An industrial robot moving track

Abstract

The present invention relates to the technical field of industrial robots, and discloses a mobile track for an industrial robot, comprising a track base column and a mobile track; the mobile track is mounted on the track base column in a horizontal state, and the mobile track can be raised and lowered and rotated along the axis of the track base column; a robotic arm is slidably mounted on the mobile track, and a stabilizing mechanism is provided at the bottom of the robotic arm, and the stabilizing mechanism is supported on the ground to ensure that the robotic arm maintains stable operation after reaching a specific position on the mobile track. The present invention adopts adaptive stability, dynamically adjusts the support range through a bidirectional screw, is compatible with the static operation and dynamic movement requirements of the robotic arm, and avoids support blind spots. Efficient operation switching, the telescopic parts are linked to the track movement, the support frame is quickly retracted and extended, and the downtime when the track posture is switched. 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.

Description

Technical Field

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

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

[0003] The prior art discloses an industrial robot mobile track and an industrial robot, with application number CN202411496082.3. In this invention, an automatic guided vehicle can move arbitrarily on a bottom plate to drive several guide rails installed on the top of a load-bearing plate to move arbitrarily on the top plate. Then, a portion of the guide rails is a linear guide rail, a portion is an arc guide rail, and a portion is a curved guide rail, and they can be connected to each other. The guide rails can be arranged and combined arbitrarily, and guide rails with different paths can be combined. The guide rail paths can be arranged into a combination of movement paths required by the industrial robot body for movement of the industrial robot body. However, the prior art, especially this solution, still has the following problems:

[0004] The robot mobile track in this solution has a single function and cannot be combined with innovative structures such as robotic arms. In addition, its installation and assembly method and fixed support range lead to insufficient dynamic stability. The structure on the mobile track will shake and the center of gravity will shift when moving, which cannot guarantee the stability of the equipment operation. For this reason, we need to propose an industrial robot mobile track. Summary of the Invention

[0005] 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 that the robotic arm has a certain stability during operation, so as to solve the problems in the existing technology raised in the above background technology.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An industrial robot moving track, comprising:

[0008] Track base columns and moving tracks;

[0009] The movable track is installed on the track base column in a horizontal state, and the movable track can be raised and lowered and rotated along the axis of the track base column; a mechanical arm is slidably installed on the movable track, and a stabilizing mechanism is provided at the bottom of the mechanical arm. The stabilizing mechanism is supported on the ground to ensure that the mechanical arm remains stable after reaching a specific position on the movable track;

[0010] The stabilizing mechanism includes a mounting seat, the bottom of which is connected to a driving seat via a telescopic member, a bidirectional screw rod being driven and mounted on the driving seat, and movable threaded seats being driven and mounted on both ends of the bidirectional screw rod, and a buffer support frame for supporting the ground being connected to the bottom of the threaded seat;

[0011] When the robotic arm is stable and motionless on the moving track, the stabilizing mechanism also stably supports the bottom of the robotic arm; when the robotic arm moves back and forth within a specific range of the moving track, the distance between the two sets of buffer support frames is greater than the specific range, thereby ensuring the stable operation of the robotic arm.

[0012] Preferably, before the moving track needs to rotate and switch positions, the stabilizing mechanism is raised off the ground in advance; after the moving track rotates and switches to the target position, the stabilizing mechanism is lowered and supported on the ground in advance, thereby ensuring the operation of the buffer support frame.

[0013] Preferably, the stabilizing mechanism comprises a telescopic member, and the telescopic member is arranged between the mounting seat and the driving seat.

[0014] Preferably, the buffer support frame includes a hinged seat and three sets of rotating legs, the three sets of rotating legs are hingedly installed on the bottom of the hinged seat, and the buffer support frame is supported on the ground by the three sets of rotating legs.

[0015] Preferably, the buffer support frame includes a support rod, the support rod is connected to the hinge seat, the movable plate is slidably sleeved on the support rod, and three groups of connecting strips are hinged on the movable plate, and the connecting strips are respectively hinged to the rotating support feet. A positioning piece is fixed on the support rod, a buffer spring is arranged between the positioning piece and the movable plate, and a foot pad is arranged on the rotating support foot.

[0016] Preferably, a secondary track is provided at the bottom of the movable track, a sliding block is installed on the mounting seat, and the sliding block is slidably mounted on the secondary track, so that the movable track and the base of the robotic arm can be supported at two locations at the same time by the mounting seat and the sliding block.

[0017] Preferably, a clutch assembly is provided on the mounting base, and 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 stable and motionless, the clutch assembly keeps the base of the robotic arm and the mounting base in a combined state; when the base of the robotic arm is frequently moved through the moving track, the clutch assembly keeps the base of the robotic arm and the mounting base in a separated state.

[0018] Preferably, the robotic arm is slidably mounted on the movable rail via a sliding seat, and the mounting seat is mounted on the bottom of the sliding seat or the base of the robotic arm.

[0019] 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. At the same time, a self-locking part is provided on the lifting and rotating kit.

[0020] 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.

[0021] 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:

[0022] This invention utilizes adaptive stability, dynamically adjusting the support range via a bidirectional screw, accommodating both static and dynamic robot movement, avoiding support blind spots. Efficient operation switching is achieved through the linkage of telescopic components and track motion, allowing for rapid retraction and extension of the support frame, minimizing downtime during track position switching. The streamlined and reliable structure features a rigid connection between the buffer support frame and the threaded seat, combined with a bidirectional screw drive, ensuring stable support under high loads and minimizing vibration interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the three-dimensional structure of the movable track of the present invention;

[0024] Figure 2 This is a front structural schematic diagram of the movable track of the present invention;

[0025] Figure 3 Schematic diagram of the top view of the movable track of the present invention;

[0026] Figure 4 Schematic diagram of the structure of the robotic arm and stabilizing mechanism in an embodiment of the present invention;

[0027] Figure 5 Schematic diagram of the structure of the stabilizing mechanism in an embodiment of the present invention;

[0028] Figure 6 It is a side structural schematic diagram of the movable track of the present invention;

[0029] Figure 7 For the present invention Figure 6 Schematic diagram of the enlarged structure at point A in the middle.

[0030] In the picture:

[0031] 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. Robotic arm;

[0032] 2. Stabilizing mechanism; 21. Mounting seat; 22. Sliding block; 23. Driving seat; 24. Bidirectional screw; 25. Telescopic member; 26. Buffer support frame; 27. Support rod; 28. Articulated seat; 29. Rotating support leg; 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 DESCRIPTION

[0033] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed solely to enable those skilled in the art to better understand and implement the subject matter described herein, and that the functions and arrangements of the elements discussed may be varied without departing from the scope of this specification. Various examples may omit, substitute, or add various processes or components as needed. Furthermore, features described for some examples may be combined in other examples.

[0034] The invention provides Figures 1 to 7 As shown, an industrial robot moving track includes:

[0035] Track base 11 and moving track 15;

[0036] The movable track 15 is mounted on the track base column 11 in a horizontal state. The movable track 15 can be raised and lowered and rotated along the axis of the track base column 11. A mechanical arm 18 is slidably mounted on the movable track 15. A stabilizing mechanism 2 is provided at the bottom of the mechanical arm 18. The stabilizing mechanism 2 is supported on the ground to ensure that the mechanical arm 18 remains stable after reaching a specific position on the movable track 15.

[0037] The stabilizing mechanism 2 includes a mounting base 21, the bottom of which is connected to a driving base 23 via a telescopic member 25. A bidirectional screw rod 24 is driven and mounted on the driving base 23. Both ends of the bidirectional screw rod 24 are driven and mounted with movable threaded seats 215. The bottom of the threaded seat 215 is connected to a buffer support frame 26 for supporting the ground.

[0038] When the robotic arm 18 is stable and motionless on the moving track 15, the stabilizing mechanism 2 is also stably supported at the bottom of the robotic arm 18; when the robotic arm 18 moves back and forth within a specific range of the moving track 15, the distance between the two sets of buffer support frames 26 is greater than the specific range, thereby ensuring the stable operation of the robotic arm 18.

[0039] Working Principle: Dynamic support adjustment: When the robot arm 18 is stationary, the buffer support frame 26 of the stabilization mechanism 2 descends and grounds via the telescopic member 25, forming a rigid support. When the robot arm 18 moves, the bidirectional screw 24 drives the two sets of buffer support frames 26 to expand outward to a distance greater than the range of movement of the robot arm 18, ensuring full coverage and preventing instability. Linkage control: The telescopic member 25 is linked to the lifting or rotation of the moving track 15, automatically retracting the support frame before the track adjusts its position and re-grounding it after the adjustment is completed, reducing the risk of interference.

[0040] Adaptive stability: The bidirectional screw 24 dynamically adjusts the support range, accommodating both static and dynamic movement requirements of the robot arm 18 and avoiding support blind spots. Efficient operation switching: The telescopic member 25 is linked to the track movement, allowing the support frame to be quickly retracted and extended, reducing downtime during track position switching. The streamlined and reliable structure features a rigid connection between the buffer support frame 26 and the threaded seat 215, combined with the bidirectional screw 24 drive, ensuring stable support under high loads and reducing vibration interference.

[0041] like Figure 3 As shown, when the robotic arm 18 needs to switch positions, this is achieved by rotating the movable track 15 around the track base 11. Before the movable track 15 rotates to switch positions, the stabilizing mechanism 2 is pre-raised off the ground; after the movable track 15 rotates to the target position, the stabilizing mechanism 2 is pre-lowered and supported on the ground. This operation ensures the operation of the buffer support frame 26.

[0042] The stabilizing mechanism 2 includes a telescopic member 25, which 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 movable track 15 are linked and controlled, that is, the state described above is realized, so that the buffer support frame 26 does not drag on the ground when the movable track 15 needs to rotate, and also enables the buffer support frame 26 to automatically descend and support the ground when the movable track 15 moves to the target position.

[0043] like Figure 4 and Figure 5 As shown, the buffer support frame 26 includes a hinged seat 28 and three sets of rotating legs 29. The three sets of rotating legs 29 are hingedly installed at the bottom of the hinged seat 28. The buffer support frame 26 is supported on the ground by the three sets of rotating legs 29.

[0044] 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.

[0045] To achieve better support and stability, and to avoid having only one support point between the drive base 23 and the robotic arm 18, a secondary track 216 is provided at the bottom of the movable track 15. A sliding block 22 is mounted on the mounting base 21, and the sliding block 22 is slidably mounted on the secondary track 216. The mounting base 21 and the sliding block 22 can simultaneously provide dual support for the movable track 15 and the base of the robotic arm 18.

[0046] Since the robot arm 18 has different operating modes, for example, in the first mode, the robot arm 18 moves to a certain position on the movable track 15, that is, the stability is different and the operation is achieved only by the movable joint of the robot arm 18 itself, then the buffer support frame 26 can be adjusted to any symmetrical position at both ends through the bidirectional screw rod 24 to achieve support; for example, in the second mode, the robot arm 18 needs to move frequently within a certain range through the movable track 15 during operation;

[0047] In order to comply with this operation mode, a clutch assembly 217 is provided on the mounting base 21. The mounting base 21 is connected to and separated from the base of the robot arm 18 through the clutch assembly 217. In the first state, when the base of the robot arm 18 remains stable and motionless, the clutch assembly 217 makes the base of the robot arm 18 and the mounting base 21 in a connected state; in the second state, when the base of the robot arm 18 is frequently moved by the movable track 15, the clutch assembly 217 makes the base of the robot arm 18 and the mounting base 21 in a separated state.

[0048] As for the operation mode of the robot arm 18 itself and the operation mode of the base of the robot arm 18 on the movable track 15, they are controlled by the controller, and the engagement and separation state control of the clutch component 217 is also adjusted accordingly by the controller according to the operation mode of the robot arm 18 and its base; regarding the specific structure of the clutch component 217, it can be achieved by setting the clutch component 217 to include a small track and a locking slider. The locking slider slides inside the small track and can be locked inside the slide groove of the small track by the driver. The locking and separation correspond to the engagement and separation of the clutch component 217.

[0049] 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 movable rail 15, the actual installation position of the mounting base 21 is not fixed. It is only necessary to ensure that the mounting base 21 can move with the robotic arm 18; in actual use, the robotic arm 18 is slidably installed on the movable rail 15 through the sliding base 16, and the mounting base 21 is installed on the bottom of the sliding base 16 or the base of the robotic arm 18.

[0050] like Figures 1 to 2 As 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 drive structure. The mobile 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 mobile track 15 is lifted or rotated on the track base column 11, the position of the mobile 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 mobile track 15 is installed on the track back plate 14. The mobile track 15 is actually connected to the lifting and rotating kit 12 through the track back plate 14. A driver 17 for driving the mobile track 15 is installed on the track back plate 14. The driver 17 is specifically configured as a drag chain drive.

[0051] In summary, the present invention offers the following comprehensive benefits: Dynamic stability control: When the robot arm 18 is stationary on the movable track 15, the stabilizing mechanism 2 provides ground support via the buffer support bracket 26. When the robot arm 18 needs to move or the track rotates, the telescopic member 25 is activated in conjunction with the lifting mechanism, allowing the support bracket to lift off the ground or ground prematurely, ensuring drag-free movement. A bidirectional screw 24 adjusts the spacing between the two sets of buffer support brackets 26 to cover the range of motion of the robot arm 18. This adaptive spacing maintains support stability during frequent reciprocating operations. A multi-mode adaptive structure: In fixed-point operation mode, the clutch assembly 217 connects the mounting base 21 to the robot arm 18 base, creating dual support via the sliding block 22 and auxiliary track 216, enhancing static rigidity. In mobile operation mode, the clutch assembly 217 disengages, freeing the robot arm 18 base from the mounting base 21, allowing it to slide freely. The buffer support brackets 26 maintain wide spacing to cover the range of motion. A buffering and self-locking mechanism: The buffer support brackets 26 absorb operational vibrations through hinged legs and buffer springs 211, while the foot pads 214 adapt to uneven surfaces. 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.

[0052] Enhanced Stability: The dual-supported sliding block 22, mounting bracket 21, and buffer structure work together to reduce vibration and the risk of tipping over during high-load operation of the robot arm 18. Dynamic Adaptability: Linked control of the telescopic member 25 and track rotation prevents interference with the support frame's movement while rapidly switching between stable states. Multi-Working Condition Compatibility: Adjustable through the clutch assembly 217 and bidirectional screw 24, the system flexibly adapts to both fixed-point precision operations and range-of-motion operations. Structural Reliability: The self-locking member 13 and drag chain drive design ensure track position stability and stable power transmission.

[0053] The above describes the embodiments of the present invention, but the present invention is not limited to the above specific implementation methods. The above specific implementation methods are merely illustrative and not restrictive. Ordinary technicians in this field can also make many forms under the guidance of the present invention, all of which are protected by the present invention.

Claims

1. An industrial robot moving track, characterized in that: include: Track base (11) and moving track (15); The movable track (15) is mounted on the track base column (11) in a horizontal state, and the movable track (15) can be raised and lowered and rotated along the axis of the track base column (11); a mechanical arm (18) is slidably mounted on the movable track (15), and a stabilizing mechanism is provided at the bottom of the mechanical arm (18), and the stabilizing mechanism is supported on the ground to ensure that the mechanical arm (18) remains stable 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) via a telescopic member (25), a bidirectional screw rod (24) is driven and installed on the driving seat (23), both ends of the bidirectional screw rod (24) are driven and installed with a movable threaded seat (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 stationary on the moving track (15), the stabilizing mechanism (2) is also stably supported on the bottom of the robotic arm (18); when the robotic arm (18) moves back and forth within a specific range of the moving track (15), the distance between the two sets of buffer support frames (26) is greater than the specific range, thereby ensuring the stable operation of the robotic arm (18); The bottom of the movable track (15) is provided with a secondary track (216), and a sliding block (22) is installed on the mounting seat (21). The sliding block (22) is slidably mounted on the secondary track (216), so that the movable track (15) and the base of the robot arm (18) can be supported at two locations simultaneously by the mounting seat (21) and the sliding block (22); The mounting base (21) is provided with a clutch assembly (217), and the mounting base (21) is coupled to and separated from the base of the robotic arm (18) via the clutch assembly (217). When the base of the robotic arm (18) remains stable and motionless, the clutch assembly (217 causes the base of the robotic arm (18) and the mounting base (21) to be in a coupled state; when the base of the robotic arm (18) is frequently moved via the movable track (15), the clutch assembly (217 causes the base of the robotic arm (18) and the mounting base (21) to be in a separated state.

2. The industrial robot moving track according to claim 1, characterized in that: Before the moving track (15) needs to rotate and switch positions, the stabilizing mechanism (2) is raised 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, thereby ensuring the operation of the buffer support frame (26).

3. The industrial robot moving track according to claim 2, characterized in that: The stabilizing mechanism (2) comprises a telescopic member (25), and the telescopic member (25) is arranged between the mounting seat (21) and the driving seat (23).

4. The industrial robot moving track according to claim 1, characterized in that: The buffer support frame (26) comprises a hinged seat (28) and three sets of rotating legs (29), wherein the three sets of rotating legs (29) are hingedly mounted on the bottom of the hinged seat (28), and the buffer support frame (26) is supported on the ground by the three sets of rotating legs (29).

5. The 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), the movable plate (213) is slidably sleeved on the support rod (27), and three groups of connecting strips (210) are hinged on the movable plate (213), and the connecting strips (210) are respectively hinged to the rotating support legs (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 leg (29).

6. The industrial robot moving track according to claim 1, characterized in that: The mechanical arm (18) is slidably mounted on the movable rail (15) via a sliding seat (16), and the mounting seat (21) is mounted on the bottom of the sliding seat (16) or the base of the mechanical arm (18).

7. An industrial robot moving track according to any one of claims 1 to 6, characterized in that: A lifting and rotating kit (12) capable of being driven to lift is installed on the track base column (11); the lifting and rotating kit (12) itself has a rotation driving structure; the movable track (15) is installed on the track base column (11) through the lifting and rotating kit (12); and a self-locking member (13) is provided on the lifting and rotating kit (12).

8. The industrial robot moving track according to claim 7, characterized in that: The movable rail (15) is mounted on a rail back plate (14), the movable rail (15) is connected to the lifting and rotating kit (12) via the rail back plate (14), and a driver (17) for driving the movable rail (15) is mounted on the rail back plate (14).

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