Multi-angle walking mechanism of industrial robot

Abstract

The invention discloses a multi-angle walking mechanism of an industrial robot. When the angle of the walking mechanism is adjusted through turning walking, and the torque value of the power input endof a walking driving and executing mechanism is greater than a set value; the bottom of either a front auxiliary angle adjusting frame or a rear auxiliary angle adjusting frame located behind the walking direction can abut against the ground so that either a corresponding front recoil auxiliary driving mechanism or a corresponding rear recoil auxiliary driving mechanism can give auxiliary thrustand auxiliary tension to a first supporting beam or a second supporting beam. The auxiliary thrust acts on one of the first supporting beam and the second supporting beam in the outer diameter side ofa bent arc channel, and the auxiliary tension acts on the other one of the first supporting beam and the second supporting beam in the inner diameter side of the bent arc channel; and thus, the auxiliary effect on the walking mechanism during turning can be effectively guaranteed, and the turning and angle adjusting capacity under heavy loads, especially super-heavy loads, is effectively guaranteed.

Description

technical field [0001] The invention specifically relates to a multi-angle walking mechanism of an industrial robot, and relates to the field related to the walking of heavy-duty industrial robots. Background technique [0002] At present, for industrial robots, especially heavy-duty industrial robots, the walking mechanism generally adopts a crawler or a chain-plate type walking mechanism. Especially for super-heavy loads, the chain plate type running mechanism is generally used. However, it is very difficult to adjust the angle, especially the adjustment of different multi-angles, and the angle to be adjusted is limited. Realize the adjustment of small angles, and for industrial robots, the adjustment of different angles is very important. Moreover, for heavy loads, when the angle is adjusted by driving, when the angle is small, the angle turning is generally realized by means of differential speed, which will make the radial inner side of the low-speed turning It is bas...

AI Technical Summary

Problems solved by technology

Especially for super-heavy loads, the chain plate type running mechanism is generally used. However, the angle adjustment of this chain plate type running mechanism is very difficult, especially when adjusting different multi-angles. The angles that need to be adjusted are limited and difficult. Realize the adjustment of small angles, and for industrial robots, this adjustment of different angles is crucial

Moreover, for heavy loads, when the angle is adjusted by driving, when the angle is small, the angle turning is generally realized by means of differential speed, which will make the radial inner side of the low-speed turning It is basically static, and this static will increase the driving force on the other side, resulting in a huge rotational torque, which will have a great adverse effect on the drive shaft. Moreover, problems such as skewing are prone to occur during driving, resulting in a decrease in angle adjustment accuracy, etc. question

Images