Rail robot push rod adjusting system and adjusting method

Abstract

The application discloses a track robot push rod adjusting system, which comprises multiple lifting push rods, one or more tracks, a robot and a mechanical arm, wherein each push rod is provided with different colors or different color markers for distinguishing different positions of each push rod, and a knob for adjusting the lifting of the push rod is arranged on each push rod; the one or more tracks are arranged around or cross the multiple push rods; the robot is arranged on the tracks and is provided with a color recognition device for recognizing different colors of the push rods or different color markers; the mechanical arm is detachably connected to the robot and is provided with a detachable gripper; when the height of the push rod is adjusted, the robot can recognize any color on the push rod; after the robot recognizes that the color on the different push rods reaches a specified position, the robot controls the gripper on the mechanical arm to rotate the knob on the push rod and drives the push rod to lift.

Description

Technical Field

[0001] This invention relates to the field of electrical control technology, and in particular to a system and method for adjusting the push rod of a track robot. Background Technology

[0002] The operating principle of electric linear actuators is mainly based on the torque or linear motion generated by the rotation of a motor. The motor generates a certain torque, which is converted into the linear or rotational motion of the actuator through a transmission mechanism. Simultaneously, by controlling the motor's speed and torque, the actuator can be adjusted and controlled. However, the presence of a motor in electric linear actuators results in high manufacturing costs. Therefore, manual control has become a solution to this cost problem, and it is also the most common and simplest control method.

[0003] Manual control of the push rod is typically achieved using a handwheel or manual knob. The operator manually controls the knob or wheel to push or pull the push rod. While manual control is simple and easy to use, it has limited practicality in production processes. It requires continuous operation from the operator, inevitably consuming physical strength, and has low efficiency and accuracy. Summary of the Invention

[0004] To address some or all of the technical problems existing in the prior art, this invention provides a track robot push rod adjustment system and method, which overcomes the problem of low efficiency due to continuous operator operation in manual control, while enabling precise control of multiple push rods. The adjustment process is simple, easy to operate, and low in cost.

[0005] The technical solution of the present invention is as follows:

[0006] In a first aspect, the present invention provides a track robot push rod adjustment system, comprising:

[0007] The push rod is configured as a lifting structure, and there are multiple push rods. Each push rod is set with a different color or has a different colored marker to distinguish the different positions of each push rod. Each push rod is also equipped with a knob for adjusting the lifting of the push rod.

[0008] The track, wherein the number of the track is set to one or more, and the one or more track is arranged around or intersecting between the plurality of push rods;

[0009] A robot, which is set on the track and equipped with a color recognition device for identifying different colors on the push rod or for identifying different colored markers;

[0010] A robotic arm, which is detachably connected to the robot and electrically connected to the control module on the robot, and is provided with a detachably connected gripper on the robotic arm;

[0011] When adjusting the height of the push rod, the robot can identify any color on the push rod and reach the position of any push rod. After the robot identifies the color on different push rods and reaches the designated position, the robot controls the gripper on the robotic arm to rotate the knob on the push rod, thereby driving the push rod to rise and fall.

[0012] Furthermore, in the aforementioned track robot push rod adjustment system, the robot includes:

[0013] Chassis;

[0014] The wheels are located below the chassis, and each wheel is equipped with a drive motor electrically connected to the control module.

[0015] A power module is fixedly mounted on the chassis and electrically connected to the drive motor to supply power to the robot.

[0016] The control module is electrically connected to the power module and is used to control the robot to move on the track, control the raising and lowering of the robotic arm on the robot and the opening and closing of the gripper on the robotic arm, and control the color recognition device on the push rod to identify the colors on different push rods and determine the position of the push rod.

[0017] Furthermore, in the aforementioned track robot push rod adjustment system, the track includes:

[0018] The number of bases is set to multiple;

[0019] A track base, which is vertically mounted on the base and fixedly connected to the base;

[0020] The guide rail is fixedly mounted on the top of the track base and is arranged parallel to the track base.

[0021] Furthermore, in the above-mentioned track robot push rod adjustment system, the spacing between the guide rails is greater than the width of the wheels.

[0022] Furthermore, in the aforementioned track robot push rod adjustment system, the wheel is configured as a Mecanum wheel.

[0023] Furthermore, in the aforementioned track robot push rod adjustment system, the push rod includes:

[0024] Flange;

[0025] A lead screw, which is mounted on the flange via a connector, and a lead screw nut is fitted onto the lead screw;

[0026] A guide member is located on the flange and is perpendicular to the lead screw. The guide member is provided with gear teeth that cooperate with the lead screw.

[0027] A knob is fixedly mounted on the flange, located on one side of the lead screw, and fixedly connected to the guide member. When the knob is rotated, the guide member is driven to rotate synchronously.

[0028] In use, the gear teeth on the guide are engaged with the threaded clearance on the lead screw, so that rotating the knob can drive the guide to rotate, and the rotation of the guide can drive the lead screw to rise and fall.

[0029] Furthermore, in the above-mentioned track robot push rod adjustment system, a monitoring device is provided on the knob to monitor the number of rotations of the knob.

[0030] Furthermore, in the aforementioned track robot push rod adjustment system, the detection device includes sensors.

[0031] Furthermore, in the aforementioned track robot push rod adjustment system, the color markers include color stickers.

[0032] Secondly, the present invention also provides a method for adjusting a track robot push rod using the above-mentioned track robot push rod adjustment system, comprising:

[0033] Set different color markers on each push rod or set each push rod to a different color, and set a knob for raising and lowering on each push rod;

[0034] Tracks are arranged around or intersecting between the push rods;

[0035] A gripper is installed on the robotic arm, and the robotic arm with the gripper is mounted on the robot and electrically connected to the robot's control module.

[0036] Install color recognition devices on the robot to identify different colors on the push rod or to identify different colored markers;

[0037] After the robot identifies the colors on different push rods and reaches the designated position, it controls the gripper on the robotic arm to rotate the knob on the push rod, causing the push rod to rise and fall, thus completing the adjustment of the push rod.

[0038] The main advantages of the technical solution of this invention are as follows:

[0039] The track robot push rod adjustment system of the present invention uses different colored markers or different colors to mark each push rod, and provides knobs for raising and lowering each push rod. Tracks are laid around the push rods in a crisscross or circular pattern, and a robot with a robotic arm and gripper is placed on the tracks. The robot is remotely controlled to run on the tracks. By identifying push rods of different colors, the location of the push rod to be adjusted is confirmed, thus accurately identifying the push rod to be adjusted. The raising and lowering of the push rod is adjusted by controlling the gripper on the robot to rotate the knob on the push rod. The adjustment accuracy is high, thereby improving the efficiency and precision of push rod identification and adjustment. Furthermore, the adjustment process is simple and easy to operate. Attached Figure Description

[0040] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and constitute a part of this invention, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0041] Figure 1 This is a schematic diagram of the guide rail structure in a track robot push rod adjustment system according to an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the robot structure in a track robot push rod adjustment system provided in an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the gripper in a track robot push rod adjustment system according to an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of the push rod structure in a track robot push rod adjustment system according to an embodiment of the present invention;

[0045] Figure 5 This is a flowchart illustrating a method for adjusting the push rod of a track robot according to an embodiment of the present invention.

[0046] Explanation of reference numerals in the attached figures:

[0047] 1. Push rod; 2. Track; 3. Robot; 4. Robotic arm;

[0048] 11. Flange; 12. Lead screw; 13. Knob; 14. Connector; 21. Base; 22. Track base; 23. Guide rail; 31. Chassis; 32. Wheel; 33. Control module; 41. Clamp. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0050] The technical solutions provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0051] As attached Figure 1 -Appendix Figure 4 As shown, in a first aspect, embodiments of the present invention provide a track robot push rod adjustment system, the system comprising a push rod 1, a track 2, a robot 3, and a robotic arm 4, wherein:

[0052] The push rod 1 is configured as a lifting structure, and there are multiple push rods. Each push rod 1 is set with a different color or has a different colored marker to distinguish the different positions of each push rod 1. Each push rod 1 is also equipped with a knob 13 for adjusting the lifting height of the push rod 1. There are one or more tracks 2, which are arranged around or intersecting between multiple push rods 1. The robot 3 is set on the track 2 and is equipped with a color recognition device for recognizing different colors on the push rods 1 or for recognizing different colored markers. The robotic arm 4 is detachably connected to the robot 3 and electrically connected to the control module 33 on the robot 3. The robotic arm 4 is equipped with a detachably connected gripper 41. When adjusting the height of the push rod 1, the robot 3 can recognize any color on the push rod 1 and reach any position of the push rod 1. After the robot 3 recognizes different colors on the push rod 1 and reaches the designated position, the robot 3 controls the gripper 41 on the robotic arm 4 to rotate the knob 13 on the push rod 1, thereby driving the push rod 1 to lift or lower.

[0053] Specifically, such as Figure 2 As shown, the robot 3 in the track robot push rod adjustment system of the present invention includes: a chassis 31, wheels 32, a power module and a control module 33, wherein:

[0054] The wheels 32 are located below the chassis 31, and each wheel 32 is equipped with a drive motor that is electrically connected to the control module 33. The power module is fixedly installed on the chassis 31 and electrically connected to the drive motor to supply power to the robot 3. The control module 33 is electrically connected to the power module and is used to control the robot 3 to move on the track 2, control the lifting and lowering of the robotic arm 4 installed on the robot 3 and the opening and closing of the gripper 41 on the robotic arm 4, and control the color recognition device on the push rod 1 to identify the colors on different push rods 1 and determine the position of the push rod 1.

[0055] Therefore, the track robot push rod adjustment system of the present invention, by setting different color markers on each push rod 1 or setting the push rod 1 to different colors, and setting a knob 13 for raising and lowering each push rod 1, lays a track 2 around the push rod 1 in a crisscross or encircling manner, and sets a robot 3 with a robotic arm 4 and a gripper 41 on the track 2, remotely controls the robot 3 to run on the track 2, identifies the push rod 1 to be adjusted by identifying the push rod 1 of different colors, and thus can accurately identify the push rod 1 to be adjusted, and adjust the raising and lowering of the push rod 1 by controlling the gripper 41 on the robot 3 to rotate the knob 13 on the push rod 1. The adjustment accuracy is high, thereby improving the efficiency of identifying the push rod 1 and the efficiency and accuracy of adjusting the push rod 1, and the adjustment process is simple and easy to operate.

[0056] In some optional implementations of this embodiment, robot 3 is operated remotely, such as by a remote controller, to achieve the robot 3's movement and adjustment tasks.

[0057] To enable robot 3 to more efficiently locate the push rod 1 that needs adjustment among numerous push rods, a distribution map of push rod 1 is pre-stored in the control module of robot 3. This allows robot 3 to quickly plan its travel route based on the push rod 1 positions on the distribution map when adjusting push rod 1. Furthermore, after robot 3 moves to the position of the push rod 1 that needs adjustment via track 2, the position of push rod 1 is further confirmed by a color recognition device. This ensures both the operational efficiency of robot 3 and the accuracy of recognition, thereby improving the adjustment efficiency and precision of push rod 1.

[0058] Having land, such as Figure 1 As shown, in the track robot push rod adjustment system of the present invention, the track 2 includes: a base 21, a track base 22, and a guide rail 23, wherein:

[0059] The number of bases 21 is set to multiple; the track base 22 is vertically set on the base 21 and fixedly connected to the base 21; the guide rail 23 is fixedly set on the top of the track base 22 and is set parallel to the track 2.

[0060] This configuration, by laying one or more tracks 2 between the push rods 1, allows the push rods 1 to be adjusted to adapt to any environment in which they are located, avoiding unevenness in the position of the push rods 1, which would affect the movement efficiency, adjustment efficiency and adjustment accuracy of the robot 3. At the same time, it can also ensure the safety and operational accuracy of the robot 3 and the robotic arm 4 and gripper 41 mounted on the robot 3.

[0061] Preferably, the spacing of the guide rails 23 in this invention is set to be greater than the width of the wheel 32, and the width of each track base 22 is set to be greater than the width of the wheel 32, and the distance between two track bases 22 is set to be greater than or equal to the spacing of the wheel 32.

[0062] This configuration ensures that when the robot 3 is placed on the track 2, the wheels 32 of the robot 3 can contact the track base 22 and be located within the area formed by the guide rail 23 on the track base 22. This prevents the robot 3 from falling off the guide rail 23 and being damaged, or from damaging the robotic arm 4 and gripper 41 mounted on the robot 3. The limiting and guiding function of the guide rail 23 ensures the safe and efficient operation of the robot 3, thereby improving the efficiency of the robot 3 in adjusting the push rod 1.

[0063] In order to enable the robot 3 to turn more flexibly on the guide rail 23 and adapt to different working environments and different turning angles of the track 2, the wheel 32 in the track robot push rod adjustment system of the present invention is set as a Mecanum wheel.

[0064] Specifically, such as Figure 4 As shown, in the track robot push rod adjustment system of this invention, the push rod 1 includes: a flange 11, a lead screw 12, a guide member, and a knob 13, wherein:

[0065] The lead screw 12 is mounted on the flange 11 via a connector 14, the structure of which is as follows: Figure 4 As shown, the connector 14 is a hollow structure, and a screw nut is fitted onto the screw 12. The guide is located on the flange 11, inside the connector 14, and perpendicular to the screw 12. The guide has gear teeth that mate with the screw 12. The knob 13 is fixedly mounted on the flange 11, located on one side of the screw 12, and fixedly connected to the guide. Rotating the knob 13 drives the guide to rotate synchronously. In use, the gear teeth on the guide are engaged with the threaded part on the screw 12, so that rotating the knob 13 drives the guide to rotate, and the rotation of the guide drives the screw 12 to rise and fall.

[0066] This configuration allows for precise control of the lifting height of the push rod 1 via the knob 13. By using the lead screw 12 in conjunction with the guide component, the rotary motion is converted into linear motion, which reduces the overall usable space of the push rod 1. At the same time, the structure is safe, reliable, and highly accurate, making it easy to operate in small spaces.

[0067] In order to more accurately detect the number of times the robot 3 rotates the knob 13 during the adjustment process, and thus ensure the accuracy and precision of the push rod 1 adjustment, a monitoring device for monitoring the number of rotations of the knob 13 is provided on the knob 13 in this invention.

[0068] Preferably, in order to ensure detection accuracy, reduce the space occupied by the monitoring equipment and reduce the overall cost of the track robot push rod adjustment system of the present invention, the detection equipment is set as a sensor, such as a Hall sensor, photoelectric sensor, contact sensor or magnetic encoder.

[0069] In some optional implementations of this embodiment, the height obtained by turning the knob 13 one turn can be set to an increase of 2mm, and different increases can also be set according to actual needs.

[0070] In some optional implementations of this embodiment, the color markers are set as color strips.

[0071] This setup, which uses color recognition, is simple in structure, easy to implement, and provides accurate positioning. The use of color-coded strips also makes it easy to replace and maintain, and is cost-effective.

[0072] In practical applications, in order to make the colors of different push rods 1 better distinguishable and more obvious, so as to facilitate the color recognition device on robot 3, the colors are set to a warm and cool color system, that is, high-saturation colors are used.

[0073] To better adapt to different environments, such as nighttime or rainy / humid conditions, the color strips are made fluorescent; at the same time, to ensure the lifespan of the color strips, a transparent waterproof layer is applied to them.

[0074] Secondly, the present invention also provides a method for adjusting a track robot push rod using the above-mentioned track robot push rod adjustment system, such as... Figure 5 As shown, it includes:

[0075] Different color markers are set on each push rod 1 or each push rod 1 is set to a different color, and a knob 13 for lifting and lowering is set on each push rod 1; a track 2 is set around or crosses between the push rods 1; a gripper 41 is set on the robotic arm 4, and the robotic arm 4 with the gripper 41 is set on the robot 3 and electrically connected to the control module 33 of the robot 3; a color recognition device is set on the robot 3 to identify different colors on the push rods 1 or to identify different color markers; after the robot 3 identifies the colors on different push rods 1 and reaches the designated position, it controls the gripper 41 on the robotic arm 4 to rotate the knob 13 on the push rod 1, thereby driving the push rod 1 to lift and lower, and completing the adjustment of the push rod 1.

[0076] In practical applications, when adjusting push rod 1, the adjustment principle of the adjustment system corresponding to the adjustment method of the track robot push rod of the present invention is as follows:

[0077] Based on the above system, the track 2 is pre-assembled. When installing the track 2, the base 21 of the track 2 is installed at the location of the push rod 1. Then, the track base 22 is installed on the base 21, and the guide rail 23 is installed on the track base 22. The guide rail 23 is then connected to the track 2 and tightened. After installing the track 2, the robot 3 is installed on the track 2. Before installing the robot 3, it is necessary to check whether the robot 3 moves smoothly to ensure that the installation quality of the robot 3 meets the requirements. After the robot 3 is installed, its operation on the track 2 is tested. During the testing process, the error between the robot 3 and the track 2 needs to be detected and corrected to achieve the required positioning and motion accuracy. The color recognition device is checked to ensure accurate sensing and operation. After completing the above installation tasks, the push rod 1 adjustment process begins.

[0078] When adjusting push rod 1, robot 3 moves on track 2 via remote control. During its movement, robot 3 receives the position and color information of push rod 1 from external input. It then selects the optimal route based on pre-stored routes and information in control module 33. Once the color recognition device identifies the color of push rod 1 sent by control module 33, robot 3 stops; this position is the working position of robot 3, and the position information is recorded and saved. Specifically, because there are multiple push rods 1, a color recognition device is used to distinguish each push rod 1, and different colored strips are affixed to the bottom of each push rod 1. When adjusting a specific push rod 1, the position information of push rod 1 is sent to robot 3. Robot 3 first identifies the color corresponding to push rod 1 using the color recognition device, moves to the position of the push rod 1 to be adjusted, and verifies the accuracy of robot 3's position through color comparison, thus confirming the accuracy of the adjusted push rod 1. Then, robot 3 moves the head gripper 41 onto the knob 13 and clamps it according to the pre-stored and debugged actions. It rotates the button according to the adjustment height information until the required height is reached, and then stops. After completing the adjustment action, the robotic arm on robot 3 returns to its original position, and robot 3 returns to its origin via track 2. If multiple push rod 1 adjustment tasks are sent, robot 3 returns to its origin after completing all push rod 1 adjustment tasks.

[0079] In summary, addressing the shortcomings of existing technologies in controlling multiple actuators 1, which suffer from low efficiency and complexity, this invention provides a precise and efficient method for adjusting actuators 1 using a track 2 and a robot 3, thus simplifying and enhancing the entire adjustment process. In this invention, a track 2 is laid at the bottom of the actuator 1, and a robot 3 is positioned on the track 2. By controlling the movement and actions of the robot 3, it reaches the actuator 1 requiring adjustment for physical adjustment, overcoming the problem of low efficiency caused by constant operator intervention in manual control. Furthermore, the track 2 allows the robot 3 to move between several actuators 1, enabling it to control multiple actuators 1, overcoming the problem of high control complexity in traditional potentiometers when there are many actuators 1.

[0080] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, the terms "front," "back," "left," "right," "upper," and "lower" in this document refer to the placement shown in the accompanying drawings.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A system for adjusting the push rod of a track robot, characterized in that, include: The push rod is configured as a lifting structure, and there are multiple push rods. Each push rod is set with a different color or has a different colored marker to distinguish the different positions of each push rod. Each push rod is also equipped with a knob for adjusting the lifting of the push rod. The track, wherein the number of the track is set to one or more, and the one or more track is arranged around or intersecting between the plurality of push rods; A robot, which is set on the track and equipped with a color recognition device for identifying different colors on the push rod or for identifying different colored markers; A robotic arm, which is detachably connected to the robot and electrically connected to the control module on the robot, and is provided with a detachably connected gripper on the robotic arm; When adjusting the height of the push rod, the robot can identify any color on the push rod and reach the position of any push rod. After the robot identifies the color on different push rods and reaches the designated position, the robot controls the gripper on the robotic arm to rotate the knob on the push rod, thereby driving the push rod to rise and fall. Chassis; The wheels are located below the chassis, and each wheel is equipped with a drive motor electrically connected to the control module. A power module is fixedly mounted on the chassis and electrically connected to the drive motor to supply power to the robot. The control module is electrically connected to the power module and is used to control the robot to move on the track, control the lifting and lowering of the robotic arm set on the robot and the opening and closing of the gripper on the robotic arm, and control the color recognition device on the push rod to identify the colors on different push rods and determine the position of the push rod. The robot's control module stores a distribution map of the push rods in advance, so that when adjusting the push rods, the robot's travel route can be quickly planned in advance based on the push rod positions on the distribution map.

2. The track robot push rod adjustment system according to claim 1, characterized in that, The orbit includes: The number of bases is set to multiple; A track base, which is vertically mounted on the base and fixedly connected to the base; The guide rail is fixedly mounted on the top of the track base and is arranged parallel to the track base.

3. The track robot push rod adjustment system according to claim 2, characterized in that, The spacing between the guide rails is greater than the width of the wheel.

4. The track robot push rod adjustment system according to any one of claims 1 or 3, characterized in that, The wheels are configured as Mecanum wheels.

5. The track robot push rod adjustment system according to claim 1, characterized in that, The push rod includes: Flange; A lead screw, which is mounted on the flange via a connector, and a lead screw nut is fitted onto the lead screw; A guide member is located on the flange and is perpendicular to the lead screw. The guide member is provided with gear teeth that cooperate with the lead screw. A knob is fixedly mounted on the flange, located on one side of the lead screw, and fixedly connected to the guide member. When the knob is rotated, the guide member is driven to rotate synchronously. In use, the gear teeth on the guide are engaged with the threaded clearance on the lead screw, so that rotating the knob can drive the guide to rotate, and the rotation of the guide can drive the lead screw to rise and fall.

6. The track robot push rod adjustment system according to claim 5, characterized in that, A monitoring device is provided on the knob to monitor the number of rotations of the knob.

7. The track robot push rod adjustment system according to claim 6, characterized in that, The monitoring equipment includes sensors.

8. The track robot push rod adjustment system according to claim 1, characterized in that, The color markers include color strips.

9. A method for adjusting a track robot push rod using the track robot push rod adjustment system according to any one of claims 1-8, characterized in that, include: Set different color markers on each push rod or set each push rod to a different color, and set a knob for raising and lowering on each push rod; Tracks are arranged around or intersecting between the push rods; A gripper is installed on the robotic arm, and the robotic arm with the gripper is mounted on the robot and electrically connected to the robot's control module. Install color recognition devices on the robot to identify different colors on the push rod or to identify different colored markers; After the robot identifies the colors on different push rods and reaches the designated position, it controls the gripper on the robotic arm to rotate the knob on the push rod, causing the push rod to rise and fall, thus completing the adjustment of the push rod.

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