Ground rail moving type joint robot

Abstract

The utility model provides a ground rail moving type joint robot, which relates to the technical field of robots and comprises a bottom plate, two first sliding rails are fixedly mounted at the top of the bottom plate, a first sliding block is movably sleeved between the outer surface walls of the two first sliding rails, and a first protection box is fixedly mounted on one side of the outer wall of the bottom plate. The inner surface wall of the first protection box is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a threaded rod, and the outer surface wall of the threaded rod is in threaded connection with a threaded block. According to the utility model, under the interaction of all the components of the device, when a fixed-length rail cannot meet the long-distance operation requirement, the movement range can be further expanded through two-section displacement, so that the coverage range of the joint robot is wider, the production efficiency is remarkably improved, and the equipment layout does not need to be frequently adjusted to adapt to different stations; and the production preparation time and the equipment modification cost are effectively reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a ground-rail mobile articulated robot. Background Technology

[0002] Articulated robots are industrial robots with multiple rotating or moving joints. They use servo motors to drive the joints, enabling the end effector to adjust its position and posture in space. They are widely used in automated production.

[0003] In practical applications, articulated robots are limited in their range of motion by their fixed base, making it difficult to cover a large work area. Therefore, the articulated robot needs to move in a straight line to expand the workspace. However, the ground-rail mobile articulated robot can achieve linear displacement along the track direction through the ground rail and transmission mechanism. Combined with the flexible rotation of the joints, it can break through the traditional spatial limitations and efficiently complete tasks such as cross-workstation and large-scale material handling, processing and assembly.

[0004] However, existing ground-rail mobile articulated robots have the following shortcomings:

[0005] In existing technologies, ground-rail mobile articulated robots are usually limited by the fixed length of the track and can only move to the limited positions at both ends of the track. However, during use, as the production process expands and the working area increases, articulated robots usually need to move to a longer distance or a wider area for cross-workstation collaborative work and large workpiece processing. This makes it difficult for the existing fixed-length track to meet dynamic needs, resulting in insufficient equipment coverage, limited production efficiency, and the need for frequent adjustments to equipment layout.

[0006] Therefore, we propose a ground-rail mobile articulated robot to address the problems mentioned above. Utility Model Content

[0007] The purpose of this invention is to provide a ground-rail mobile articulated robot that utilizes a motor drive and a gear rack meshing transmission to achieve horizontal displacement of the articulated robot. At the same time, through the transmission of the motor drive in conjunction with the threaded assembly, the moving plate can generate additional horizontal movement, thereby increasing the movement stroke of the articulated robot and solving the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a ground-rail mobile articulated robot, comprising a base plate, two first slide rails fixedly installed on the top of the base plate, a first slider movably sleeved between the outer walls of the two first slide rails, a first protective box fixedly installed on one side of the outer wall of the base plate, a first motor fixedly connected to the inner wall of the first protective box, a threaded rod fixedly connected to the output end of the first motor, a threaded block threadedly connected to the outer wall of the threaded rod, and the bottom of the first slider fixedly connected to the top of the threaded block, two first bearings fixedly sleeved on the outer wall of the threaded rod, and the outer walls of the two first bearings fixedly inserted into the interior of the base plate, a set of fixed frames fixedly connected to the outer wall of the base plate, a movable plate fixedly connected to the top of the first slider, a rack fixedly connected to the top of the movable plate, a gear meshing with the outer wall of the rack, and two sets of mounting frames fixedly connected to the outer wall of the movable plate, each set of mounting frames movably sleeved with rollers.

[0009] Preferably, two second slide rails are fixedly installed on the top of the movable plate, and a second slider is movably sleeved between the outer walls of the two second slide rails. A second protective box is fixedly installed on the top of the second slider, and a second motor is fixedly connected to the inner wall of the second protective box. The output end of the second motor is fixedly inserted into the gear.

[0010] Preferably, the top of the second slider is provided with a slot, and a locking block is movably inserted into the inner surface of the slot.

[0011] Preferably, the top of the card block is fixedly connected to the robot body, and a limit groove is formed on one side of the outer wall of the card block.

[0012] Preferably, a threaded groove is provided on one side of the outer wall of the second slider, and a rotating screw is threadedly connected to the inner surface of the threaded groove.

[0013] Preferably, a throttle handle is fixedly connected to one side of the outer wall of the rotating screw, and a second bearing is fixedly sleeved on the outer wall of the rotating screw.

[0014] Preferably, the outer wall of the second bearing is fixedly fitted with a limiting block, and the outer wall of the limiting block is movably inserted into the limiting groove.

[0015] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0016] 1. In this utility model, through the interaction of the various components of the device, the horizontal displacement of the articulated robot can be achieved by the meshing transmission of the motor drive and the gear rack. At the same time, through the transmission of the motor drive and the threaded assembly, the moving plate can generate additional horizontal movement, thereby increasing the movement stroke of the articulated robot. This two-stage movement structure can further expand the range of motion when the fixed length track cannot meet the needs of long-distance operation, so that the articulated robot can cover a wider range, significantly improve production efficiency, and eliminate the need to frequently adjust the equipment layout to adapt to different workstations, effectively reducing production preparation time and equipment modification costs.

[0017] 2. In this utility model, through the interaction of the various components of the device, the joint robot and the track can be quickly disassembled and assembled, making the maintenance of the joint robot more convenient and efficient, and improving the maintenance efficiency and operability of the joint robot. Attached Figure Description

[0018] Figure 1 This utility model provides a front view perspective view of the structure of a ground-rail mobile articulated robot.

[0019] Figure 2 This utility model provides a bottom-view three-dimensional exploded view of a portion of the structure of a ground-rail mobile articulated robot.

[0020] Figure 3 This utility model provides a top-view three-dimensional exploded view of a portion of the structure of a ground-rail mobile articulated robot.

[0021] Figure 4 This invention provides a side-view three-dimensional exploded view of a portion of the structure of a ground-rail mobile articulated robot.

[0022] Legend: 1. Base plate; 2. First slide rail; 3. First slider; 4. First protective box; 5. First motor; 6. Threaded rod; 7. Threaded block; 8. First bearing; 9. Fixing frame; 10. Moving plate; 11. Rack; 12. Gear; 13. Mounting frame; 14. Roller; 15. Second slide rail; 16. Second slider; 17. Second protective box; 18. Second motor; 19. Slot; 20. Block; 21. Robot body; 22. Limiting groove; 23. Threaded groove; 24. Rotating screw; 25. Throttle; 26. Second bearing; 27. Limiting block. Detailed Implementation

[0023] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0025] Example 1, as shown in the attached document Figure 1 -Appendix Figure 4 As shown, this utility model provides a technical solution: a ground-rail mobile articulated robot, including a base plate 1. Two first slide rails 2 are fixedly installed on the top of the base plate 1. A first slider 3 is movably sleeved between the outer walls of the two first slide rails 2. A first protective box 4 is fixedly installed on one side of the outer wall of the base plate 1. A first motor 5 is fixedly connected to the inner wall of the first protective box 4. A threaded rod 6 is fixedly connected to the output end of the first motor 5. A threaded block 7 is threadedly connected to the outer wall of the threaded rod 6. The bottom of the first slider 3 is fixedly connected to the top of the threaded block 7. Two first bearings 8 are fixedly sleeved on the outer wall of the threaded rod 6. The outer walls of the two first bearings 8 are fixedly inserted into the interior of the base plate 1. A set of fixed brackets 9 are fixedly connected to the surface wall. A movable plate 10 is fixedly connected to the top of the first slider 3. A rack 11 is fixedly connected to the top of the movable plate 10. A gear 12 is meshed with the outer wall of the rack 11. Two sets of mounting brackets 13 are fixedly connected to the outer wall of the movable plate 10. Rollers 14 are movably sleeved on the outer wall of both sets of mounting brackets 13. Two second slide rails 15 are fixedly installed on the top of the movable plate 10. A second slider 16 is movably sleeved between the outer walls of the two second slide rails 15. A second protective box 17 is fixedly installed on the top of the second slider 16. A second motor 18 is fixedly connected to the inner surface wall of the second protective box 17, and the output end of the second motor 18 is fixedly inserted into the inside of the gear 12.

[0026] The overall effect achieved by Embodiment 1 is as follows: During use, when it is necessary to move the robot body 21 to adapt to different work positions or task requirements, the second motor 18 is first started, and its output end drives the gear 12 to rotate. Through the meshing transmission of the gear 12 and the rack 11, and in conjunction with the guiding sliding of the two second slide rails 15 and the second slider 16, the second slider 16 and the robot body 21 on top can be driven to achieve horizontal displacement, thereby moving the robot body 21 to the target work position. When the second slider 16 moves to the limit position of the second slide rail 15, the robot body 21... If the required work point still cannot be reached, the first motor 5 is started first. The first motor 5 drives the threaded rod 6 to rotate. Using the threaded transmission principle, the first slider 3 moves in the horizontal direction, which in turn drives the moving plate 10 to move synchronously. With the rolling support of the two sets of rollers 14, the stability of the movement of the moving plate 10 is significantly improved. In addition, the extra displacement of the moving plate 10 further expands the range of motion of the robot body 21, enabling it to cover a wider work area. It is suitable for high-requirement scenarios such as large workpiece processing and multi-station collaborative operation, thereby effectively improving the versatility and production efficiency of the equipment.

[0027] Example 2, as Figure 2-4 As shown, the top of the second slider 16 is provided with a slot 19, and a block 20 is movably inserted into the inner surface of the slot 19. The top of the block 20 is fixedly connected to the robot body 21. A limit groove 22 is provided on one side of the outer wall of the block 20. A threaded groove 23 is provided on one side of the outer wall of the second slider 16. A rotating screw 24 is threadedly connected to the inner surface of the threaded groove 23. A throttle 25 is fixedly connected to one side of the outer wall of the rotating screw 24. A second bearing 26 is fixedly sleeved on the outer surface of the rotating screw 24. A limit block 27 is fixedly sleeved on the outer surface of the second bearing 26, and the outer surface of the limit block 27 is movably inserted into the inside of the limit groove 22.

[0028] The effect achieved by the entire embodiment 2 is as follows: When it is necessary to disassemble the robot body 21 for maintenance, repair and component replacement, first turn the handle 25. The handle 25 drives the rotating screw 24 to rotate. Using the thread transmission mechanism of the threaded groove 23 and the rotating screw 24, the rotating screw 24 is horizontally displaced. The rotating screw 24 drives the limiting block 27 to move horizontally synchronously through the second bearing 26, so that the limiting block 27 is disengaged from the limiting groove 22, thereby releasing the fixed constraint on the locking block 20 and the robot body 21. Thus, the separation of the robot body 21 and the second slider 16 can be quickly realized, greatly shortening the equipment disassembly time, making the maintenance operation more convenient and efficient, and significantly improving the equipment maintenance efficiency and operability.

[0029] The working principle of the entire device is as follows: When it is necessary to move the robot body 21 to adapt to different work positions, the second motor 18 is started first. Its output end drives the gear 12 to rotate. Through the meshing transmission of the gear 12 and the rack 11, combined with the sliding guide cooperation of the two second slide rails 15 and the second slider 16, the second slider 16 and the robot body 21 on top can be driven to move horizontally, thereby accurately positioning the robot body 21 to the target position. When the second slider 16 moves to the limit position of the second slide rail 15, and the robot body 21 still cannot reach the work point, the operator starts the first motor 5. The first motor 5 drives the threaded rod 6 to rotate, and uses the threaded transmission mechanism to make the first slider 3 move horizontally, thereby causing the threaded block 7 to drive the moving plate 10 to move synchronously, and through... The rolling and guiding support of the two sets of rollers 14 and the two first slide rails 2 significantly improve the stability and accuracy of the movement of the moving plate 10, thereby further expanding the range of motion of the robot body 21 and enabling it to cover a wider working area. When the robot body 21 needs to be disassembled for maintenance, repair and component replacement, the operator first turns the handle 25, which drives the rotating screw 24 to rotate. With the help of the threaded groove 23 and the threaded transmission of the rotating screw 24, the rotating screw 24 moves horizontally and drives the limiting block 27 to disengage from the limiting groove 22 through the second bearing 26, thereby releasing the fixed constraint on the card block 20 and the robot body 21 and quickly separating the robot body 21 from the second slider 16, so as to carry out in-depth maintenance of the robot body 21 and key component replacement operations.

[0030] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A track-mounted articulated robot, characterized in that: The system includes a base plate (1), on which two first slide rails (2) are fixedly installed. A first slider (3) is movably fitted between the outer walls of the two first slide rails (2). A first protective box (4) is fixedly installed on one side of the outer wall of the base plate (1). A first motor (5) is fixedly connected to the inner wall of the first protective box (4). A threaded rod (6) is fixedly connected to the output end of the first motor (5). A threaded block (7) is threadedly connected to the outer wall of the threaded rod (6), and the bottom of the first slider (3) is fixedly connected to the top of the threaded block (7). Two first bearings (8) are fixedly sleeved on the outer wall, and the outer walls of the two first bearings (8) are fixedly inserted into the interior of the base plate (1). A set of fixing brackets (9) are fixedly connected to the outer wall of the base plate (1). A movable plate (10) is fixedly connected to the top of the first slider (3). A rack (11) is fixedly connected to the top of the movable plate (10). A gear (12) is meshed with the outer wall of the rack (11). Two sets of mounting brackets (13) are fixedly connected to the outer wall of the movable plate (10). Rollers (14) are movably sleeved on the outer walls of both sets of mounting brackets (13).

2. The rail-mounted articulated robot according to claim 1, characterized in that: Two second slide rails (15) are fixedly installed on the top of the movable plate (10). A second slider (16) is movably sleeved between the outer walls of the two second slide rails (15). A second protective box (17) is fixedly installed on the top of the second slider (16). A second motor (18) is fixedly connected to the inner wall of the second protective box (17), and the output end of the second motor (18) is fixedly inserted into the inside of the gear (12).

3. The track-mounted articulated robot according to claim 2, characterized in that: The top of the second slider (16) is provided with a slot (19), and a locking block (20) is movably inserted into the inner surface of the slot (19).

4. The track-mounted articulated robot according to claim 3, characterized in that: The top of the card block (20) is fixedly connected to the robot body (21), and a limit groove (22) is opened on one side of the outer wall of the card block (20).

5. A track-mounted articulated robot according to claim 4, characterized in that: The second slider (16) has a threaded groove (23) on one side of its outer wall, and a rotating screw (24) is threadedly connected to the inner surface of the threaded groove (23).

6. The rail-mounted articulated robot according to claim 5, characterized in that: A throttle handle (25) is fixedly connected to one side of the outer wall of the rotating screw (24), and a second bearing (26) is fixedly sleeved on the outer wall of the rotating screw (24).

7. A track-mounted articulated robot according to claim 6, characterized in that: The outer wall of the second bearing (26) is fixedly fitted with a limiting block (27), and the outer wall of the limiting block (27) is movably inserted into the inside of the limiting groove (22).

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