A robotic mobile platform

Abstract

The utility model discloses a kind of robot mobile platform, ground rail includes first guide rail, second guide rail, first guide rail has rack, rack's tooth tip is back to first guide rail;Slide platform is slidably installed on first guide rail, second guide rail, slide platform has mounting hole and limit post;For fixedly installing gear's round plate, gear is engaged with rack, round plate has pin hole and limit hole, pin is inserted into mounting hole by pin hole, limit post passes through limit hole, connecting block is fixedly installed on round plate, connecting block has through-hole;Fixed block is fixedly installed on slide platform;Fixed rod one end is fixed on fixed block, the other end passes through through-hole and is connected with adjusting nut, the diameter of through-hole is greater than the diameter of fixed rod, one end of spring is abutted on fixed block, the other end is abutted on connecting block. By adjusting the position of the adjusting nut, the disc is rotated in a small range with the pin as the center, so that the center axis of the disc approaches or moves away from the rack, thereby changing the engagement degree of the gear and the rack.

Description

Technical Field

[0001] This utility model relates to a ground rail assembly for a wet-stretching gripper (robot) in a steel cord manufacturing workshop, specifically to a robot mobile platform. Background Technology

[0002] Our robot (manipulator component) weighs about 3 tons. During operation, the robot is mounted on a slide, which reciprocates on a ground rail to perform tasks. The transmission between the slide and the ground rail relies on rack and pinion transmission to achieve power transmission and position control. This transmission method has the advantages of high transmission efficiency, strong load-bearing capacity and simple structure.

[0003] However, there is a clearance between the gear and the rack, which is also known as the degree of meshing. After the equipment is installed, the degree of meshing between the gear and the rack is fixed. In order to address this problem and facilitate the adjustment of the degree of meshing between the gear and the rack, this utility model was designed. Summary of the Invention

[0004] This invention addresses the problems existing in the prior art by proposing a robot mobile platform. By adjusting the position of the adjusting nut, the disc can rotate within a small range around the pin, thereby moving the central axis of the disc closer to or further away from the rack, thus changing the meshing degree of the gears and rack.

[0005] The technical solution adopted by this utility model is: a robot mobile platform, comprising:

[0006] The ground track includes two parallel guide rails, a first guide rail and a second guide rail. The first guide rail has a rack on its side facing away from the second guide rail, and the tips of the rack teeth face away from the first guide rail.

[0007] The slide table is slidably mounted on the first guide rail and the second guide rail. The slide table has mounting holes and limit posts.

[0008] A circular plate is used for fixing and mounting the drive mechanism. A gear is fixedly mounted on the output shaft of the drive mechanism, and the gear meshes with the rack. The circular plate has pin holes and limiting holes, which are spaced apart in the circumferential direction. A pin passes through the pin hole and is inserted into the mounting hole. A limiting pin passes through the limiting hole, and the diameter of the limiting hole is larger than the diameter of the limiting pin.

[0009] The connecting block is fixedly mounted on the circular plate, with one end extending out of the circular plate. The connecting block has an axially horizontal through hole.

[0010] The fixing block is fixedly installed on the slide table;

[0011] The fixing rod is fixed at one end to the fixing block, and the other end passes through the through hole to connect to the adjusting nut. The diameter of the through hole is larger than the diameter of the fixing rod. One end of the spring abuts against the fixing block, and the other end abuts against the connecting block.

[0012] Based on the above scheme, as a preferred option, the limiting hole is an arc-shaped hole, and the cross-section of the pin and the limiting post is T-shaped.

[0013] Based on the above scheme, as a preferred option, the through hole is a waist-shaped hole, and the length direction of the waist-shaped hole is horizontal.

[0014] Based on the above scheme, as a preferred embodiment, the drive mechanism includes a motor, an input shaft of a reducer that is connected to the output shaft of the motor, and a gear fixedly mounted on the output shaft of the reducer.

[0015] Based on the above scheme, as a preferred option, the housing of the reducer is fixed on the circular plate, and the housing of the motor is fixed on the circular plate or the housing of the reducer.

[0016] Based on the above scheme, as a preferred option, the fixing rod is a round rod with a first threaded section at one end and a second threaded section at the other end. The first threaded section passes through the fixing block, and the second threaded section passes through the connecting block. The first threaded section has a first nut and a second nut, which are located on both sides of the fixing block to fix the fixing rod to the fixing block. The second threaded section has an adjusting nut, and the fixing rod has a sliding sleeve. One end of the spring abuts against the second nut, and the other end abuts against the sliding sleeve, which abuts against the connecting block.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The spring, connecting block, fixing rod, fixing block, pin, disc, limiting hole, limiting post, and slide cooperate with each other. The spring provides an elastic force to push the connecting block against the adjusting nut, and the pin positions the disc so that it remains in a fixed position. By adjusting the position of the adjusting nut, the disc can rotate a small range around the pin, thereby moving the central axis of the disc closer to or away from the rack, thus changing the meshing degree of the gear and rack.

[0019] It can not only adjust the meshing degree of gears and racks, but also act as a buffer, thereby improving the service life of the equipment. Attached Figure Description

[0020] Figure 1 This is a three-dimensional representation of the present invention. Figure 1 ;

[0021] Figure 2 This is a three-dimensional representation of the present invention. Figure 2 ;

[0022] Figure 3 yes Figure 1 Enlarged view of section A;

[0023] Figure 4yes Figure 2 Enlarged view of section B;

[0024] Figure 5 This is a schematic diagram of the slide table structure;

[0025] Figure 6 This is a three-dimensional representation of the present invention. Figure 3 . Detailed Implementation

[0026] The present invention will be further described below through embodiments, but the scope of the present invention is not limited thereto.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] like Figures 1-6 As shown, the robot mobile platform includes:

[0029] The ground track includes two parallel guide rails, a first guide rail 1 and a second guide rail 2. The side of the first guide rail facing away from the second guide rail has a rack 3, and the tips of the rack teeth face away from the first guide rail.

[0030] The slide table 4 is slidably mounted on the first guide rail and the second guide rail. The slide table has mounting holes 5 and limit posts 6.

[0031] A circular plate 7 is used for fixing and installing the drive mechanism. A gear 8 is fixedly installed on the output shaft 9 of the drive mechanism. The gear meshes with the rack. The circular plate has a pin hole 10 and a limiting hole 11. The pin hole and the limiting hole are distributed circumferentially. The pin 12 passes through the pin hole and is inserted into the mounting hole. The limiting post 13 passes through the limiting hole, and the diameter of the limiting hole is larger than the diameter of the limiting post. Preferably, the limiting hole is an arc-shaped hole. The cross-section of the pin and the limiting post is T-shaped. After installation, the pin and the limiting post limit the circular plate and do not fix the circular plate, preventing the circular plate from moving in the vertical direction. They also provide a hinge point, i.e., the pin. At this time, the circular plate has one degree of freedom and can rotate around the pin. Its rotation range is the length of the arc-shaped hole.

[0032] The connecting block 14 is fixedly installed on the circular plate, with one end extending out of the circular plate. The connecting block has an axially horizontal through hole.

[0033] Fixed block 15 is fixedly installed on the slide table.

[0034] The fixing rod 16 is fixed at one end to the fixing block, and the other end passes through the through hole to connect to the adjusting nut 18. The diameter of the through hole is larger than the diameter of the fixing rod, preferably an oblong hole with the length direction horizontal. One end of the spring 17 abuts against the fixing block, and the other end abuts against the connecting block. The abutting can be achieved by the two ends of the spring directly abutting against the fixing block and the connecting block respectively, or by abutting against the fixing block and the connecting block through an intermediate connecting piece. The spring is in a compressed state, providing an elastic force to push the connecting block into contact with the adjusting nut, so that the disc is kept in a fixed position. By adjusting the position of the adjusting nut, the disc rotates a small range around the pin, thereby moving the central axis of the disc closer to or away from the rack, thus changing the meshing degree of the gear and rack.

[0035] The drive mechanism includes a motor 19, a reducer 20 that is connected to the output shaft of the motor, and a gear fixedly mounted on the output shaft of the reducer.

[0036] The reducer housing is fixed to the circular plate, and the motor housing is fixed to the circular plate or the reducer housing.

[0037] The connecting block, spring, fixing rod, and fixing block together constitute the engagement adjustment mechanism.

[0038] Both through holes and oblong holes can be large-diameter holes, that is, larger than the corresponding fixing rod and limiting post, so as to ensure that the circular plate is not interfered with when rotating around the pin in a small range.

[0039] More specifically, the engagement adjustment mechanism includes a fixed block fixedly connected to the slide table, a connecting block fixed on the disc, a fixed rod being a round rod with a first threaded section at one end and a second threaded section at the other end, the first threaded section passing through the fixed block and the second threaded section passing through the connecting block, a first nut 21 and a second nut 22 on the first threaded section, the first nut and the second nut being located on both sides of the fixed block to fix the fixed rod to the fixed block, an adjusting nut 18 on the second threaded section, and a sliding sleeve / waist 23 on the fixed rod, one end of a spring abutting against a third nut 24 and the other end abutting against the sliding sleeve / waist to abut against the connecting block, the third nut 24 being located on either the first threaded section or the second threaded section.

[0040] In this design, the mechanism not only adjusts the meshing degree of the gears and racks but also acts as a buffer. Specifically, with the length of the guide rail as the left-right direction, the meshing degree adjustment mechanism is located on the left side of the drive mechanism, the pin hole is located on the right side of the drive mechanism, and the robot is fixed on the slide and located on the left side of the meshing degree adjustment mechanism. When working to the left front, due to the weight of the robot (approximately 3 tons), a rightward reaction force is generated when the robot moves to the left. The magnitude of the force is proportional to the robot's speed, causing the slide to tend to move to the right. The teeth of the gears and racks are in contact (due to meshing issues, there is tooth gap), which hinders the movement to the right. At this time, the reaction force causes the disc to rotate counterclockwise, compressing the connecting block spring to alleviate the force of the gear directly colliding with the rack. When the force is eliminated, the spring returns to its original position, causing the gear to return to its original position.

[0041] It should be noted that the embodiments described above are only for explaining the present invention and do not constitute any limitation on the present invention. The present invention has been described with reference to typical embodiments, but it should be understood that the words used therein are descriptive and explanatory terms, not limiting terms. Modifications can be made to the present invention within the scope of the claims, and revisions can be made to the present invention without departing from the scope and spirit of the present invention. Although the present invention described herein relates to specific methods, materials, and embodiments, it does not mean that the present invention is limited to the specific examples disclosed herein; on the contrary, the present invention can be extended to all other methods and applications with the same function.

Claims

1. A robot mobile platform, characterized in that, include: The ground track includes two parallel guide rails, a first guide rail and a second guide rail. The first guide rail has a rack on its side facing away from the second guide rail, and the tips of the rack teeth face away from the first guide rail. The slide table is slidably mounted on the first guide rail and the second guide rail. The slide table has mounting holes and limit posts. A circular plate is used for fixing and mounting the drive mechanism. A gear is fixedly mounted on the output shaft of the drive mechanism, and the gear meshes with the rack. The circular plate has pin holes and limiting holes, which are spaced apart in the circumferential direction. A pin passes through the pin hole and is inserted into the mounting hole. A limiting pin passes through the limiting hole, and the diameter of the limiting hole is larger than the diameter of the limiting pin. The connecting block is fixedly mounted on the circular plate, with one end extending out of the circular plate. The connecting block has an axially horizontal through hole. The fixing block is fixedly installed on the slide table; The fixing rod is fixed at one end to the fixing block, and the other end passes through the through hole to connect to the adjusting nut. The diameter of the through hole is larger than the diameter of the fixing rod. One end of the spring abuts against the fixing block, and the other end abuts against the connecting block.

2. The robot mobile platform as described in claim 1, characterized in that, The limiting hole is an arc-shaped hole, and the cross-section of the pin and the limiting post is T-shaped.

3. The robot mobile platform as described in claim 1, characterized in that, The through hole is a slotted hole, and the length of the slotted hole is horizontal.

4. The robot mobile platform as described in claim 1, characterized in that, The drive mechanism includes a motor, an input shaft of a reducer that is connected to the output shaft of the motor, and a gear fixedly mounted on the output shaft of the reducer.

5. The robot mobile platform as described in claim 4, characterized in that, The reducer housing is fixed to the circular plate, and the motor housing is fixed to the circular plate or the reducer housing.

6. The robot mobile platform as described in claim 1, characterized in that, The fixing rod is a round rod with a first threaded section at one end and a second threaded section at the other end. The first threaded section passes through the fixing block, and the second threaded section passes through the connecting block. The first threaded section has a first nut and a second nut, which are located on both sides of the fixing block to fix the fixing rod to the fixing block. The second threaded section has an adjusting nut. The fixing rod also has a sliding sleeve. One end of a spring abuts against the second nut, and the other end abuts against the sliding sleeve, which abuts against the connecting block.

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