Rail suspension conveying robot

Abstract

The invention discloses a rail suspension conveying robot, which belongs to the technical field of suspension conveying robots and comprises a suspended and fixed rail, a power block movably mounted on the rail, a support body rotatably connected with the power block, and a first mechanical arm and a second mechanical arm on the support body. The supporting body comprises a vertical rod and a pipe sleeve, a vertical rod protrusion is embedded into a pipe sleeve clamping groove, and the end face of the protrusion is provided with a ball for friction reduction. A first motor at the bottom drives the supporting body to steer, a concave ring of the supporting body is matched with a connecting plate to achieve layered installation of the mechanical arm, and gear-gear ring meshing guarantees rotation precision. Balls at the four corners of the power block are matched with a complex track, the mechanical arm is of a multi-joint structure, a rotatable grabbing mechanism is arranged at the tail end, and driving motors at the joints guarantee accurate action. According to the robot, the space utilization rate is increased through air layout, multi-scene adaptation is achieved through cooperation of multiple assemblies, rolling friction and simplified transmission reduce loss and operation and maintenance cost, and the efficiency is improved through parallel operation of the double mechanical arms.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of suspension conveying robots, in particular to a track suspension conveying robot. BACKGROUND

[0002] In modern industrial production, the cross-station conveying of workpieces is one of the core links of the production process. The traditional conveying method mainly relies on ground conveyors, AGV trolleys and other equipment. Such equipment has obvious limitations: on the one hand, ground conveying equipment needs to occupy a large amount of ground space, which reduces the flexibility of workshop layout, especially in scenarios with multiple types of workpieces and complex production processes, which may cause equipment to be congested, affecting production efficiency. On the other hand, the ground conveying path is fixed and cannot adapt to complex scenarios such as high-altitude operation and multi-level workstations. Moreover, for the conveying of heavy workpieces or precision components, traditional equipment may cause damage to workpieces or insufficient conveying precision due to ground friction and vibration.

[0003] With the development of industrial automation towards "space efficient use", "multi-scenario adaptation" and "high-precision operation", traditional ground conveying equipment cannot meet the needs of modern production. The industry urgently needs a conveying solution that can break through the limitations of ground space and has flexibility and precision. The track suspension structure, with its characteristics of running in the air, has become a key direction to solve this demand. However, existing suspension conveying equipment generally has poor rotation fluency, limited mechanical arm operation range, and insufficient grasping adaptability, making it difficult to achieve efficient and precise automated conveying operations. SUMMARY

[0004] In view of the above technical deficiencies, the purpose of the present application is to provide a track suspension conveying robot, which realizes space efficient use, multi-scenario adaptation and high-precision conveying through the cooperative design of a suspended track, a ball anti-friction power block, a precise turning support body and a multi-joint mechanical arm.

[0005] To solve the above technical problems, the present application adopts the following technical scheme: the present application provides a track suspension conveying robot, comprising: a track, which is suspended and fixed; a power block, which is movably installed on the track; a support body, which is rotatably installed on the power block, and a first mechanical arm and a second mechanical arm are rotatably installed on the support body; wherein the support body comprises a vertical rod fixed on the power block, a pipe sleeve is rotatably installed on the outside of the vertical rod, a first protrusion and a second protrusion are provided on the outside of the vertical rod, and a clamping groove adapted to the first protrusion and the second protrusion is provided on the pipe sleeve.

[0006] Preferably, the upper and lower bases of the first and second protrusions are each provided with a plurality of circumferentially arranged rolling balls, which are rollingly mounted inside the clamping groove.

[0007] Preferably, the support body further comprises a connecting member fixed on the sleeve, and a first motor is fixed at the bottom of the connecting member, and the output shaft of the first motor is fixedly connected with the vertical rod.

[0008] Preferably, the connecting member is a cylinder, and the first and second mechanical arms are respectively rotatably mounted on the upper and lower sides of the connecting member, and the first connecting arm is arranged outside the second connecting arm.

[0009] Preferably, the connecting body is provided with a first concave ring and a second concave ring arranged in an upper and lower manner, a first connecting plate is rotatably mounted on the outside of the first concave ring, a second connecting plate is rotatably mounted on the outside of the second concave ring, the length of the first connecting plate is longer than that of the second connecting plate, and the first and second connecting arms are respectively fixed on the first and second connecting plates.

[0010] Preferably, a first gear and a second gear are rotatably mounted in the first and second connecting plates, and the first and second concave rings are each provided with a tooth ring, the first gear is engaged with the tooth ring through a connecting gear, and the second gear is engaged with the tooth ring.

[0011] Preferably, a rolling ball is rotatably mounted on the power block, and the rolling ball is arranged at the four corners of the power block and is rollingly connected on the track.

[0012] Preferably, the first and second connecting arms each comprise a first branch arm, a second branch arm and a third branch arm which are hingedly connected with each other, and the first branch arm is fixedly connected with the first connecting plate.

[0013] Preferably, a rotatable grabbing mechanism is mounted on the third branch arm.

[0014] Preferably, a driving motor is mounted at the connection positions of the first and second branch arms and the second and third branch arms.

[0015] The present application has the following beneficial effects: The power block rolling ball structure is suitable for slightly curved and sloped tracks, and can cover complex workshop layouts; the multi-joint mechanical arm design combined with the rotatable grabbing mechanism can realize multi-degree-of-freedom attitude adjustment, is suitable for long-distance conveying of large workpieces, meets the requirements of close-range fine operation of small precision components, can avoid obstacles such as equipment and vertical columns, and is suitable for diversified production scenes.

[0016] The ball bearings in the support reduce rotational friction, and the gear-ring meshing transmission ensures precise steering angle; the servo motor at the hinge of the robotic arm enables positioning accuracy, and in conjunction with the rotation adjustment of the gripping mechanism, it can prevent the workpiece from tilting or falling off during transportation, effectively protecting precision components and reducing production losses.

[0017] Rolling friction (power block ball bearings, support body raised ball bearings) significantly reduces component wear and extends the service life of core components such as tracks, power blocks, and supports; the short transmission path (motor directly drives the uprights and arms) reduces energy loss, while the simplified assembly structure (concave ring-connecting plate sleeve, gear-gear ring meshing) facilitates later maintenance and replacement, reducing equipment operation and maintenance costs.

[0018] The dual robotic arms, with their "layered and staggered" layout, enable "synchronous gripping and placement" or "gripping and placement" in parallel operations, improving efficiency per operation. The motor torque feedback function of the robotic arms can adjust their movements in a timely manner when encountering obstacles or load changes, avoiding damage from component collisions, reducing human intervention, lowering operational risks, and ensuring production safety. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 This is an internal sectional view of the present invention.

[0021] Figure 3 This is a connection diagram of the power block and the support body.

[0022] Figure 4 This is an internal view of the first connecting plate.

[0023] Figure 5 for Figure 1 Enlarged view of point A in the image.

[0024] Figure 6 for Figure 2 Enlarged view of point B in the image.

[0025] Figure 7 for Figure 2 Enlarged view of point C in the image.

[0026] In the diagram: 1. Track, 2. Power block, 3. Support body, 301. Upright pole, 302. Pipe sleeve, 4. First robotic arm, 5. Second robotic arm, 6. Connector, 7. First connecting plate, 8. Second connecting plate, 9. First gear, 10. Connecting gear, 11. Gear ring, 12. First support arm, 13. Second support arm, 14. Third support arm. Detailed Implementation

[0027] The present invention is illustrated below with specific embodiments, but these are not intended to limit the invention.

[0028] Example 1 like Figures 1-7 As shown, this embodiment provides a track 1 suspended conveying robot, which includes track 1, power block 2, support body 3, first robotic arm 4 and second robotic arm 5.

[0029] Track 1 is suspended and fixed, and can be connected to the top of the building via a ceiling bracket or steel frame to form a stable aerial running path, effectively avoiding ground space occupation and suitable for scenarios such as workshops and warehouses that require efficient space utilization. Power block 2 has built-in motors, transmission gears and other drive components, which form a sliding or rolling engagement with track 1. Under the action of the drive components, it moves along the length of track 1, providing the robot with the power to transport between different workstations.

[0030] The support body 3 serves as the connection structure between the power block 2 and the robotic arm. It includes a vertical rod 301 fixed to the power block 2, and a circumferentially rotatable sleeve 302 is fitted around the outside of the vertical rod 301. The outer side of the vertical rod 301 has a first protrusion and a second protrusion. Corresponding slots are formed on the inner wall of the sleeve 302 to fit the protrusions. The protrusions and slots interlock, restricting the axial displacement of the sleeve 302 and the vertical rod 301, retaining only the circumferential rotational freedom. This ensures the stability of the support body 3 during rotation and prevents the sleeve 302 from falling off or shifting. The first robotic arm 4 and the second robotic arm 5 are respectively mounted on the support body 3 via rotating shafts, allowing them to swing in multiple directions around the support body 3. As operational execution components, they provide the basic motion capabilities for subsequent workpiece gripping and handling.

[0031] Example 2 like Figures 1-7 As shown, this embodiment optimizes the support body 3, the robotic arm mounting structure, and the transmission method based on embodiment one, further improving the accuracy and smoothness of operation.

[0032] Multiple circumferentially evenly distributed balls are provided on the upper and lower end faces of the first and second protrusions of the upright 301. The balls are rolled on the surface of the protrusions through ball grooves or bearing structures and are perfectly fitted into the grooves of the sleeve 302. When the sleeve 302 rotates around the upright 301, the balls roll synchronously in the grooves, converting the sliding friction between the sleeve 302 and the protrusions into rolling friction, which greatly reduces component wear, improves rotational smoothness, and reduces drive energy consumption.

[0033] A new connector 6 is added to the support body 3 and fixed to the outside of the sleeve 302. The connector 6 is designed as a cylindrical structure, with a first motor fixed at the bottom. The output shaft of the motor is directly connected to the upright 301 through a coupling. When the first motor is started, the output shaft drives the upright 301 to rotate relative to the connector 6. Because the connector 6 is fixed to the sleeve 302, the sleeve 302 rotates synchronously around the upright 301 with the connector 6, thereby driving the robotic arm to achieve controllable rotation. If a servo motor is used, the speed and angle can be precisely controlled by the control system to ensure that the robotic arm is accurately positioned at the target work position, and the transmission path is short, reducing transmission errors.

[0034] The outer circumferential surface of the connector 6 is machined with a first concave ring and a second concave ring arranged vertically. The concave rings extend circumferentially along the connector 6 to form an annular groove structure. A first connecting plate 7 is fitted outside the first concave ring, and a second connecting plate 8 is fitted outside the second concave ring. The sidewalls of the concave rings axially limit the connecting plates, allowing only circumferential rotation of the connecting plates. The first connecting plate 7 is longer than the second connecting plate 8. The first robotic arm 4 is fixed to the outside of the first connecting plate 7, and the second robotic arm 5 is fixed to the outside of the second connecting plate 8, so that the two robotic arms form a spatial layout of upper and lower layers and staggered inner and outer sides, avoiding operational interference. At the same time, the first robotic arm 4 has a larger working radius and is suitable for handling large workpieces, while the second robotic arm 5 is more flexible and suitable for handling small or precision workpieces.

[0035] Furthermore, a first gear 9 and a second gear are rotatably mounted on the side of the first connecting plate 7 and the second connecting plate 8 near the concave ring, respectively. The inner walls of both the first and second concave rings are machined with toothed rings 11 that mesh with the gears, and the gears and toothed rings 11 mesh with each other. When the first gear 9 is driven to rotate by the drive assembly, it drives the connecting gear 10 to rotate, thereby causing the connecting gear 10 to roll along the toothed ring 11, and causing the connecting plate to rotate circumferentially around the connecting member 6. This meshing transmission structure ensures a constant transmission ratio and small clearance, allowing for precise control of the robotic arm's rotation angle and speed. It also transmits a large torque, improving the robot's load capacity, and is less prone to slippage, ensuring transmission reliability.

[0036] Example 3 like Figures 1-7 As shown, this embodiment upgrades the moving structure of the power block 2, the flexibility of the robotic arm, and the grasping function based on Embodiment 1 and Embodiment 2, thereby expanding the application scenarios of the robot.

[0037] Rotatable ball bearings are installed at each of the four corners of the power block 2. The ball bearings extend beyond the surface of the power block 2 and contact the inside or bottom of the track 1. When the power block 2 moves along the track 1, the ball bearings roll on the surface of the track 1, driving the power block 2 to move as a whole, replacing the traditional sliding contact method. The evenly distributed ball bearings at the four corners can balance the force on the power block 2, preventing tilting or jamming during movement. At the same time, the rolling friction greatly reduces resistance, reduces wear between the track 1 and the power block 2, and has lower requirements for the flatness of the track 1, making it suitable for tracks 1 with slight bends or slopes.

[0038] Both the first robotic arm 4 and the second robotic arm 5 adopt a multi-joint structure, comprising a first arm 12, a second arm 13, and a third arm 14 that are hinged to each other. One end of the first arm 12 is fixed to a connecting plate, and the other end is connected to the second arm 13 via a hinge shaft. The other end of the second arm 13 is connected to the third arm 14 via a hinge shaft. Adjacent arms can rotate freely around the hinge shaft, giving the robotic arms the ability to adjust their posture in multiple degrees of freedom, such as extension, retraction, and bending. Extending the arms can extend the working radius to meet the needs of long-distance transportation; retracting the arms allows them to operate in narrow spaces; and when not in operation, they can be folded and stored to reduce space occupation. During operation, the angle of the arms can be adjusted to avoid obstacles such as equipment and columns.

[0039] The third arm 14 is equipped with a rotatable gripping mechanism at its end. This gripping mechanism can take the form of a chuck, suction cup, or hook, and is connected to the third arm 14 via a rotating bearing or a rotary motor. It can rotate around the axis of the third arm 14 or perpendicular to the axis of the arm. When gripping a workpiece, the rotation angle of the gripping mechanism can be adjusted according to the workpiece's orientation and placement angle, without needing to adjust the overall posture of the robotic arm. During transport, rotation can maintain the workpiece in a horizontal or stable position, preventing easily rolling workpieces from falling off, thus adapting to diverse gripping needs such as irregular workpieces and precision electronic components.

[0040] Meanwhile, drive motors are installed at the hinge joints between the first arm 12 and the second arm 13, and at the hinge joints between the second arm 13 and the third arm 14. These motors are preferably servo motors or stepper motors. The output shafts are connected to the hinge shafts via reducers and couplings, allowing direct drive of relative rotation between adjacent arms. By controlling the start, stop, speed, and direction of each motor through the control system, the relative rotation angle of the arms can be precisely controlled, ensuring accurate positioning of the robotic arm's end effector and meeting the requirements for precision gripping and assembly. The motors can also adjust their output power through torque feedback, allowing for timely adjustments to the robotic arm's movements when it encounters obstacles or changes in load, preventing component damage and improving operational safety.

[0041] Working principle: The Track 1 suspended conveyor robot is based on "aerial track 1 as the path foundation and multi-component collaborative drive" as its core. The overall workflow revolves around four key stages: "track 1 movement - support body 3 turning - robotic arm movement - workpiece grasping and conveying", as detailed below: Track 1 is suspended and fixed in the air by a ceiling bracket or steel frame, forming an aerial running path; Power block 2 serves as a moving carrier, with ball bearings installed at its four corners in contact with track 1. The built-in drive components (motor, transmission gears) drive the ball bearings to roll, enabling power block 2 to move smoothly along the length of track 1, realizing the overall position transfer of the robot between different workstations, replacing traditional sliding contact, and reducing movement resistance and wear.

[0042] The support body 3 is mounted on the power block 2 through the cooperation of the upright 301 and the sleeve 302. The upright 301 is fixed to the power block 2, and the sleeve 302 can rotate around the upright 301. The first motor is installed at the bottom of the connector 6 on the outside of the sleeve 302. The output shaft of the motor is connected to the upright 301. After starting, it drives the sleeve 302 (and the connector 6) to rotate around the upright 301, providing horizontal steering power for the robotic arm. At the same time, the protrusion of the upright 301 is engaged with the slot of the sleeve 302. With the help of the ball bearings on the end face of the protrusion, it ensures that there is no axial displacement and low frictional resistance when the sleeve 302 rotates, thus improving the smoothness and stability of steering.

[0043] The first connecting plate 7 and the second connecting plate 8 are respectively fitted onto the concave rings on the upper and lower sides of the connector 6. The gear inside the connecting plate meshes with the toothed ring 11 of the concave ring. The gear drive assembly drives the connecting plate to rotate around the connector 6, thereby driving the robotic arm fixed on the connecting plate to adjust its circumferential position. The robotic arm adopts a multi-joint hinge structure of "first arm 12-second arm 13-third arm 14". The drive motor (servo motor / stepper motor) at each arm hinge point drives the arm to extend, retract or bend by controlling the speed and direction, so as to achieve precise adjustment of the spatial position of the end of the robotic arm.

[0044] The gripping mechanism (gripper, suction cup, etc.) at the end of the third arm 14 of the robotic arm is connected to the arm via a rotating bearing or a rotary motor. It can adjust its own rotation angle according to the workpiece orientation and placement angle to complete the workpiece gripping. After gripping, the power block 2 moves along the track 1 to the target workstation, and the support body 3 and the robotic arm work together to adjust their posture to place the workpiece stably, realizing the fully automated operation of "gripping-conveying-placement".

[0045] Finally, it should be noted that the above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A track (1) suspended conveyor robot, characterized in that, include: Track (1), which is suspended and fixed; Power block (2), which is movably mounted on track (1); Support body (3), the support body (3) is rotatably mounted on power block (2), and a first mechanical arm (4) and a second mechanical arm (5) are rotatably mounted on the support body (3). The support body (3) includes a pole (301) fixed on the power block (2), a sleeve (302) is rotatably installed on the outside of the pole (301), the outside of the pole (301) is provided with a first protrusion and a second protrusion, and the sleeve (302) is provided with a groove that matches the first protrusion and the second protrusion.

2. The track (1) suspended conveying robot according to claim 1, characterized in that, The upper and lower bottoms of the first and second protrusions are each provided with a plurality of circumferentially arranged ball bearings, which are rolled and installed inside the slot.

3. The track (1) suspended conveying robot according to claim 2, characterized in that, The support (3) also includes a connector (6), which is fixed on the sleeve (302). A first motor is fixed at the bottom of the connector (6), and the output shaft of the first motor is fixedly connected to the upright (301).

4. A track (1) suspended conveying robot according to claim 3, characterized in that, The connector (6) is a cylinder. The first robotic arm (4) and the second robotic arm (5) are rotatably mounted on the upper and lower sides of the connector (6), respectively. The first connecting arm is located on the outside of the second connecting arm.

5. A track (1) suspended conveying robot according to claim 4, characterized in that, The connector is provided with a first concave ring and a second concave ring arranged vertically. A first connecting plate (7) is rotatably mounted on the outside of the first concave ring, and a second connecting plate (8) is rotatably mounted on the outside of the second concave ring. The length of the first connecting plate (7) is longer than the length of the second connecting plate (8). The first connecting arm and the second connecting arm are respectively fixed on the first connecting plate (7) and the second connecting plate (8).

6. A track (1) suspended conveying robot according to claim 5, characterized in that, The first connecting plate (7) and the second connecting plate (8) are rotatably mounted with a first gear (9) and a second gear. The first concave ring and the second concave ring are both provided with a toothed ring (11). The first gear (9) meshes with the toothed ring (11) through the connecting gear (10), and the second gear meshes with the toothed ring (11).

7. A track (1) suspended conveying robot according to claim 1, characterized in that, The power block (2) is rotatably mounted with ball bearings, which are located at the four corners of the power block (2) and are rotatably connected to the track (1).

8. A track (1) suspended conveying robot according to claim 1, characterized in that, The first connecting arm and the second connecting arm each include a first arm (12), a second arm (13) and a third arm (14) that are hinged to each other. The first arm (12) is fixedly connected to the first connecting plate (7).

9. A track (1) suspended conveying robot according to claim 8, characterized in that, The third arm (14) is equipped with a rotatable gripping mechanism.

10. A track (1) suspended conveying robot according to claim 9, characterized in that, The first arm (12) and the second arm (13) are connected to the second arm (13) and the third arm (14) with drive motors.

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