WO2021018184A1 - Dispositif de réglage d'inclinaison et robot de transport - Google Patents

Dispositif de réglage d'inclinaison et robot de transport Download PDF

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Publication number
WO2021018184A1
WO2021018184A1 PCT/CN2020/105481 CN2020105481W WO2021018184A1 WO 2021018184 A1 WO2021018184 A1 WO 2021018184A1 CN 2020105481 W CN2020105481 W CN 2020105481W WO 2021018184 A1 WO2021018184 A1 WO 2021018184A1
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WO
WIPO (PCT)
Prior art keywords
hinge
tilt adjustment
sliding
seat
fixed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/105481
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English (en)
Chinese (zh)
Inventor
朱晓
张丹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Bozhilin Robot Co Ltd
Original Assignee
Guangdong Bozhilin Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Publication of WO2021018184A1 publication Critical patent/WO2021018184A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

Definitions

  • This application relates to the technical field of motor vehicle components or accessories, in particular to a tilt adjustment device and a carrying robot.
  • the robot body is usually installed on an automatic guided transport vehicle (AGV trolley) to realize autonomous movement.
  • AGV trolley automatic guided transport vehicle
  • the robot body may tilt to varying degrees, which affects the accuracy of the operation.
  • a tilt adjustment device is usually installed between the robot body and the AGV trolley.
  • the mechanism of the known pose adjustment device includes a slider, a bearing and a screw nut, a hinge, and a motor.
  • the principle is to drive the screw to rotate through the servo motor, thereby driving the bearing to roll along the inclined surface under the load platform, thereby driving the robot
  • the bearing platform rotates to realize tilt adjustment.
  • the inclined surface will tend to detach from the bearing rolling surface.
  • stop bolts are usually installed on the load-bearing platform to prevent the inclined surface from detaching through its fastening effect.
  • this solution may cause the rigidity and stability of the tilt adjustment device to crack.
  • the purpose of this application is to provide a tilt adjustment device for a robot carrying platform in response to the above-mentioned defects, so as to solve the problem of poor reliability of the bearing in direct contact with the inclined surface in the prior art, so as to improve the tilt adjustment device with high reliability, good rigidity and movement. Smooth effect.
  • the present application provides a tilt adjustment device, including: a bottom plate, a tilt adjustment plate, a driving mechanism, a fixed hinge mechanism and a slidable hinge mechanism, the fixed hinge mechanism is fixed on the bottom plate,
  • one end of the tilt adjustment plate is hinged with the fixed hinge mechanism, and the other end is hinged with the slidable hinge mechanism;
  • the lower part of the slidable hinge mechanism is slidably arranged at The sliding mechanism;
  • the upper part of the sliding mechanism and the slidable hinge mechanism slidably fit together, the lower part of the sliding mechanism is relatively slidably arranged on the bottom plate;
  • the upper part of the sliding mechanism is formed
  • An inclined sliding surface is slidably engaged with the slidable hinge mechanism, and the inclination direction of the inclined sliding surface faces the side of the fixed hinge mechanism;
  • the axis of hinged connection between the inclined adjusting plate and the fixed hinge mechanism is L1;
  • the slidable hinge mechanism is a slider hinge mechanism, which includes: a slider, a hinge seat, and a fixed seat; through the slider, the slidable hinge mechanism forms a sliding fit relationship with the sliding mechanism ,
  • the hinge seat is fixed on the slider or is integrally formed with the slider;
  • the fixed seat is provided with two, which are pivotally arranged on both sides of the hinge seat;
  • the tilt adjusting plate is fixed On the fixed seat, it can pivot with the fixed seat relative to the hinge seat.
  • a sliding groove is formed at the bottom of the sliding block, and a sliding rail is correspondingly formed at the upper part of the sliding mechanism, and the sliding groove and the sliding rail are slidably fitted together.
  • the two side walls of the sliding groove form a limiting groove.
  • the hinge seat includes a hinge shaft, the hinge shaft rotatably passes through the hinge seat, and the fixing seat is fixed at both ends of the hinge shaft passing through the hinge seat, and is integral with the tilt adjusting plate.
  • the hinge shaft rotates.
  • the hinge shaft is arranged perpendicular to the extending direction of the sliding groove.
  • an oil-free bush is arranged between the hinge shaft and the hinge seat; a thrust needle roller bearing is arranged between the hinge seat and the fixed seat.
  • locking caps and screws are provided at both ends of the fixing base to adjust the clearance of the thrust needle roller bearing and the radial rigidity of the hinge shaft.
  • the sliding mechanism is a dual-rail slider mechanism
  • the sliding mechanism is a dual-rail slider mechanism, which includes: a bottom rail, a connecting slider, a wedge seat, and an upper rail, wherein: the upper rail, the The wedge-shaped seat and the connecting slider form a sliding part, and the whole is slidably arranged on the bottom rail through the connecting slider, and the bottom rail is fixed on the bottom plate; the upper rail and the The slidable hinge mechanism can be slidably fitted together.
  • the upper rail is fixed on the wedge seat
  • the bottom of the wedge seat is fixedly supported on the connecting slider
  • the connecting slider is slidably arranged on the bottom rail.
  • a sliding groove is formed at the bottom of the connecting slider, and the sliding groove and the bottom guide rail form a sliding fit relationship.
  • the connecting slider is mounted on the bottom rail through the sliding groove.
  • the projections of the center line of the upper rail and the center line of the bottom rail on the bottom plate coincide.
  • the driving force for the sliding of the connecting slider along the bottom guide rail comes from the driving mechanism.
  • the driving mechanism includes a motor, a screw rod, a screw rod support seat, and a connecting plate, wherein one end of the screw rod can be coaxially connected with the motor output shaft, and the other end passes through the connecting plate, and It is rotatably supported on the screw rod support seat, and the connecting plate is threadedly fitted with the screw rod on the one hand, and fixedly connected with the slider on the other hand, so that the rotation of the screw rod becomes slide.
  • the fixed hinge mechanism is a fixed hinge mechanism, which includes a hinge base and a floating base, the hinge base is fixed on the bottom plate, and the floating base is swingably arranged on both sides of the hinge base .
  • the fixed hinge mechanism further includes a hinge shaft and an oil-free bushing; the hinge shaft passes through the hinge base and is provided with an oil-free bushing between the hinge base and the hinge base. Thrust needle roller bearings are arranged on the hinge shaft between the floating seats.
  • locking caps and screws are provided at both ends of the floating seat to adjust the gap between the floating seat, the thrust needle roller bearing and the hinge base.
  • the floating seat includes two coaxially arranged D-shaped blocks, and the D-shaped blocks have a supporting surface for fixedly supporting the tilt adjusting plate.
  • two fixed hinge mechanisms are provided, and two slidable hinge mechanisms are provided, both of which are separately provided on both sides of the driving mechanism, and their positions correspond to each other.
  • the driving mechanism includes a driving motor and an intermediate transmission mechanism.
  • One end of the intermediate transmission mechanism is drivingly connected to the driving motor, and the other end is connected to the sliding mechanism so that it can slide relative to the bottom plate.
  • the intermediate transmission mechanism includes a screw rod, a coupling, a screw rod support seat, and a connecting plate.
  • One end of the screw rod is connected with the motor output shaft through a coupling, and the other end passes through the connecting plate.
  • the connecting plate Rotatably supported on the screw support seat, the connecting plate is threadedly fitted with the screw on the one hand, and fixedly connected with the slider on the other hand, turning the rotation of the screw into the sliding mechanism The sliding of the slider.
  • the intermediate transmission mechanism further includes a ball screw nut, and the ball screw nut is arranged at a rotation matching position of the connecting plate and the screw.
  • the two ends of the connecting plate located on both sides of the screw rod are respectively connected to the sliding mechanism.
  • the connecting plate is provided with a positioning device along the working direction of the screw rod to make it move only in a certain range.
  • the upper rail and the slidable hinge mechanism are slidably fitted together; the upper rail is fixed on the wedge seat, and the bottom of the wedge seat is fixedly supported on the connecting slider,
  • the connecting slider is slidably arranged on the bottom guide rail; the bottom of the connecting slider forms a sliding groove, and the sliding groove forms a sliding mating relationship with the bottom guide rail; the connecting slider passes through the sliding groove Riding on the bottom guide rail; the driving force of the connecting slider sliding along the bottom guide rail comes from the driving mechanism;
  • the driving mechanism includes a motor, a screw rod, a screw rod support seat, and a connecting plate, wherein the screw rod One end can be coaxially connected with the motor output shaft, and the other end passes through the connecting plate and is rotatably supported on the screw support seat.
  • the connecting plate is threaded with the screw on the one hand, and the other On the one hand, it is fixedly connected to the slider, and the rotation of the screw rod is changed to the sliding of the slider;
  • the fixed hinge mechanism also includes a hinge shaft and an oil-free bush; the hinge shaft passes through the hinge base, and There is an oil-free bushing between the hinge base and the hinge base, and the hinge shaft between the hinge base and the floating seat is provided with thrust needle roller bearings; both ends of the floating seat are provided with locking caps and screws to adjust the The gap between the floating seat, the thrust needle roller bearing and the hinge base;
  • the floating seat includes two coaxially arranged D-shaped blocks, and the D-shaped blocks have a supporting surface for fixedly supporting the tilt adjusting plate.
  • a carrying robot which includes any one of the aforementioned tilt adjustment devices.
  • the transport robot further includes a sensor, a tilt adjustment control device, and a signal feedback device, the tilt adjustment control device is used to control the tilt when the sensor detects that the transport robot is tilted relative to the horizontal plane Adjust the operation of the device.
  • the movement of the drive mechanism along the drive direction is converted into the movement of the slider mechanism around the first hinge axis and the second hinge axis, so as to realize the tilt adjustment plate around the horizontal plane.
  • the reliability and smoothness of the rotation and movement enhance the rigidity and load-bearing capacity of the tilt adjusting plate.
  • the solution of the present application by adopting the technology of the slider hinge mechanism, realizes the reliable and smooth movement of the tilt adjustment plate driven by the slider hinge mechanism around the first hinge axis and the second hinge axis. It enhances the rigidity and load-bearing capacity of the tilt adjustment plate.
  • the sliding plate hinge mechanism drives the tilt adjusting plate to rotate around the first hinge axis and the second hinge axis.
  • the reliability and smoothness of the movement enhances the rigidity and load-bearing capacity of the tilt adjustment plate.
  • the solution of the present application realizes the reliability of the movement of the tilt adjustment plate driven by the slider hinge mechanism to rotate around the first hinge axis and the second hinge axis by using a slider with a limit slot. Smoothness enhances the rigidity and load-bearing capacity of the tilt adjusting plate.
  • the solution of the present application includes: a hinge shaft rotatably passing through the hinge base, and fixing bases fixed at both ends of the hinge base passing through the hinge base, and the tilt adjustment plate can be integrated with the tilt adjustment plate to wrap around the hinge
  • the pivoting hinge seat technology while providing support for the slider mounting seat, improves the reliability and smoothness of the tilt adjustment plate's rotation and movement around the horizontal plane, and enhances the rigidity of the tilt adjustment plate And load-bearing capacity.
  • an oil-free bushing is arranged between the hinge shaft and the hinge seat; a thrust needle roller bearing is arranged between the hinge seat and the fixed seat, which improves the drive by the slidable hinge mechanism.
  • the reliability and smoothness of the rotation and movement of the tilt adjustment plate around the horizontal plane enhance the rigidity and load-bearing capacity of the tilt adjustment plate.
  • locking caps and screws are arranged at both ends of the fixing base to stably adjust the clearance of the thrust needle roller bearing and the radial rigidity of the hinge shaft.
  • the solution of the present application through a dual-rail slider mechanism, includes: a bottom rail, a connecting slider, a wedge seat, and an upper rail.
  • the upper rail, the wedge seat, and the connecting slider form a sliding part, and the whole
  • the connecting slider is slidably arranged on the bottom rail, and the bottom rail is fixed on the bottom plate; the upper rail and the slidable hinge mechanism can be slidably fitted together to realize the The continuity and stability of the tilt adjustment plate rotating around the horizontal plane.
  • the solution of the present application is fixed on the wedge-shaped seat by an upper rail, the bottom of the wedge-shaped seat is fixedly supported on the connecting slider, and the connecting slider is slidably arranged on the bottom rail.
  • the driving force of the connecting slider along the bottom guide rail is derived from the driving mechanism, so that the tilt adjustment plate and the slidable hinge mechanism can be firmly connected while improving The continuity and stability of rotation around the horizontal plane.
  • the solution of the present application includes a motor, a screw rod, a screw rod support seat, and a connecting plate, wherein one end of the screw rod can be coaxially connected with the motor output shaft, and the other end passes through the connecting plate , Rotatably supported on the screw rod support seat, the connecting plate is threadedly fitted with the screw rod on the one hand, and fixedly connected with the slider on the other hand, so that the rotation of the screw rod becomes the slider
  • the sliding driving mechanism provides stable driving force to the sliding block, so that the tilt adjusting plate and the slidable hinge mechanism can be firmly connected while improving the continuity and stability of rotation around the horizontal plane.
  • the solution of the present application includes a hinge base and a floating base, the hinge base is fixed on the bottom plate, and the floating base is swingably provided with fixed hinge mechanisms on both sides of the hinge base, so that The inclination adjustment plate and the first fixed hinge mechanism can be firmly connected with each other and can improve the continuity and stability of rotation around the horizontal plane.
  • the solution of the present application is based on the reasoning including a hinge shaft passing through the hinge base, an oil-free bushing between the hinge base, and the hinge shaft between the hinge base and the floating seat.
  • the fixed hinge mechanism of the needle bearing improves the wear resistance of the hinge shaft of the slidable hinge mechanism, and further improves the continuity and stability of the tilt adjustment plate rotating around the horizontal plane
  • the solution of the present application includes two coaxially arranged D-shaped blocks and a floating seat with a supporting surface for fixedly supporting the tilt adjusting plate, so that the tilt adjusting plate and the fixed hinge mechanism are stable.
  • the connection can improve the continuity and stability of rotation around the horizontal plane, and enhance the rigidity and load-bearing capacity of the tilt adjustment plate.
  • the solution of the present application includes an intermediate transmission mechanism whose one end is drivingly connected to the drive motor and the other end is connected to a sliding mechanism so that it can slide with respect to the bottom plate to provide a stable driving force for the slider , So that the tilt adjustment plate and the slidable hinge mechanism can be firmly connected while improving the continuity and stability of rotation around the horizontal plane.
  • the D-shaped block adopted in the solution of the present application has a technology to fix and support the supporting surface of the tilt adjustment plate, and provide a stable driving force for the slider, so that the tilt adjustment plate and the adjustable
  • the sliding hinge mechanism can improve the continuity and stability of rotation around the horizontal plane while being firmly connected, and enhance the rigidity and load-bearing capacity of the tilt adjustment plate.
  • the solution of the present application adopts the technology of the carrying robot with sensors, tilt adjustment control device, and signal feedback device to detect the degree of inclination of the carrying robot relative to the horizontal plane and control the operation of the tilt adjustment control device to achieve Perform accurate tilt adjustment of the carrying robot body.
  • the solution of the present application adopts detecting whether the carrying robot is inclined relative to the horizontal plane; if the detecting that the carrying robot is inclined relative to the horizontal plane, an adjustment signal is output to control the operation of the inclination adjustment device; repeat within a certain period of time
  • the control method of the carrying robot in the detection and adjustment process realizes the real-time detection and adjustment of the inclination degree of the carrying robot body in the working process, and improves the working accuracy of the carrying robot.
  • the solution of the present application solves the problem that the bearing is easy to slip when rolling along an inclined plane in the prior art through the technology that the tilt adjustment plate is rotatable relative to the axis L1 and L2, and overcomes the lack of reliability and rigidity of the prior art.
  • the defects of poor and not smooth movement achieve the beneficial effects of improving the reliability, rigidity, and smooth movement of the tilt adjusting device, and improving the operation accuracy of the carrying robot.
  • Figure 1 is a side view of an embodiment of the tilt adjustment device of the present application
  • Fig. 2 is a three-dimensional schematic diagram of an embodiment of the slider mechanism of the tilt adjustment device of the present application
  • FIG. 3 is a perspective view of the fixed hinge mechanism of the embodiment of the tilt adjustment device of the application.
  • FIG. 4 is a side view of the fixed hinge mechanism of the embodiment of the tilt adjustment device of the application.
  • FIG. 5 is an exploded view of the fixed hinge mechanism of the embodiment of the tilt adjustment device of the application.
  • FIG. 6 is a top view of the fixed hinge mechanism of the embodiment of the tilt adjustment device of the application.
  • FIG. 7 is a cross-sectional view of the fixed hinge mechanism of the embodiment of the tilt adjustment device of the application.
  • FIG. 8 is a three-dimensional schematic diagram of a slidable hinge mechanism of an embodiment of the tilt adjustment device of this application.
  • FIG. 9 is a top view of the slidable hinge mechanism of the embodiment of the tilt adjustment device of the application.
  • FIG. 10 is a cross-sectional view of the slidable hinge mechanism of an embodiment of the tilt adjustment device of this application;
  • FIG. 11 is an exploded view of the slidable hinge mechanism of the embodiment of the tilt adjustment device of the application.
  • FIG. 12 is a three-dimensional schematic diagram of the guide rail mechanism of the embodiment of the tilt adjustment device of this application.
  • Figure 13 is a front view of the guide rail mechanism of an embodiment of the tilt adjustment device of the application.
  • FIG. 14 is a schematic diagram of the overall assembly of an embodiment of the tilt adjustment device of this application.
  • FIG. 1 is a schematic diagram of an embodiment of the tilt adjustment device of the application.
  • the driving direction in this embodiment refers to the direction of the output shaft of the driving mechanism.
  • the tilt adjustment device of this embodiment includes: a bottom plate 1, a tilt adjustment plate 3, a driving mechanism 4, a fixed hinge mechanism 2 and a slidable hinge mechanism 6.
  • the fixed hinge mechanism 2 is fixed on the bottom plate 1 to provide support and rotation for the tilt adjusting plate 3.
  • One end of the tilt adjusting plate 3 is hingedly arranged with the fixed hinge mechanism 2, and the other end of the tilt adjusting plate 3 is connected with the slidable hinge mechanism 6.
  • the lower part of the slidable hinge mechanism 6 is slidably arranged on the sliding mechanism 5; the upper part of the sliding mechanism 5 and the slidable hinge mechanism 6 are slidably fitted together, and the lower part of the sliding mechanism 5 is relatively slidable Set on the bottom plate 1; the upper part of the sliding mechanism 5 forms an inclined sliding surface which is slidably fitted with the slidable hinge mechanism 6.
  • the inclination direction of the inclined sliding surface faces the side 2 of the fixed hinge mechanism; the axis of the hinged adjustment plate 3 and the fixed hinge mechanism 2 Is L1; the axis of hinged joint between the tilt adjusting plate 3 and the slidable hinge mechanism 6 is L2, the axes L1 and L2 are parallel, and are parallel to the plane where the bottom plate is located; the sliding direction S1 provided by the inclined sliding surface is perpendicular to the axis L1 and the axis L2;
  • the mechanism 4 is fixed on the bottom plate 1 and is drivingly connected with the sliding mechanism 5 so that the sliding mechanism 5 can slide back and forth relative to the bottom plate 1 to realize the tilt adjustment of the tilt adjustment plate 3.
  • the fixed hinge mechanism 2 may be a hinge mechanism available to those skilled in the art that can provide vertical support for the tilt adjustment plate 3.
  • the tilt adjusting plate 3 may be a supporting structure available to those skilled in the art, for example, it may be a supporting plate with a certain thickness and strength.
  • the driving mechanism 4 may be a driving device that can stably provide an axial output available to those skilled in the art, including but not limited to a servo motor 401 with an axial output.
  • the driving mechanism 4 preferably includes but is not limited to: a screw rod 402, a screw rod support seat 403, a coupling 404, a ball screw nut 405 and other components.
  • the rotation of the tilt adjustment device is realized as follows: when the driving mechanism 4 outputs the driving force to the slidable hinge mechanism 6 in the driving direction close to the driving mechanism 4, the slidable hinge mechanism 6 is on the bottom plate 1 in the driving direction close to the driving mechanism 4 While moving, it rotates clockwise around the axis L2. Because it is connected to the tilt adjustment plate 3, the tilt adjustment plate 3 can be driven to rotate clockwise around the axes L1 and L2 of the fixed hinge mechanism 2.
  • the slidable hinge mechanism 6 rotates counterclockwise around the axes L1, L2 while moving on the base plate 1 in the driving direction away from the drive mechanism, because it is connected to the tilt adjusting plate 3.
  • the tilt adjusting plate 3 can be driven to rotate counterclockwise around the axis L1, L2, thereby achieving tilt adjustment.
  • the slidable hinge mechanism 6 includes: a rail mechanism 601, a slider 602, a hinge seat 6032, and two fixed seats 6036, of which the slider 602 and the rail mechanism 601 is slidably connected.
  • the hinge seat 6032 is rotatably connected with the slider 602.
  • the guide rail mechanism 601 has an inclined surface 601a relative to the base plate 1.
  • the slider 602 is slidably arranged on the inclined surface 601a.
  • the inclined surface is preferably an inclined sliding surface.
  • the guide rail mechanism 601 can be, but not limited to, a wedge-shaped body with an inclined surface 601a.
  • the slider 602 can be, but not limited to, a protrusion or groove that is slidingly fitted with the guide rail mechanism 601.
  • the hinge seat 6032 and the slider 602 can be rotationally connected. It is but not limited to the shaft and bearing matching structure. For example, it can be any other mechanism that converts sliding into rotation through friction pairs, and is pivotally arranged on both sides of the hinge seat; the tilt adjustment plate 3 is fixed on the fixed seat, and It can pivot with the fixed seat relative to the hinge seat.
  • the working principle of the slidable hinge mechanism 6 is as follows: when the driving mechanism 4 outputs a driving force close to the driving mechanism 4 to the guide mechanism 601 along the driving direction, the slider 602 moves in the opposite direction relative to the guide mechanism 601. Under the action of friction, the hinge seat 6032 rotates relative to the slider 601, that is, rotates clockwise around the axis L2. Similarly, when the driving mechanism 4 outputs a driving force away from the driving mechanism 4 to the guide mechanism 601 in the driving direction, the slider 602 is opposite to the guide mechanism 601. Moving in the opposite direction, under the action of friction, the hinge seat 6032 rotates in the opposite direction relative to the slider 601, that is, rotates counterclockwise around the axis L2.
  • FIG. 5 shows the specific structure of the fixed hinge mechanism 2, including: a hinge base 201, a floating seat 204, a hinge shaft 205, a bearing 206, a bushing 207 and fasteners 202 and 203.
  • the hinge base 201 is a rotating support for fixing the hinge mechanism 2, which can be fixed to the bottom plate 1 by common fastening methods such as screws.
  • This embodiment gives an example shape of the hinge base 201 as
  • the vertical body has a hole for accommodating the rotation of the hinge shaft 205 and the bushing 207.
  • the two ends of the hinge shaft 205 are respectively connected with a floating seat 204.
  • the floating seat 204 includes two coaxially arranged D-shaped blocks.
  • the D-shaped blocks have a supporting surface for supporting the tilt adjustment plate.
  • the connection includes but not limited to fasteners and welding.
  • the hinge shaft 205 can rotate along the oil-free bushing 207.
  • the oil-free bushing 207 is preferably a copper alloy wear-resistant material.
  • the bushing 207 is preferably embedded with a solid lubricant, and the bushing is preferably in the form of completely covering the hinge shaft 205.
  • the fasteners 202 and 203 are preferably screws and locking caps, respectively, and the bearing 205 is preferably a thrust needle roller bearing,
  • the gap between the floating seat, the bearing 206 and the hinge base 201 can be adjusted by the fasteners 202 and 203.
  • the radial gap along the hinge shaft 205 is small, and the rigidity is good. Can withstand radial moments.
  • the movement realization of the fixed hinge mechanism 2 is described below.
  • the fastening connection between the fixed hinge mechanism 2 and the second tilt adjustment plate 3 makes the tilt adjustment plate 3 only rotate around the hinge shaft 205 of the fixed hinge mechanism 2, and Connecting the tilt adjusting plate 3 through the floating seat can make the rotation more stable.
  • FIG. 11 shows the specific structure of the slidable hinge mechanism 6, including: slider 602, hinge seat 6032, bushing 6033, hinge shaft 6034, bearing 6035, fixed seat 6036, fastening Pieces 6037 and 6038.
  • a sliding groove is provided in the middle of the slider 602, and the two arms of the sliding groove form a limit groove. The limit groove prevents the slider from moving in the vertical sliding direction relative to the upper guide rail.
  • the hinge seat 6032 is a slidable hinge mechanism 6
  • the rotating support member can be fixed to the tilt adjustment plate 3 by common fastening methods such as screws.
  • This embodiment gives an example shape of the hinge seat 6032 as
  • the vertical body has a hole for accommodating the rotation of the hinge shaft 6034 and the bushing 6033.
  • the bushing 6033 is preferably a copper alloy wear-resistant material, the bushing 6033 is preferably embedded with a solid lubricant, and the bushing 6033 is preferably in the form of completely covering the hinge shaft 6035, but those skilled in the art should know that it is not limited to this, for example, it
  • the hinge shaft 6035 may be partially covered.
  • the fasteners 6037 and 6038 are preferably screws and locking caps, respectively, and the bearing 6035 is preferably a thrust needle roller bearing. Through the fasteners 6037 and 6038, the gap between the floating seat 204, the bearing 6035 and the hinge seat 6032 can be adjusted.
  • the tilt adjustment plate 3 When the slider 601 rotates in the reverse direction, that is, rotates clockwise, the tilt adjustment plate 3 is driven to rotate clockwise, thereby completing the tilt adjustment of the tilt adjustment plate 3; similarly, the driving mechanism 4 outputs to the guide mechanism 601 along the driving direction
  • the slider 602 moves in the reverse direction relative to the guide rail mechanism 601.
  • the bushing 6033 drives the bearing 6035 and the hinge seat 6032 to rotate relative to the slider 601 about the axis L2 in the reverse direction. , That is, rotate counterclockwise, so as to drive the tilt adjustment plate 3 to rotate counterclockwise around the axes L1 and L2, thereby completing the tilt adjustment of the tilt adjustment plate 3.
  • FIGS. 12 and 13 show a preferred structure of the guide rail mechanism 601 of the sliding mechanism 5 of the tilt adjustment device.
  • the guide rail mechanism 601 includes a bottom guide rail 6011, a connecting slider 6012, a wedge seat 6013, an inclined surface 601a, and an upper guide rail 6014.
  • the upper guide rail is an "I"-shaped guide rail, and its surface is provided with connecting positions;
  • the wedge shape is preferably a quadrangular pyramid with a slope 601a, and the positive slope of the guide rail mechanism 601 is defined as: slope 601a
  • the counterclockwise included angle relative to the horizontal plane is an obtuse angle.
  • the bottom guide rail 6011 is fixed on the bottom plate 1
  • the upper guide rail 6014 is fixed on the wedge seat 6013
  • the wedge seat 6013 is installed on the connecting slider 6012.
  • the middle slider 6012, the wedge seat 6013 and the upper rail 6014 can be integrated by connecting slides.
  • the block 6012 slides on the bottom guide rail 6011, and by adjusting the angle of the inclined surface of the wedge seat 6013 and the length of the entire mechanism, the range of adjusting the tilt angle of the entire mechanism can be changed.
  • the projections of the center line of the upper rail 6014 and the center line of the bottom rail 6011 on the bottom plate coincide.
  • the upper guide rail 6014, the wedge seat 6013, and the bottom guide rail 6011 are also provided with mounting holes for connecting pieces for connection with the base 1 and the slidable hinge mechanism 6.
  • FIG. 14 shows an overall assembly diagram of the tilt adjustment device.
  • the tilt adjustment device as a whole includes: a bottom plate 1, a tilt adjustment plate 3, a drive mechanism 4 located in the middle, a fixed hinge mechanism 2 symmetrically arranged on one side of the drive mechanism 4, 2 symmetrically arranged on the other side of the drive mechanism 4
  • the slidable hinge mechanism6 is shown in FIG. 14 in FIG. 14.
  • the driving mechanism 4 may be a driving device that can stably provide axial output available to those skilled in the art, including but not limited to a servo motor with axial output.
  • the driving mechanism 4 preferably includes but is not limited to: a screw rod 402, a screw rod support seat 403, a coupling 404, a ball screw nut 405 and other components.
  • the tilt adjusting plate 3 may be a supporting structure available to those skilled in the art, for example, it may be a supporting plate with a certain thickness and strength.
  • the fixed hinge mechanism 2 includes: a hinge base 201, a floating seat 204, a hinge shaft 205, a bearing 206, a bushing 207, and fasteners 202 and 203.
  • the hinge base 201 is a rotating support for fixing the hinge mechanism 2, which can be fixed to the bottom plate 1 by common fastening methods such as screws.
  • This embodiment gives an example shape of the hinge base 201 as
  • the vertical body has a hole for accommodating the rotation of the hinge shaft 205 and the bushing 207.
  • the two ends of the hinge shaft 205 are respectively connected with a floating seat 204.
  • the floating seat 204 includes two coaxially arranged D-shaped blocks.
  • the D-shaped blocks have a supporting surface for supporting the tilt adjustment plate.
  • the connection includes but not limited to fasteners and welding.
  • the hinge shaft 205 can rotate along the oil-free bushing 207.
  • the oil-free bushing 207 is preferably a copper alloy wear-resistant material.
  • the bushing 207 is preferably embedded with a solid lubricant, and the bushing is preferably in the form of completely covering the hinge shaft 205.
  • the fasteners 202 and 203 are preferably screws and locking caps, respectively, and the bearing 205 is preferably a thrust needle roller bearing,
  • the gap between the floating seat, the bearing 206 and the hinge base 201 can be adjusted by the fasteners 202 and 203.
  • the radial gap along the hinge shaft 205 is small and the rigidity is good. And can withstand radial moments.
  • the movement realization of the fixed hinge mechanism 2 is described below.
  • the fastening connection between the fixed hinge mechanism 2 and the second tilt adjustment plate 3 makes the tilt adjustment plate 3 only rotate around the hinge shaft 205 of the fixed hinge mechanism 2, and Connecting the tilt adjusting plate 3 through the floating seat can make the rotation more stable.
  • the slidable hinge mechanism 6 includes: a slider 602, a hinge seat 6032, a bush 6033, a hinge shaft 6034, a bearing 6035, a fixing seat 6036, fasteners 6037 and 6038.
  • a sliding groove is provided in the middle of the slider 602, and the two arms of the sliding groove form a limit groove.
  • the limit groove prevents the slider from moving in the vertical sliding direction relative to the upper guide rail.
  • the hinge seat 6032 is the rotation of the slidable hinge mechanism 6.
  • the support member which can be fixed on the tilt adjustment plate 3 by common fastening methods such as screws, the present embodiment gives an example shape of the hinge seat 6032 as
  • the vertical body has a hole for accommodating the rotation of the hinge shaft 6034 and the bushing 6033.
  • the bushing 6033 is preferably a copper alloy wear-resistant material, the bushing 6033 is preferably embedded with a solid lubricant, and the bushing 6033 is preferably in the form of completely covering the hinge shaft 6035, but those skilled in the art should know that it is not limited to this, for example, it
  • the hinge shaft 6035 may be partially covered.
  • the fasteners 6037 and 6038 are preferably screws and locking caps, respectively, and the bearing 6035 is preferably a thrust needle roller bearing.
  • the gap between the floating seat, the bearing 6035 and the hinge seat 6032 can be adjusted.
  • the floating seat and the hinge shaft 6034 rotate, the clearance along the radial direction of the hinge shaft 6034 is small, the rigidity is good, and it can bear radial moments.
  • the movement realization of the slidable hinge mechanism 6 is described below.
  • the tilt adjustment plate 3 When the slider 601 rotates in the reverse direction, that is, rotates clockwise, the tilt adjustment plate 3 is driven to rotate clockwise, thereby completing the tilt adjustment of the tilt adjustment plate 3; similarly, the driving mechanism 4 outputs to the guide mechanism 601 along the driving direction
  • the slider 602 moves in the reverse direction relative to the guide rail mechanism 601.
  • the bushing 6033 drives the bearing 6035 and the hinge seat 6032 to rotate relative to the slider 601 about the axis L2 in the reverse direction. , That is, rotate counterclockwise, so as to drive the tilt adjustment plate 3 to rotate counterclockwise around the axes L1 and L2, thereby completing the tilt adjustment of the tilt adjustment plate 3.
  • the guide rail mechanism 601 includes a bottom guide rail 6011, a connecting slider 6012, a wedge seat 6013, an inclined surface 601a, and an upper guide rail 6014.
  • the upper guide rail is an "I"-shaped guide rail, and its surface is provided with connecting positions;
  • the wedge shape is preferably a quadrangular pyramid with a slope 601a, and the positive slope of the guide rail mechanism 601 is defined as: slope 601a
  • the counterclockwise included angle relative to the horizontal plane is an obtuse angle.
  • the bottom guide rail 6011 is fixed on the bottom plate 1
  • the upper guide rail 6014 is fixed on the wedge seat 6013
  • the wedge seat 6013 is installed on the connecting slider 6012.
  • the middle slider 6012, the wedge seat 6013 and the upper rail 6014 can be connected to slide as a whole.
  • the block 6012 slides on the bottom guide rail 6011, and by adjusting the angle of the inclined surface of the wedge seat 6013 and the length of the entire mechanism, the range of adjusting the tilt angle of the entire mechanism can be changed.
  • the projections of the center line of the upper rail 6014 and the center line of the bottom rail 6011 on the bottom plate coincide.
  • the upper guide rail 6014, the wedge seat 6013, and the bottom guide rail 6011 are also provided with mounting holes for connecting pieces for connection with the base 1 and the slidable hinge mechanism 6.
  • the cooperation of the sliding groove and the guide rail in the embodiment of the present application can also be inverted.
  • the sliding block 602 is provided with a guide rail
  • the guide rail mechanism 601 is correspondingly provided with a sliding groove.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Transmission Devices (AREA)
  • Pivots And Pivotal Connections (AREA)

Abstract

La présente invention concerne un dispositif de réglage d'inclinaison et un robot de transport. Le dispositif de réglage d'inclinaison comprend : une plaque de base (1), une plaque de réglage d'inclinaison (3), un mécanisme d'entraînement (4), un mécanisme de charnière fixe (2), un mécanisme de charnière coulissant (6), et un mécanisme coulissant (5) ; le mécanisme de charnière fixe (2) est fixé sur la plaque de base (1) et fournit un support et une rotation pour la plaque de réglage d'inclinaison (3) ; la plaque de réglage d'inclinaison (3) présente une extrémité articulée sur le mécanisme de charnière fixe (2) et l'autre extrémité est articulée sur le mécanisme de charnière coulissant (6) ; le mécanisme de charnière coulissant (6) présente une partie inférieure disposée de manière coulissante sur le mécanisme coulissant (5) ; le mécanisme coulissant (5) présente une surface de coulissement inclinée formée sur la partie supérieure de celui-ci et ajustée de façon coulissante avec le mécanisme de charnière coulissant (6), la direction d'inclinaison de la surface de coulissement inclinée fait face au côté du mécanisme de charnière fixe (2), la partie inférieure du mécanisme coulissant est disposée de manière relativement coulissante sur la plaque de base (1). Au moyen des agencements du mécanisme coulissant (5) et du mécanisme de charnière du dispositif de réglage d'inclinaison, une plateforme de transport robotisée présente un degré de liberté fiable et stable dans une direction d'entraînement verticale.
PCT/CN2020/105481 2019-07-31 2020-07-29 Dispositif de réglage d'inclinaison et robot de transport Ceased WO2021018184A1 (fr)

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CN201910703499.5A CN110294055B (zh) 2019-07-31 2019-07-31 倾斜调整装置及一种载运机器人

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CN110948328A (zh) * 2019-11-28 2020-04-03 北京微纳精密机械有限公司 一种高精度一维角度调整工作台
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