CN207917960U - A kind of robot orbit determination speed change walking - Google Patents
A kind of robot orbit determination speed change walking Download PDFInfo
- Publication number
- CN207917960U CN207917960U CN201820021447.0U CN201820021447U CN207917960U CN 207917960 U CN207917960 U CN 207917960U CN 201820021447 U CN201820021447 U CN 201820021447U CN 207917960 U CN207917960 U CN 207917960U
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- China
- Prior art keywords
- track
- chassis
- speed change
- orbit determination
- determination speed
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Abstract
The utility model provides a kind of robot orbit determination speed change walking, including：Track and chassis；Mounted in pairs is in the wheel group with Orbit Matching on chassis；It is installed on the driving unit of tray bottom；The rack pinion unit being installed in the middle part of track, middle gear are installed on the output shaft of driving unit, and rack is parallel to track；The horizontal alignment unit being set on chassis；Be set to the infrared transmitter and infrared remote receiver at track both ends, the calibration plate with holes being set on chassis, infrared transmitter emit infrared ray pass through calibration plate with holes hole center to infrared remote receiver.It can orient and steadily be moved, operation can be transported through or be moved to specific position carry out other operations.
Description
Technical field
The utility model is related to robotic technology fields, and in particular to a kind of robot orbit determination speed change walking.
Background technology
Robot is the automatic mechanical device for executing work, instruction that can be according to operating personnel or preset program
Specifically operated.Its main task is substitution or assists manually, manufacturing industry, the fields such as construction industry carry out operation.
Most robot is to need movement, especially in some more wide working environments, such as produces vehicle
Between in, may require that robot is transported through the operation of part or transfer operation personnel, it is different also to may require that robot is moved to
Job site is operated, and for the longer mobile operation of stroke, the robot that displacement can be arranged is transported through operation,
It is required that moving process, steady, quick, safety.
Invention content
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of robot orbit determination speed change walking, Neng Gouding
To steadily being moved, operation can be transported through or be moved to specific position carry out other operations.
To achieve the above object, the technical scheme adopted by the utility model is that：
A kind of robot orbit determination speed change walking, including：
Track and chassis；
Mounted in pairs is in the wheel group with Orbit Matching on chassis；
It is installed on the driving unit of tray bottom；
The rack pinion unit being installed in the middle part of track, middle gear are installed on the output shaft of driving unit, rack
It is parallel to track；
The horizontal alignment unit being set on chassis；
It is set to the infrared transmitter and infrared remote receiver at track both ends, the calibration plate with holes being set on chassis is infrared
Transmitter emit infrared ray pass through calibration plate with holes hole center to infrared remote receiver.
Further, the driving unit includes motor, cycloidal planetary gear speed reducer and variable-frequency governor.
Further, the horizontal alignment unit is level meter.
Further, the track length is not less than 15m.
Further, the hole of the calibration plate with holes is circular hole, three one thousandths to eight percentages of a diameter of track length
One of.
Further, the gear is helical gear.
By taking above-mentioned technical proposal, using rack-and-pinion as traditional structure, driven by motor, it can
Chassis steady displacement in orbit is driven, by directly controlling or the converter plant of program control adjustment motor, is carried out
Acceleration or deceleration keeps operating more steady, avoids causing operating unstable because of inertia.It can find to run in time by infrared calibration
Direction occur deviation, chassis is unbalance caused by capable of finding wheel or path wear in time by level meter, in time into
Row investigation is rested and reorganized.
Description of the drawings
Fig. 1 is the positive structure schematic of robot orbit determination speed change walking in one embodiment of the utility model.
Fig. 2 is the side structure schematic diagram of robot orbit determination speed change walking in one embodiment of the utility model.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clear, complete description.
As shown in Figures 1 and 2, a kind of robot orbit determination speed change walking is provided in one embodiment, including：
Track 1 and chassis 2；Mounted in pairs is in the One On The Chassis and 2 matched wheel group 8 of track；It is installed on 1 bottom of chassis
Driving unit 11；The rack pinion unit being installed between two tracks, including gear 10 and rack 9, the two is mutual
Engagement, engaging tooth is helical teeth, and middle gear 10 is installed on the output shaft of driving unit 11, and rack 9 is parallel to track；It is set to bottom
Horizontal alignment unit 4 on disk 2；It is set to the infrared transmitter 5 and infrared remote receiver 7 at track both ends, is set on chassis
Calibration plate 6 with holes, infrared transmitter emit infrared ray pass through calibration plate with holes hole center to infrared remote receiver.Infrared emission
Device, which can be arranged when normally opened or chassis runs position a certain to track, to be opened, and infrared remote receiver is nothing by resistance blocking in infrared ray
When method passes through hole, electric signal is sent to a control device（It is not shown）, control device stores the electric signal and carries out related behaviour
Make, such as the reference data etc. as the drive signal of triggering alarm or as maintenance.
Further include the execution unit 3 being set on chassis, to execute various operations, such as load and unload, protection or other
Operation.Specific implementation form is, for example, mechanical arm, feeding device, manned or article carrying platform etc., with the innovation purport of the application without
It is directly linked, repeats no more.
Specifically, driving unit 11 includes motor, cycloidal planetary gear speed reducer and variable-frequency governor.It can be by directly inputting
Control instruction operates or program carries out a key manipulation, and control variable-frequency governor controls motor speed, steady mobile to realize,
Such as slowly accelerate in starting, when stopping, slowly slows down, and according to different use requirements, adjusts different velocity modes.
Horizontal alignment unit is level meter, and optional air-bubble level determines chassis unbalance degree by observation, can also select
With electrolevel, implement the signal data for collecting electrolevel, to judge be due to wheel rail abrasion cause it is unbalance
Or a certain fractional orbital deformation or rail connection deformation cause unbalance.
Track length is not less than 15m.The hole of calibration plate with holes is circular hole, three one thousandths of a diameter of track length to eight
1 percent.The device stroke preferably of the utility model is longer（More than 20m）Robot, pass through rack pinion, phase
It walks compared with direct drive of wheel more steady, direction is also more stablized.And straightening, the docking of rack are easy to implement, adopt
Manufacture difficulty can be undoubtedly improved with such as screw drive, and screw drive does not support long stroke yet.
By taking above-mentioned technical proposal, using rack-and-pinion as traditional structure, driven by motor, it can
Chassis steady displacement in orbit is driven, by directly controlling or the converter plant of program control adjustment motor, is carried out
Acceleration or deceleration keeps operating more steady, avoids causing operating unstable because of inertia.It can find to run in time by infrared calibration
Direction occur deviation, chassis is unbalance caused by capable of finding wheel or path wear in time by level meter, in time into
Row investigation is rested and reorganized.
Obviously, described embodiment is only the utility model a part of the embodiment, instead of all the embodiments.It is based on
The embodiments of the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all
Other embodiment shall fall within the protection scope of the present invention.
Claims (6)
1. a kind of robot orbit determination speed change walking, which is characterized in that including：
Track and chassis；
Mounted in pairs is in the wheel group with Orbit Matching on chassis；
It is installed on the driving unit of tray bottom；
The rack pinion unit being installed in the middle part of track, middle gear are installed on the output shaft of driving unit, and rack is parallel
In track；
The horizontal alignment unit being set on chassis；
It is set to the infrared transmitter and infrared remote receiver at track both ends, the calibration plate with holes being set on chassis, infrared emission
Device emit infrared ray pass through calibration plate with holes hole center to infrared remote receiver.
2. robot orbit determination speed change walking as described in claim 1, which is characterized in that the driving unit includes electronic
Machine, cycloidal planetary gear speed reducer and variable-frequency governor.
3. robot orbit determination speed change walking as described in claim 1, which is characterized in that the horizontal alignment unit is water
Level.
4. robot orbit determination speed change walking as described in claim 1, which is characterized in that the track length is not less than
15m。
5. robot orbit determination speed change walking as claimed in claim 4, which is characterized in that the hole of the calibration plate with holes is
Circular hole, three one thousandths of a diameter of track length to 81 percent.
6. robot orbit determination speed change walking as described in claim 1, which is characterized in that the gear is helical gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820021447.0U CN207917960U (en) | 2018-01-05 | 2018-01-05 | A kind of robot orbit determination speed change walking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820021447.0U CN207917960U (en) | 2018-01-05 | 2018-01-05 | A kind of robot orbit determination speed change walking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207917960U true CN207917960U (en) | 2018-09-28 |
Family
ID=63617128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820021447.0U Expired - Fee Related CN207917960U (en) | 2018-01-05 | 2018-01-05 | A kind of robot orbit determination speed change walking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207917960U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109095150A (en) * | 2018-10-29 | 2018-12-28 | 湖南精正设备制造有限公司 | A kind of station transport device of the high transmission accuracy of long-distance transportation |
-
2018
- 2018-01-05 CN CN201820021447.0U patent/CN207917960U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109095150A (en) * | 2018-10-29 | 2018-12-28 | 湖南精正设备制造有限公司 | A kind of station transport device of the high transmission accuracy of long-distance transportation |
| CN109095150B (en) * | 2018-10-29 | 2024-05-14 | 湖南精正设备制造有限公司 | Station conveyer that transmission precision is high of long distance transportation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180928 Termination date: 20200105 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |