CN201042980Y - Universal wheel floating structure for wheeled mobile welding robot - Google Patents

Abstract

A universal wheel floating structure for a wheeled mobile welding robot, which is characterized in that two driving wheels are connected at the lower end of the car body, the lower front end of the car body is connected with the front universal wheel, and the lower rear end of the car body is connected with the rear universal wheel. Wheel, the rear upper end of the car body connects the spring seat, the spring seat connects the slide seat and the spring, the screw plug connects the spring, and the spring seat and the slide seat are fixedly connected on the car body by long screws and screws. The advantages of the utility model are: (1) the structural support area is large, stable and not easy to overturn; (2) when the ground is uneven, it can also ensure that the four wheels touch the ground at the same time, and the movement is flexible; (3) the floating universal wheel and the ground The contact force is easy to adjust.

Description

Universal wheel floating structure for wheeled mobile welding robot

technical field

The utility model relates to a universal wheel floating structure, in particular to a universal wheel floating structure for a wheeled mobile welding robot.

Background technique

At present, the application of robots is more and more extensive, and it penetrates into almost all fields. Mobile robots are an important branch of robotics. Wheeled mobile robot is the most widely used type of mobile robot because of its flexible movement and simple control.

In the shipbuilding industry, there are a large number of welding of plane bending welds in the construction of ships, such as lattice welds between the bottom of the hull and the deck with limited space. These welds usually have to be operated on site, combining robot technology with seam tracking technology The advanced mobile welding robot technology is an effective way to solve its automation welding problems. The walking mechanism is one of the key technologies of the mobile welding robot. Its requirements are: it must have the most reasonable degree of freedom configuration, light mechanism, flexible and reliable movement, small turning radius, simple control, and high tracking accuracy. The planar mobile robot with two-wheel differential drive and universal wheel structure is just the walking mechanism suitable for this requirement. The two-wheel differential drive and universal wheel structure is divided into two types, one is that a universal wheel is placed in front of the two driving wheels, and the other is that the two universal wheels are respectively placed in the front and rear of the drive. In the case of the same size, the support area of the latter structure is larger, the support is more stable, and it is not easy to overturn. However, this structure has a major disadvantage, that is, when the plane is not very flat, the driving wheel in the middle may not be in contact with the ground. Thereby losing the drive, thus limiting its application.

Contents of the invention

The purpose of the utility model is to provide a universal wheel floating structure for a wheeled mobile welding robot. Solve the problem that the mobile robot lands on the ground with four wheels simultaneously on a certain curved surface or not very smooth plane.

The utility model is realized in this way, it comprises car body, driving wheel, front universal wheel, rear universal wheel, spring seat, sliding seat and spring, it is characterized in that two driving wheels are connected at the lower end of car body, car body The lower front end of the car body is connected to the front universal wheel, the lower rear end of the car body is connected to the rear universal wheel, the rear upper end of the car body is fixed to the spring seat, the screw plug is connected to the spring seat through threads, and the sliding seat is connected to the car body through a long screw. On the car body, the slide seat can slide between the car body and the spring seat. The rear universal wheel is connected with the sliding seat by screws, and a spring is placed between the spring seat and the sliding seat to ensure the contact between the universal wheel and the ground. Turn the screw plug in the spring seat to adjust the compression amount of the spring, thereby adjusting the size of the contact force between the rear universal wheel and the ground.

The advantages of the utility model are: (1) the structural support area is large, stable and not easy to overturn; (2) when the ground is uneven, it can also ensure that the four wheels touch the ground at the same time, and the movement is flexible; (3) the floating universal wheel and the ground The contact force is easy to adjust.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is a schematic diagram of the working state of the utility model.

In the figure, 1, car body 2, driving wheel 3, front universal wheel 4, rear universal wheel 5, workpiece 6, spring seat 7, sliding seat 8, spring 9, screw plug 10, long screw 11, screw

Detailed ways

As shown in Figure 1, the utility model includes a car body 1, a drive wheel 2, a front universal wheel 3, a rear universal wheel 4, a spring seat 6, a sliding seat 7, and a spring 8, and is characterized in that it is connected at the lower end of the car body 1. Two driving wheels 2, the lower front end of the car body is connected to the front universal wheel 3, the lower rear end of the car body is connected to the rear universal wheel 4, the rear upper end of the car body is connected to the spring seat 6, and the sliding seat 7 is connected to the floating universal wheel through the screw 10. Wheel connection is movably connected on the car body by long screw 11, screw plug 9 is connected with spring seat 6 by thread, and spring 8 is placed between spring seat and slide seat. When in use, first turn the screw plug 8 to adjust the compression of the spring, thereby adjusting the contact force between the floating universal wheel and the ground, so that the mobile robot can move flexibly in accordance with the required direction and speed under the drive of the driving wheel, thereby realizing motion. Planning and automatic welding of the weld seam on the workpiece 5 to be welded.

Claims (1)

1. cardan wheel floating structure that is used for wheeled mobile welding robot, it comprises car body, drive wheel, preceding cardan wheel, back cardan wheel, spring perch, slide and spring, it is characterized in that at two drive wheels of car body lower end connection, cardan wheel before the lower front end of car body connects, the following rear end of car body connects the back cardan wheel, a spring perch is fixed in the upper end behind the car body, and plug screw links to each other with spring perch by screw thread, is movably connected on the car body by a long spiro nail between slide and car body.

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