阅读说明：本技术 机器人行走轴 (Robot walking shaft ) 是由 倪硕 于 2019-12-11 设计创作，主要内容包括：本发明涉及一种机器人行走轴,包括地轨,地轨包括底座板,底座板的一端上设有驱动电机,底座板上设有行进轨道,行进轨道上设有滚轮滑块,滚轮滑块的上方设有机器人基座台,机器人基座台的底部通过筋板结构与滚轮滑块的顶部连接,机器人基座台上设有机器人调节装置,机器人调节装置与机器人传动连接,机器人调节装置包括机器人自转装置、机器人倾斜装置,机器人自转装置驱动机器人自转,机器人倾斜装置驱动机器人向地轨的一侧倾斜,驱动电机的输出轴与驱动丝杠传动连接,驱动丝杆伸入滚轮滑块形成螺纹传动连接。本发明采用丝杠驱动的地轨与机器人调节装置相结合的方案,具有精简、可靠以及机器人工作位置可调的特点。(The invention relates to a robot walking shaft which comprises a ground rail, wherein the ground rail comprises a base plate, one end of the base plate is provided with a driving motor, the base plate is provided with a walking rail, the walking rail is provided with a roller slider, a robot base platform is arranged above the roller slider, the bottom of the robot base platform is connected with the top of the roller slider through a rib plate structure, the robot base platform is provided with a robot adjusting device, the robot adjusting device is in transmission connection with a robot, the robot adjusting device comprises a robot self-rotating device and a robot tilting device, the robot self-rotating device drives the robot to rotate, the robot tilting device drives the robot to tilt towards one side of the ground rail, an output shaft of the driving motor is in transmission connection with a driving lead screw, and the driving lead screw extends into the roller slider to form thread transmission connection. The invention adopts the scheme of combining the ground rail driven by the lead screw and the robot adjusting device, and has the characteristics of simplicity, reliability and adjustable working position of the robot.)

1. The robot walking shaft is characterized by comprising a ground rail, wherein the ground rail comprises a base plate, one end of the base plate is provided with a driving motor, the base plate is provided with a traveling track, the traveling track is provided with a roller slider, a robot base table is arranged above the roller slider, the bottom of the robot base table is connected with the top of the roller slider through a rib plate structure, the robot base table is provided with a robot adjusting device, the robot adjusting device is in transmission connection with a robot, the robot adjusting device comprises a robot self-rotating device and a robot tilting device, the robot self-rotating device drives the robot to rotate, the robot tilting device drives the robot to tilt towards one side of the ground rail, an output shaft of the driving motor is in transmission connection with a driving lead screw, and the driving lead screw extends into the roller slider to form thread transmission connection, the driving motor drives the driving lead screw to drive the roller sliding block to reciprocate along the traveling track through the threaded transmission connection.

2. The robot walking shaft according to claim 1, further comprising a ground rail outer box body, wherein the ground rail outer box body comprises a square cylindrical shell, end plates are arranged at the head end and the tail end of the square cylindrical shell in an sealing mode, the base plate is arranged at the bottom of the square cylindrical shell, the robot base table is arranged above the top of the square cylindrical shell, and the bottom of the robot base table is connected with the roller sliding block through the rib plate structure penetrating through the long strip hole in the top of the square cylindrical shell.

3. The robot walking shaft according to claim 2, wherein the lower part of the outer side of the square column casing is fixed on the ground through a plurality of footstands, each footstand comprises a footstand bottom plate, a plurality of right-angle connecting vertical plates are arranged on each footstand bottom plate, the bottom surfaces of the right-angle edges of the right-angle connecting vertical plates are connected with the footstand bottom plate, and the side surfaces of the right-angle edges of the right-angle connecting vertical plates are connected with the lower part of the outer side of the square column casing.

4. The robot walking shaft according to claim 2, wherein a vibration absorbing rubber hard seat is provided on the base plate of the end head of one end inside the square column housing, the driving motor is provided on the vibration absorbing rubber hard seat, and the vibration absorbing rubber hard seat absorbs the vibration generated by the driving motor.

5. The robot walking shaft of claim 1, wherein the traveling rail comprises two parallel straight sliding rails, the roller block comprises a block base plate, a block body is fixedly arranged on the block base plate, and a roller member is arranged at a corner end of the bottom of the block base plate and is matched with the corresponding straight sliding rail to form a rolling connection.

6. The robot walking shaft according to claim 5, wherein the straight slide rail comprises a slide rail base plate, the slide rail base plate is provided with two slide rail side vertical plates which are parallel to each other, a slotted plate is arranged on a center line in a sliding groove between the two slide rail side vertical plates, the slotted plate divides the sliding groove between the two slide rail side vertical plates into a left parallel slotted groove and a right parallel slotted groove which are equal in width, the roller member comprises a wheel shaft, rollers are arranged at two ends of the wheel shaft, the middle part of the wheel shaft is connected with the bottom of the slide block base plate through a rib plate structure, and the rollers are matched with the corresponding slotted grooves to form rolling connection.

7. The robot walking shaft of claim 1, wherein the robot rotation device comprises a rotation device base plate connected to the robot base table, a rotation driving motor is provided on the rotation device base plate, a driving shaft of the rotation driving motor is upwardly connected to a bottom of a rotation bearing table on which the robot is provided.

8. The robot walking shaft of claim 7, wherein a rotation driving motor housing is provided outside the rotation driving motor, the rotation carrier is provided above the rotation driving motor housing, and a driving shaft of the rotation driving motor is connected to the bottom of the rotation carrier through a through hole formed in the top of the rotation driving motor housing.

9. The robot walking shaft of claim 1, wherein the robot tilting device comprises a tilting device base plate, the tilting device base plate is connected with the robot base platform, a tilting drive motor is arranged on the tilting device base plate, a driving gear is arranged on a driving shaft of the tilting drive motor, the driving gear is in transmission connection with a turning drive gear, the turning drive gear is in transmission connection with the tilting drive gear, the tilting drive gear is connected with the bottom of the tilting bearing platform through a rib structure, and a robot is arranged on the tilting bearing platform.

10. The robot walking shaft of claim 9, wherein a tilt driving motor box is provided outside the tilt driving motor, the tilt bearing platform is provided above the tilt driving motor box, and the bottom of the tilt bearing platform is connected to the tilt driving gear through the plate rib structure passing through a through hole at the top of the tilt driving motor box.

Technical Field

The invention relates to a robot walking shaft, in particular to an improved robot walking shaft, and belongs to the field of robot walking shafts.

Background

The robot walking shaft is also called as a robot ground rail, a robot outer shaft and a seventh shaft, and the robot walking shaft is mainly used for driving an industrial robot to move, so that the robot can move on a preset route, the working radius of the robot is enlarged, the working efficiency of the robot is improved, and the robot walking shaft is a different choice for the industrial robot without a standard moving device. The robot walking shaft has the characteristics of high moving speed, high positioning precision and the like, and is suitable for the working procedures of feeding and discharging, welding, assembling, spraying, inspecting, casting, forging and pressing, heat treatment, metal cutting, carrying, stacking and the like of machine tool workpieces. The existing robot ground rail is driven by towline power, dust is easily accumulated, the working efficiency is influenced, driving equipment is arranged externally, the occupied space is large, the working position of the robot can not be adjusted, and the applicability is limited.

Disclosure of Invention

The invention discloses a novel scheme for a robot walking shaft, which adopts a scheme of combining a ground rail driven by a lead screw and a robot adjusting device and solves the problem of limited applicability caused by the adoption of a drag chain power driving mode in the conventional scheme.

The robot walking shaft comprises a ground rail, the ground rail comprises a base plate, one end of the base plate is provided with a driving motor, the base plate is provided with a walking rail, the walking rail is provided with a roller sliding block, a robot base platform is arranged above the roller sliding block, the bottom of the robot base platform is connected with the top of the roller sliding block through a rib plate structure, the robot base platform is provided with a robot adjusting device, the robot adjusting device is in transmission connection with a robot, the robot adjusting device comprises a robot self-rotating device, the robot tilting device drives the robot to rotate, the robot tilting device drives the robot to tilt towards one side of the ground rail, an output shaft of the driving motor is in transmission connection with the driving lead screw, the driving lead screw extends into the roller sliding block to form thread transmission connection, and the driving motor drives the driving lead screw to push the roller sliding block to reciprocate along the traveling track through the thread transmission connection.

Further, the robot walking shaft of this scheme still includes outer box of ground rail, and outer box of ground rail includes square column shell, and the end seal of the end of square column shell is equipped with the end board, and the bottom of square column shell is equipped with the bed plate, the top at the top of square column shell is equipped with robot base platform, and robot base platform's bottom is connected with the gyro wheel slider through the gusset structure that passes the rectangular hole on the square column shell top.

Furthermore, the outside lower part of the square column section of thick bamboo shell of this scheme is fixed subaerial through a plurality of footstands, and the footstand includes the footstand bottom plate, is equipped with a plurality of right angles on the footstand bottom plate and connects the riser, and the right angle limit bottom surface and the footstand bottom plate of riser are connected in the right angle, and the right angle limit side of riser and the outside sub-unit connection of square column section of thick bamboo shell are connected in the right angle.

Furthermore, the base plate of the end of one end in the square column casing shell of this scheme is equipped with the rubber hard seat that shakes of shaking, is equipped with driving motor on the rubber hard seat that shakes of shaking, shakes the rubber hard seat that shakes and absorbs the vibration that driving motor produced.

Further, the track of marcing of this scheme includes two straight slide rails that are parallel to each other, and the gyro wheel slider includes the slider bed plate, has set firmly the slider body on the slider bed plate, and the angle of the bottom of slider bed plate is served and is equipped with the gyro wheel part, and the gyro wheel part forms roll connection with the straight slide rail cooperation that corresponds.

Furthermore, the straight slide rail of this scheme includes the slide rail bed plate, is equipped with two slide rail side risers that are parallel to each other on the slide rail bed plate, is equipped with on the central line in the spout between two slide rail side risers and divides the frid, divide the frid to separate into with the spout between above-mentioned two slide rail side risers and control two parallel equal wide branch spouts, the gyro wheel part includes the shaft, the both ends of shaft are equipped with the gyro wheel, the middle part of shaft is passed through the gusset structure and is connected with the bottom of slide block bed plate, the gyro wheel forms roll connection with the branch spout cooperation that corresponds.

Further, the robot rotation device of this scheme includes the rotation device bed plate, and the rotation device bed plate is connected with the robot base platform, is equipped with rotation driving motor on the rotation device bed plate, and rotation driving motor's drive shaft upwards is connected with the bottom of rotation plummer, is equipped with the robot on the rotation plummer.

Furthermore, the outside of rotation driving motor of this scheme is equipped with rotation driving motor box, and the rotation plummer is established in the top of rotation driving motor box, and rotation driving motor's drive shaft upwards passes the through-hole at rotation driving motor box top and is connected with the bottom of rotation plummer.

Further, the robot tilting device of this scheme includes the tilting device bed plate, and the tilting device bed plate is connected with the robot base platform, is equipped with slope driving motor on the tilting device bed plate, is equipped with the driving gear in the drive shaft of slope driving motor, and the driving gear is connected with diversion drive gear transmission, and diversion drive gear is connected with slope drive gear transmission, and slope drive gear passes through the board muscle structure to be connected with the bottom of slope plummer, is equipped with the robot on the slope plummer.

Furthermore, the slope driving motor's of this scheme outside is equipped with the slope driving motor box, and the top at the slope driving motor box is established to the slope plummer, and the bottom of slope plummer is connected with slope drive gear through the board muscle structure that passes the through-hole at slope driving motor box top.

The robot walking shaft adopts a scheme of combining a ground rail driven by a lead screw and a robot adjusting device, and has the characteristics of simplicity, reliability and adjustable working position of the robot.

Drawings

Fig. 1 is a schematic diagram of one example of a robot walking axis.

Fig. 2 is a front view of the ground rail.

Fig. 3 is an internal schematic view of the ground rail of fig. 2.

Fig. 4 is a left-hand internal schematic view of the ground rail.

Fig. 5 is a schematic view of the robot rotation device.

Fig. 6 is a schematic view of a robot tilting device.

Fig. 7 is a schematic view of one of the operating states of the robot tilting device.

Wherein 100 is a ground rail, 110 is a base plate, 111 is a straight slide rail, 120 is a driving motor, 121 is a vibration absorbing rubber hard seat, 130 is a driving lead screw, 141 is a slider body, 150 is a roller component, 151 is a roller, 210 is a robot base platform, 310 is a square cylinder shell, 320 is a terminal plate, and 330 is a foot seat. Reference numeral 400 denotes a robot rotation device, 410 denotes a rotation device base plate, 420 denotes a rotation driving motor, 430 denotes a rotation carrier, 440 denotes a rotation driving motor housing, 500 denotes a robot tilting device, 510 denotes a tilting device base plate, 520 denotes a tilting driving motor, 531 denotes a driving gear, 532 denotes a direction changing transmission gear, 533 denotes a tilting driving gear, 540 denotes a tilting carrier, and 550 denotes a tilting driving motor housing.

Detailed Description

As shown in figures 1, 2 and 3, 4, the robot walking shaft comprises a ground rail, the ground rail comprises a base plate, one end of the base plate is provided with a driving motor, the base plate is provided with a walking track, the walking track is provided with a roller block, a robot base table is arranged above the roller block, the bottom of the robot base table is connected with the top of the roller block through a rib plate structure, the robot base table is provided with a robot adjusting device, the robot adjusting device is in transmission connection with a robot, the robot adjusting device comprises a robot self-rotating device and a robot tilting device, the robot self-rotating device drives the robot to rotate, the robot tilting device drives the robot to tilt towards one side of the ground rail, an output shaft of the driving motor is in transmission connection with a driving lead screw, the driving lead screw extends into the roller block to form thread transmission connection, and the driving lead screw drives the roller block to reciprocate along the walking track through the thread transmission connection. Above-mentioned scheme adopts lead screw driven ground rail and robot adjusting device's scheme that combines together, at first use the ground rail to transport the robot above that to operating position, then through robot rotation device, the face of robot tilting gear adjusts the robot respectively faces to the direction and to the inclination of ground rail one side, the technical purpose of quick, accurate positioning, the regulation of robot has been realized, the flexibility and the suitability of robot have been showing and improved, it is big to have avoided adopting tow chain driven ground rail to bring simultaneously, the structure is complicated, easily receive external environment influence and the problem of breaking down.

In order to avoid transmission equipment to receive outside influence, prevent that the dust from invading, influence the transmission precision, the robot walking axle of this scheme still includes ground rail outer box, and ground rail outer box includes square column shell, and the end-to-end seal of square column shell is equipped with the end board, and the bottom of square column shell is equipped with the bed plate, the top at the top of square column shell is equipped with robot base platform, and the bottom of robot base platform is connected with the gyro wheel slider through the gusset structure that passes the rectangular hole on the square column shell top. Based on above scheme, establish subaerial in order to guarantee the outer box body of ground rail is stable immediately, the outside lower part of the square column section of thick bamboo shell of this scheme is fixed subaerial through a plurality of footstands, and the footstand includes the footstand bottom plate, is equipped with a plurality of right angles on the footstand bottom plate and connects the riser, and the right angle limit bottom surface and the footstand bottom plate of riser are connected in the right angle, and the right angle limit side of riser and the outside sub-unit connection of square column section of thick bamboo. In order to reduce the influence of the vibration generated by the work of the driving motor on the transmission precision, the base plate of the end head of one end in the square cylindrical shell is provided with a vibration absorption rubber hard seat, the vibration absorption rubber hard seat is provided with the driving motor, and the vibration absorption rubber hard seat absorbs the vibration generated by the driving motor.

In order to realize the function of the advancing track and improve the stability of the movement of the pulley, as shown in fig. 3 and 4, the advancing track of the scheme comprises two straight slide rails which are parallel to each other, the roller slider comprises a slider base plate, a slider body is fixedly arranged on the slider base plate, a roller part is arranged at the corner end of the bottom of the slider base plate, and the roller part is matched with the corresponding straight slide rails to form rolling connection. Based on above scheme, in order to strengthen the stability and the wheel rail cooperation precision of strong slide rail, double track double round cooperation scheme has still been introduced to this scheme, the straight slide rail of this scheme includes the slide rail bed plate promptly, be equipped with two slide rail side risers that are parallel to each other on the slide rail bed plate, be equipped with on the central line in the spout between two slide rail side risers and divide the frid, divide the frid to separate into the spout between two above-mentioned slide rail side risers and control two parallel equal wide branch spouts about, the gyro wheel part includes the shaft, the both ends of shaft are equipped with the gyro wheel, the bottom that gusset structure and slide block bed plate are passed through at the middle part of shaft is connected, the gyro wheel forms roll connection with the branch spout.

In order to realize the function of the robot rotation device, as shown in fig. 5, the robot rotation device of the present solution includes a rotation device base plate, the rotation device base plate is connected with the robot base platform, a rotation driving motor is arranged on the rotation device base plate, a driving shaft of the rotation driving motor is upwardly connected with the bottom of the rotation bearing platform, and a robot is arranged on the rotation bearing platform. Based on above scheme, in order to avoid transmission equipment to receive outside influence, prevent that the dust from invading, the rotation driving motor's of this scheme outside is equipped with rotation driving motor box, and the rotation plummer is established in the top of rotation driving motor box, and rotation driving motor's drive shaft upwards passes the through-hole at rotation driving motor box top and is connected with the bottom of rotation plummer.

In order to realize the function of the robot tilting device, as shown in fig. 6 and 7, the robot tilting device of the scheme comprises a tilting device base plate, the tilting device base plate is connected with a robot base platform, a tilting driving motor is arranged on the tilting device base plate, a driving gear is arranged on a driving shaft of the tilting driving motor and is in transmission connection with a turning transmission gear, the turning transmission gear is in transmission connection with a tilting driving gear, the tilting driving gear is connected with the bottom of a tilting bearing platform through a plate rib structure, and a robot is arranged on the tilting bearing platform. Based on above scheme, in order to avoid transmission equipment to receive outside influence, prevent that the dust from invading, the slope driving motor's of this scheme outside is equipped with the slope driving motor box, and the top at the slope driving motor box is established to the slope plummer, and the bottom of slope plummer is connected with slope drive gear through the board muscle structure that passes the through-hole at slope driving motor box top.

The devices, components, etc. disclosed in this embodiment may be implemented in any conventional and customary manner known in the art, unless otherwise specified.

The robot walking axis of the present invention is not limited to the disclosure of the specific embodiment, the technical solutions presented in the examples can be extended based on the understanding of those skilled in the art, and the simple alternatives made by those skilled in the art according to the present invention in combination with the common general knowledge also belong to the scope of the present invention.