Industrial robot moving track

Abstract

The invention relates to the technical field of industrial robots, and discloses an industrial robot moving track which comprises a track base column and a moving track body. The movable track is horizontally mounted on the track foundation pillar and can lift and rotate along the axis of the track foundation pillar; a mechanical arm is slidably mounted on the moving track, a stabilizing mechanism is arranged at the bottom of the mechanical arm, and the stabilizing mechanism is supported on the ground and used for ensuring that the mechanical arm still operates stably after reaching the specific position of the moving track. Self-adaptive stability is adopted, the supporting range is dynamically adjusted through the two-way lead screw, the mechanical arm static operation and dynamic movement requirements are compatible, and supporting blind areas are avoided. Efficient operation switching is achieved, the telescopic piece and the track act in a linkage mode, the supporting frame is rapidly folded and unfolded, and the downtime during track pose switching is shortened. The structure is simple and reliable, rigid connection of the buffering supporting frame and the threaded base is combined with bidirectional lead screw driving, stable supporting under high load is achieved, and vibration interference is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and particularly relates to a moving track for an industrial robot. Background Art

[0002] An industrial robot is an automatically controlled, reprogrammable, multi-purpose manipulator used in industrial automation, and is a multi-joint manipulator or a machine device with multiple degrees of freedom for the industrial field.

[0003] The prior art discloses a moving track for an industrial robot and an industrial robot, with the application number CN202411496082.3. In this invention, an automated guided vehicle can move arbitrarily on the bottom plate to drive the guide rails installed on the top of several carrier plates to move arbitrarily on the top plate. Furthermore, part of the guide rails is a linear guide rail, part is an arc guide rail, and part is a curve guide rail, and they can be connected to each other. Thus, several guide rails can be arranged and combined arbitrarily, and different paths of guide rails can be combined. The path combination of the guide rails can be arranged into the path combination required for the movement of the industrial robot body for the industrial robot body to move. However, the prior art, especially this solution, still has the following problems: The functional mode of the robot moving track in this solution is single and cannot cooperate with innovative structures such as robotic arms for combined operation. In addition, its installation and assembly method and the support range are fixed, resulting in insufficient dynamic stability. The structure on the moving track will shake during movement and the center of gravity will shift, so the stability of the equipment operation cannot be guaranteed. Therefore, we need to propose a moving track for an industrial robot. Summary of the Invention

[0004] The purpose of the present invention is to provide a technical solution to provide an industrial robot track that can cooperate with the operation of a robotic arm, and at the same time, the dynamic adjustment method ensures a certain degree of stability during the operation of the robotic arm, so as to solve the problems in the prior art mentioned in the above background art.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: An industrial robot moving track, comprising: A track base column and a moving track; The moving track is horizontally installed on the track base column, and the moving track can be lifted and rotated along the axis of the track base column; a robotic arm is slidably installed on the moving track, and a stabilizing mechanism is arranged at the bottom of the robotic arm. The stabilizing mechanism supports on the ground to ensure that the robotic arm still operates stably after reaching a specific position on the moving track; The stabilizing mechanism includes a mounting base. The bottom of the mounting base is connected to a driving base through a telescopic member. A bidirectional lead screw is drivingly mounted on the driving base. Movable threaded seats are drivingly mounted at both ends of the bidirectional lead screw. The bottom of the threaded seat is connected to a buffer support frame for supporting the ground. When the robotic arm is stationary and stable on the moving track, the stabilizing mechanism also stably supports the bottom of the robotic arm. When the robotic arm reciprocates within a specific range on the moving track, the distance between the two buffer support frames is greater than this specific range, thereby ensuring the stable operation of the robotic arm.

[0006] Preferably, before the moving track needs to rotate and switch positions, the stabilizing mechanism is lifted off the ground in advance. After the moving track rotates and switches to the target position, the stabilizing mechanism descends and supports the ground in advance, thereby ensuring the operation of the buffer support frame.

[0007] Preferably, the stabilizing mechanism includes a telescopic member, and the telescopic member is arranged between the mounting base and the driving base.

[0008] Preferably, the buffer support frame includes a hinge seat and three rotating support feet. The three rotating support feet are hingedly mounted at the bottom of the hinge seat, and the buffer support frame supports the ground through the three rotating support feet.

[0009] Preferably, the buffer support frame includes a support rod. The support rod is connected to the hinge seat. A movable plate is slidably sleeved on the support rod. Three connecting bars are hinged on the movable plate, and the connecting bars are respectively hinged to the rotating support feet. A positioning member is fixed on the support rod. A buffer spring is arranged between the positioning member and the movable plate. Foot pads are arranged on the rotating support feet.

[0010] Preferably, a secondary track is arranged at the bottom of the moving track. A sliding block is mounted on the mounting base, and the sliding block is slidably mounted on the secondary track. Thus, the moving track and the base of the robotic arm can be supported at two places through the mounting base and the sliding block.

[0011] Preferably, a clutch assembly is arranged on the mounting base. The mounting base is combined with and separated from the base of the robotic arm through the clutch assembly. When the base of the robotic arm remains in a stable and stationary state, the clutch assembly makes the base of the robotic arm and the mounting base in a combined state. When the base of the robotic arm moves frequently through the moving track, the clutch assembly makes the base of the robotic arm and the mounting base in a separated state.

[0012] Preferably, the robotic arm is slidably mounted on the moving track through a sliding seat, and the mounting base is mounted at the bottom of the sliding seat or on the base of the robotic arm.

[0013] Preferably, a lifting and rotating kit that can be driven to lift is installed on the track base column, the lifting and rotating kit itself has a rotation driving structure, the movable track is installed on the track base column through the lifting and rotating kit, and a self-locking part is provided on the lifting and rotating kit.

[0014] Preferably, the movable rail is installed on a rail back plate, the movable rail is connected to the lifting and rotating kit through the rail back plate, and a driver for driving the movable rail is installed on the rail back plate.

[0015] Technical effects and advantages of the present invention: Compared with the prior art, the mobile track of an industrial robot proposed by the present invention has the following advantages: The present invention adopts adaptive stability, dynamically adjusts the support range through a bidirectional screw rod, is compatible with the static operation and dynamic movement requirements of the robot arm, and avoids support blind spots. Efficient operation switching, the telescopic parts are linked with the track movement, the support frame is quickly retracted and released, and the downtime when the track position is switched is shortened. The structure is simple and reliable, and the rigid connection between the buffer support frame and the threaded seat is combined with the bidirectional screw drive to achieve stable support under high load and reduce vibration interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the mobile track of the present invention; Figure 2 It is a front structural schematic diagram of the movable track of the present invention; Figure 3 It is a schematic diagram of the top view structure of the movable track of the present invention; Figure 4 Schematic diagram of the structure of the mechanical arm and the stabilizing mechanism in an embodiment of the present invention; Figure 5 It is a structural schematic diagram of a stabilizing mechanism in an embodiment of the present invention; Figure 6 It is a side structural schematic diagram of the movable track of the present invention; Figure 7 For the present invention Figure 6 Schematic diagram of the enlarged structure at point A in the middle.

[0017] In the figure: 11. Track base column; 12. Lifting and rotating kit; 13. Self-locking parts; 14. Track back plate; 15. Moving track; 16. Sliding seat; 17. Drive; 18. Mechanical arm; 2. Stabilizing mechanism; 21. Mounting seat; 22. Sliding block; 23. Driving seat; 24. Bidirectional screw rod; 25. Telescopic member; 26. Buffer support frame; 27. Support rod; 28. Articulated seat; 29. ​​Rotating support foot; 210. Connecting strip; 211. Buffer spring; 212. Positioning member; 213. Movable plate; 214. Foot pad; 215. Threaded seat; 216. Auxiliary track; 217. Clutch assembly. Detailed implementation manners

[0018] The subject matter described herein will now be discussed with reference to exemplary implementation manners. It should be understood that discussing these implementation manners is only to enable those skilled in the art to better understand and thus implement the subject matter described herein. Without departing from the scope of protection of the content of this specification, changes can be made to the functions and arrangements of the elements discussed. Each example can omit, substitute, or add various processes or components as needed. In addition, the features described in some examples can also be combined in other examples.

[0019] The invention provides as Figures 1 to 7 shown, an industrial robot moving track, comprising: A track base column 11 and a moving track 15; The moving track 15 is horizontally installed on the track base column 11, and the moving track 15 can be lifted and rotated along the axis of the track base column 11; a robotic arm 18 is slidably installed on the moving track 15, and a stabilizing mechanism 2 is provided at the bottom of the robotic arm 18. The stabilizing mechanism 2 is supported on the ground to ensure that the robotic arm 18 still operates stably after reaching a specific position on the moving track 15; The stabilizing mechanism 2 includes a mounting seat 21. The bottom of the mounting seat 21 is connected to a driving seat 23 through a telescopic member 25. A bidirectional lead screw 24 is drivingly installed on the driving seat 23. Movable threaded seats 215 are drivingly installed at both ends of the bidirectional lead screw 24. The bottom of the threaded seat 215 is connected to a buffer support frame 26 for supporting the ground; When the robotic arm 18 is stationary on the moving track 15, the stabilizing mechanism 2 also stably supports the bottom of the robotic arm 18; when the robotic arm 18 reciprocates within a specific range on the moving track 15, the distance between the two buffer support frames 26 is greater than the specific range, thereby ensuring the stable operation of the robotic arm 18.

[0020] Working principle: Dynamic support adjustment. When the robotic arm 18 is stationary, the buffer support frame 26 of the stabilizing mechanism 2 descends through the telescopic member 25 and touches the ground to form a rigid support; when the robotic arm 18 moves, the bidirectional lead screw 24 drives the two buffer support frames 26 to expand outward until the distance is greater than the moving range of the robotic arm 18, ensuring full coverage of the movement with support and avoiding instability. Linkage control. The telescopic member 25 is linked with the lifting or rotating movement of the moving track 15, automatically retracting the support frame before the track adjusts its pose and re-touching the ground after the adjustment is completed, reducing the risk of interference.

[0021] Adaptive stability, dynamically adjust the support range through the bidirectional screw 24, compatible with the static operation and dynamic movement requirements of the robot arm 18, avoiding support blind spots. Efficient operation switching, the telescopic part 25 is linked with the track movement, the support frame is quickly retracted and released, and the downtime when the track position is switched is shortened. The structure is simple and reliable, the rigid connection between the buffer support frame 26 and the threaded seat 215 is combined with the bidirectional screw 24 drive to achieve stable support under high load and reduce vibration interference.

[0022] like Figure 3 As shown, when the mechanical arm 18 needs to switch positions, it is realized by rotating the moving track 15 around the track base column 11. Before the moving track 15 needs to rotate to switch positions, the stabilizing mechanism 2 is lifted off the ground in advance; after the moving track 15 rotates and switches to the target position, the stabilizing mechanism 2 is lowered and supported on the ground in advance, and the operation of the buffer support frame 26 is ensured by the setting of this operation.

[0023] The stabilizing mechanism 2 includes a telescopic member 25, and the telescopic member 25 is arranged between the mounting seat 21 and the driving seat 23. The telescopic member 25 can actually be set as a plurality of groups of hydraulic push rods or electric push rods. The lifting drive of the telescopic member 25 and the rotation drive of the moving track 15 are linked to each other, that is, the state described above is realized, so that the buffer support frame 26 does not drag on the ground when the moving track 15 needs to rotate, and the buffer support frame 26 can automatically descend and support the ground when the moving track 15 moves to the target position.

[0024] like Figure 4 and Figure 5 As shown, the buffer support frame 26 includes an articulated seat 28 and three sets of rotating legs 29 . The three sets of rotating legs 29 are hingedly installed at the bottom of the articulated seat 28 . The buffer support frame 26 is supported on the ground by the three sets of rotating legs 29 .

[0025] The buffer support frame 26 includes a support rod 27, which is connected to a hinge seat 28. A movable plate 213 is slidably mounted on the support rod 27. Three groups of connecting strips 210 are hinged on the movable plate 213. The connecting strips 210 are respectively hinged to the rotating support legs 29. A positioning piece 212 is fixed on the support rod 27. A buffer spring 211 is arranged between the positioning piece 212 and the movable plate 213. A foot pad 214 is arranged on the rotating support leg 29.

[0026] In order to obtain better support and stability, it is avoided that there is only one support between the driving seat 23 and the mechanical arm 18. The bottom of the movable track 15 is provided with a secondary track 216, and the mounting seat 21 is provided with a sliding block 22, and the sliding block 22 is slidably mounted on the secondary track 216. The mounting seat 21 and the sliding block 22 can simultaneously support the movable track 15 and the base of the mechanical arm 18 at two locations.

[0027] Since the robotic arm 18 has different operating modes. For example, in the first mode, the robotic arm 18 moves to a certain position on the moving track 15, and its operation is stabilized only by the movable joints of the robotic arm 18 itself. In this case, the buffer support frame 26 can be adjusted to any symmetric position at both ends through the bidirectional lead screw 24 for support. For example, in the second mode, the robotic arm 18 needs to move frequently within a certain range through the moving track 15 during operation. To conform to the above-mentioned operating modes, a clutch assembly 217 is provided on the mounting base 21. The mounting base 21 is combined with and separated from the base of the robotic arm 18 through the clutch assembly 217. In the first state, when the base of the robotic arm 18 remains stable, the clutch assembly 217 makes the base of the robotic arm 18 and the mounting base 21 in a combined state. In the second state, when the base of the robotic arm 18 moves frequently through the moving track 15, the clutch assembly 217 makes the base of the robotic arm 18 and the mounting base 21 in a separated state. As for the operating mode of the robotic arm 18 itself and the operating mode of the base of the robotic arm 18 on the moving track 15, they are controlled by the controller. The combination and separation states of the clutch assembly 217 are also adjusted correspondingly by the controller according to the operating modes of the robotic arm 18 and its base. Regarding the specific structural implementation of the clutch assembly 217, it can be achieved by setting the clutch assembly 217 to include a small track and a locking slider. The locking slider slides inside the small track and can be locked inside the chute of the small track through a driver. Locking and separation correspond to the combination and separation of the clutch assembly 217.

[0028] Regarding the specific installation method of the mounting base 21, since the mounting base 21 is used to bear the weight of the robotic arm 18 or the moving track 15, the actual installation position of the mounting base 21 is not fixed. It only needs to ensure that the mounting base 21 can move along with the robotic arm 18. In actual use, the robotic arm 18 is slidably mounted on the moving track 15 through a sliding seat 16, and the mounting base 21 is mounted at the bottom of the sliding seat 16 or on the base of the robotic arm 18.

[0029] Such as Figures 1 to 2As shown, the track base column 11 is equipped with a lifting and rotating kit 12 that can be driven to lift and lower. The lifting and rotating kit 12 itself has a rotation driving structure. The moving track 15 is installed on the track base column 11 through the lifting and rotating kit 12. At the same time, the lifting and rotating kit 12 is provided with a self-locking member 13. After the moving track 15 is lifted or rotated on the track base column 11, the position of the moving track 15 can be locked by the self-locking member 13. Here, the self-locking function of the self-locking member 13 includes rotation self-locking and lifting self-locking. More specifically, the moving track 15 is installed on the track back plate 14. The moving track 15 is actually connected to the lifting and rotating kit 12 through the track back plate 14. A driver 17 for driving the moving track 15 is installed on the track back plate 14. The driver 17 is specifically configured as a drag chain drive mode.

[0030] In summary, the present invention has the following comprehensive effects: dynamic stability control, when the robot arm 18 is stationary on the moving track 15, the stabilizing mechanism 2 is supported by the ground through the buffer support frame 26; when the robot arm 18 needs to move or the track rotates, the telescopic member 25 is linked to the lifting drive, so that the support frame is off the ground or grounded in advance, ensuring that there is no drag interference during the movement process. The bidirectional screw 24 adjusts the spacing between the two groups of buffer support frames 26 to cover the movement range of the robot arm 18. For example, in frequent reciprocating working conditions, the support stability is maintained through adaptive spacing. Multi-mode adaptive structure: in the fixed-point operation mode, the clutch assembly 217 combines the mounting seat 21 with the base of the robot arm 18, and forms a double support through the sliding block 22 and the auxiliary track 216 to enhance the static rigidity. In the mobile operation mode, the clutch assembly 217 is separated, the base of the robot arm 18 is separated from the mounting seat 21, and slides freely, and the buffer support frame 26 maintains a wide spacing support to cover the movement range. Buffering and self-locking mechanism: The buffer support frame 26 absorbs the operation vibration through the hinged support foot and the buffer spring 211, and the foot pad 214 adapts to the uneven ground. The lifting and rotating kit 12 is equipped with a self-locking member 13, which locks the position after the track is lifted or rotated to prevent displacement.

[0031] Enhanced stability: The double-supported sliding block 22, the mounting seat 21 and the buffer structure work together to reduce the vibration and overturning risk of the robot arm 18 during high-load operation. Dynamic adaptability: The linkage control telescopic member 25 and the track rotation avoid interference movement of the support frame, and quickly switch to a stable state. Multi-condition compatibility: Through the adjustment of the clutch assembly 217 and the bidirectional screw 24, it can flexibly adapt to the needs of fixed-point precision operations and mobile range operations. Structural reliability: The self-locking member 13 and the drag chain drive design ensure that the track position is fixed and the power transmission is stable.

[0032] The embodiments of the present invention are described above, but the present invention is not limited to the above-mentioned specific implementation modes. The above-mentioned specific implementation modes are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms, all of which are within the protection of the present invention.

Claims

1. An industrial robot moving track, characterized in that, Comprising: Track base columns (11) and a movable track (15); The movable track (15) is horizontally installed on the track base columns (11), and the movable track (15) can be lifted and rotated along the axis of the track base columns (11); A robotic arm (18) is slidably installed on the movable track (15), and a stabilizing mechanism is provided at the bottom of the robotic arm (18). The stabilizing mechanism is supported on the ground to ensure that the robotic arm (18) still operates stably after reaching a specific position on the movable track (15); The stabilizing mechanism (2) includes a mounting seat (21), the bottom of the mounting seat (21) is connected to a driving seat (23) through a telescopic member (25), a bidirectional lead screw (24) is drivingly installed on the driving seat (23), both ends of the bidirectional lead screw (24) are drivingly installed with movable threaded seats (215), and the bottom of the threaded seat (215) is connected to a buffer support frame (26) for supporting the ground; When the robotic arm (18) is stable and immovable on the movable track (15), the stabilizing mechanism (2) also stably supports the bottom of the robotic arm (18); When the robotic arm (18) reciprocates within a specific range on the movable track (15), the distance between the two buffer support frames (26) is greater than the specific range, thereby ensuring the stable operation of the robotic arm (18).

2. The mobile track of an industrial robot according to claim 1, characterized in that, Before the movable track (15) needs to rotate and switch positions, the stabilizing mechanism (2) is lifted off the ground in advance; After the movable track (15) rotates and switches to the target position, the stabilizing mechanism (2) descends and supports the ground in advance, thereby ensuring the operation of the buffer support frame (26).

3. The mobile track of an industrial robot according to claim 2, characterized in that, The stabilizing mechanism (2) includes a telescopic member (25), and the telescopic member (25) is provided between the mounting seat (21) and the driving seat (23).

4. An industrial robot moving track according to claim 1, characterized in that, The buffer support frame (26) includes a hinge seat (28) and three rotating support feet (29). The three rotating support feet (29) are hingedly installed at the bottom of the hinge seat (28), and the buffer support frame (26) is supported on the ground by the three rotating support feet (29).

5. An industrial robot moving track according to claim 4, characterized in that, The buffer support frame (26) includes a support rod (27), the support rod (27) is connected to the hinge seat (28), a movable plate (213) is slidably sleeved on the support rod (27), three connecting bars (210) are also hinged on the movable plate (213), the connecting bars (210) are respectively hinged to the rotating support feet (29), a positioning member (212) is fixed on the support rod (27), a buffer spring (211) is provided between the positioning member (212) and the movable plate (213), and a foot pad (214) is provided on the rotating support foot (29).

6. The mobile track of an industrial robot according to claim 1, characterized in that A secondary track (216) is provided at the bottom of the movable track (15), a sliding block (22) is installed on the mounting seat (21), and the sliding block (22) is slidably installed on the secondary track (216), so that the movable track (15) and the base of the robotic arm (18) can be supported at two places through the mounting seat (21) and the sliding block (22).

7. An industrial robot moving track according to claim 6, characterized in that, A clutch assembly (217) is provided on the mounting base (21). The mounting base (21) is coupled to and decoupled from the base of the robotic arm (18) through the clutch assembly (217). When the base of the robotic arm (18) remains in a stable and stationary state, the clutch assembly (217) causes the base of the robotic arm (18) to be in a coupled state with the mounting base (21); when the base of the robotic arm (18) moves frequently through the moving track (15), the clutch assembly (217) causes the base of the robotic arm (18) to be in a decoupled state from the mounting base (21).

8. An industrial robot moving track according to claim 7, characterized in that, The robotic arm (18) is slidably mounted on the moving track (15) through a sliding seat (16), and the mounting base (21) is mounted on the bottom of the sliding seat (16) or on the base of the robotic arm (18).

9. An industrial robot moving track according to any one of claims 1-8, characterized in that, A lift-rotation kit (12) that can be driven to lift is mounted on the track base column (11). The lift-rotation kit (12) has its own rotation drive structure. The moving track (15) is mounted on the track base column (11) through the lift-rotation kit (12), and a self-locking member (13) is provided on the lift-rotation kit (12).

10. The mobile track of an industrial robot according to claim 9, characterized in that, The moving track (15) is mounted on the track back plate (14). The moving track (15) is connected to the lift-rotation kit (12) through the track back plate (14), and a driver (17) for driving the moving track (15) is mounted on the track back plate (14).

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