly connected to a lower housing (2). Multiple cylinders (8) are fixedly connected to the four corners of the upper end of the lower housing (2). Multiple bearings (10) are fixedly connected to the output ends of the multiple cylinders (8). The output ends of the multiple cylinders (8) are fixedly connected to the inner rings of the multiple bearings (10). Multiple load-bearing plates (9) are fixedly connected to the outer rings of the multiple bearings (10). Multiple sliding holes (7) are opened at the bottom end of the lower housing (2). The output ends of the multiple bearings (10) are slidably connected to the multiple sliding holes (7). Multiple side slides (3) are fixedly connected to the upper sides of the lower housing (2). Multiple cross slides (11) are opened in the middle of the multiple side slides (3). Multiple moving mechanisms (5) are slidably connected to the inner walls of the multiple cross slides (11). A fixed platform (4) is fixedly connected to one end of the moving mechanism (5).

2. The linear walking platform for a robot according to claim 1, characterized in that: The fixed platform (4) has cylindrical T-shaped grooves (12) at both ends. A bearing (6) is fixedly connected to the inner wall of the large groove at one end of the cylindrical T-shaped groove (12). The outer ring of the bearing (6) is fixedly connected to the inner wall of the large groove at one end of the cylindrical T-shaped groove (12). The inner ring of the bearing (6) is fixedly connected to the moving mechanism (5). The inner wall of the small groove at one end of the cylindrical T-shaped groove (12) is slidably connected to the moving mechanism (5).

3. The linear walking platform for a robot according to claim 1, characterized in that: The moving mechanism (5) includes a motor (507), a limiting slider (508) is fixedly connected to one side of the middle part of the motor (507), the limiting slider (508) is slidably connected to the cross slide groove (11), and the two sides of the middle part of the motor (507) are slidably connected to the cross slide groove (11).

4. The linear walking platform for a robot according to claim 3, characterized in that: The output end of the limiting slider (508) is fixedly connected to the rotating shaft (501). One end of the rotating shaft (501) is fixedly connected to the inner ring of the bearing (6). One side of the middle part of the bearing (6) is slidably connected to the inner wall of the small groove at one end of the cylindrical T-groove (12). The other side of the middle part of the rotating shaft (501) is fixedly connected to a gear (503).

5. A linear walking platform for a robot according to claim 4, characterized in that: The lower end of the gear (503) is meshed with a toothed slide rail (504). One end of the toothed slide rail (504) is fixedly connected to the side slide plate (3). Multiple T-shaped limiting grooves (511) are provided on both sides of the toothed slide rail (504).

6. The linear walking platform for a robot according to claim 5, characterized in that: Multiple middle sliders (505) are slidably connected to the inner walls of the multiple T-shaped limiting grooves (511), and a lower limiting block (506) is fixedly connected to the lower end of the multiple middle sliders (505). The lower limiting block (506) is slidably connected to the toothed slide rail (504).

7. A linear walking platform for a robot according to claim 6, characterized in that: The upper ends of the multiple middle sliders (505) are fixedly connected to the upper slide plate (502), the upper slide plate (502) is slidably connected to the toothed slide rail (504), and the upper middle part of the upper slide plate (502) is fixedly connected to multiple T-shaped limiting slide rings (510), the T-shaped limiting slide rings (510) are slidably connected to the limiting slide groove (509).

8. A linear walking platform for a robot according to claim 1, characterized in that: The casters (1) are fixedly connected to the four corners of the bottom of the lower box (2), and the load-bearing plate (9) can be stored in the rectangular grooves opened around the bottom center of the lower box (2).

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