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.
本发明公开了一种工业机器人多角度行走机构,在行走机构通过拐弯行走来调节角度时,当行走驱动与执行机构的动力输入端的转矩值大于一设定值时,处于行走方向的后方的前辅助角度调节架或后辅助角度调节架中的其中一个底部能抵靠于地面上,以便使相应前反冲辅助驱动机构或后反冲辅助驱动机构中的一个能给予第一支撑梁或第二支撑梁一辅助推力和一辅助拉力,辅助推力作用于处于所拐弯的弯弧道的外径侧的所述第一支撑梁或第二支撑梁中的一个上,所述辅助拉力作用于处于所拐弯的弯弧道的内径侧的所述第一支撑梁或第二支撑梁中的另外一个上,这样可有效保证拐弯时对行走机构的辅助作用,有效的保证重载尤其是超重载下的拐弯与角度调节能力。
Multi-angle walking mechanism of industrial robot
一种工业机器人多角度行走机构
2021-02-26
Patent
Elektronische Ressource
Chinesisch
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