Special mobile industrial robots

Abstract

This invention relates to the field of mobile robot technology, specifically to a special mobile industrial robot, including a processing chamber and a mobile working mechanism. The robot includes multiple floor rails installed in the processing chamber, on which a robotic arm is slidably mounted. A moving component is provided between the robotic arm and the floor rail, allowing the robotic arm to slide along the floor rail via the moving component. A rotating mechanism is located at the adjacent ends of two floor rails, used to move the robotic arm from one floor rail to the other. By setting floor rails at the bottom of the robotic arm and using the moving component to assist the robotic arm in moving along the rails, the working range of the robotic arm is expanded. Furthermore, the rotating mechanism between floor rails with different paths assists the robotic arm in changing the path it slides onto, further increasing the working range of the robotic arm.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and more specifically to special mobile industrial robots. Background Technology

[0002] Industrial robots are tools that can be equipped to automatically handle or process objects and can perform multi-station operations.

[0003] One type of industrial robot is the articulated robot, such as the common robotic arm. In daily work, the base of this type of robot is fixed, which means that its working range and work content are limited. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a special mobile industrial robot that can effectively solve the problem that the fixed working position of the industrial robot in the existing technology leads to a limited working range.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] This invention provides a special mobile industrial robot, including a processing chamber, and further comprising:

[0007] A mobile working mechanism includes multiple ground rails installed in a processing room, on which a robotic arm is slidably mounted. A moving component is provided between the robotic arm and the ground rail, and the robotic arm slides along the ground rail via the moving component.

[0008] A rotating mechanism is located at the ends of two ground rails that are close to each other. The rotating mechanism is used to move the robotic arm on one ground rail to the other ground rail.

[0009] The ground rail is provided with an installation groove, in which a sliding frame is slidably installed, and the robotic arm is installed on the sliding frame;

[0010] A vision component is provided on one side of the sliding frame, and a controller is provided in the sliding frame. The controller controls the start and stop of the moving component, and the vision component provides the controller with the position information of the robotic arm.

[0011] A cleaning component, installed at the bottom of the sliding frame, is used for cleaning moving components.

[0012] Furthermore, the top of the processing chamber is provided with a guide frame, the sliding frame is provided with a telescopic frame, the top of the telescopic frame is provided with a guide rod, and the guide rod is slidably installed in the guide frame.

[0013] Furthermore, the mobile working mechanism also includes a drive motor installed at the bottom of the sliding frame. The output end of the drive motor is equipped with a transmission rod, and the bottom end of the transmission rod is provided with a gear. The inner wall of the mounting groove is provided with a first transmission tooth, and the gear and the first transmission tooth mesh with each other.

[0014] Furthermore, the rotating mechanism also includes a rotating frame movably mounted between two adjacent ground rails. The rotating frame has a positioning groove, and a second transmission tooth is provided in the positioning groove. When the rotating frame is aligned with the ground rail, the gear meshes with the second transmission tooth along the first transmission tooth.

[0015] Furthermore, a second electric actuator is provided in the mounting groove, and a positioning pin is fixedly installed on the output shaft of the second electric actuator. A positioning frame that matches the positioning pin is provided on the bottom wall of the rotating frame.

[0016] Furthermore, a mounting frame is fixedly installed between two adjacent ground rails, an adjusting motor is fixedly installed on the mounting frame, the rotating frame is slidably connected to the output shaft of the adjusting motor, and a first electric push rod for pushing the rotating frame to slide is movably installed on the mounting frame.

[0017] Furthermore, a connecting frame is fixedly installed on the output shaft of the first electric actuator, and a ring frame is provided on the mounting frame, on which the first electric actuator is slidably installed.

[0018] Furthermore, a first sliding groove is provided on the bottom of the rotating frame, a first slider adapted to the first sliding groove is rotatably mounted on the output shaft of the adjusting motor, a second slider is installed on the bottom wall of the first electric push rod, and a second sliding groove adapted to the second slider is provided on the annular frame.

[0019] Furthermore, the cleaning assembly includes a fixed rod mounted on the bottom wall of the sliding frame, a sliding plate slidably mounted on the fixed rod, a wave groove formed on the transmission rod, and the sliding plate slidably mounted in the wave groove. An elastic rod is fixedly mounted on the sliding plate, and a cleaning frame is mounted at the end of the elastic rod. The cleaning frame includes a brush and a soft plate mounted on the top of the brush. When the cleaning frame moves downward, it does not contact the first transmission tooth or the second transmission tooth. When the cleaning frame moves upward, it fully contacts the first transmission tooth or the second transmission tooth.

[0020] Furthermore, a sliding rod is fixedly installed at the telescopic end of the elastic rod, and a wedge plate is fixedly installed on the fixed rod, with the sliding rod and the inclined surface of the wedge plate being slidably connected.

[0021] Furthermore, a collection box is fixedly installed on one side of the skateboard, a third electric push rod is fixedly installed on the top of the collection box, a scraper is fixedly installed on the output shaft of the third electric push rod, and a pressure switch is provided on the collection box. When the cleaning rack moves to the highest position, the pressure switch is triggered, and the electric push rod performs a push-pull action once each time the pressure switch is triggered.

[0022] Furthermore, the top of the collection box is provided with a piston tube, and a piston rod is movably inserted into the piston tube. The output shaft of the piston rod and the third electric push rod move synchronously. The collection box is provided with an oil tank, and an oil inlet pipe is connected between the piston tube and the oil tank. The scraper is provided with an oil drip rack, and an oil outlet pipe is connected between the oil drip rack and the piston tube. The flexible plate is provided with multiple oil drain holes.

[0023] The technical solution provided by this invention has the following advantages compared with the known prior art:

[0024] By setting a ground rail at the bottom of the robotic arm and using a moving component to help the robotic arm move on the ground rail, the working range of the robotic arm is expanded. In addition, a rotating mechanism is set between ground rails with different paths to help the robotic arm change the ground rail to slide to different paths, further improving the working range of the robotic arm. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0026] Figure 1 This is an overall schematic diagram of the present invention;

[0027] Figure 2 A schematic diagram of the structure between the robotic arm and the ground rail;

[0028] Figure 3 This is a schematic diagram of the ground track section;

[0029] Figure 4 This is a motion diagram of the rotating mechanism of the present invention;

[0030] Figure 5 This is a side view of the rotating frame portion of the present invention;

[0031] Figure 6 A structural diagram of the cleanup component section;

[0032] Figure 7 This is a structural diagram of the cleaning rack section;

[0033] Figure 8 for Figure 7 Enlarged view of the structure of part A in the middle.

[0034] The labels in the diagram represent: 1. Processing chamber; 2. Ground rail; 3. Guide frame; 4. Sliding frame; 5. Robotic arm; 6. Telescopic frame; 7. First transmission gear; 8. Rotating frame; 9. Mounting slot; 10. Guide slot; 11. Adjusting motor; 12. First slider; 13. First slide groove; 14. First electric push rod; 15. Connecting frame; 16. Ring frame; 17. Second slider; 18. Second electric push rod; 19. Positioning pin; 20. Positioning frame; 21. Guide rod; 22. Drive motor; 23. Transmission rod; 24. Gear; 25. Fixed rod; 26. Slide plate; 27. Elastic rod; 28. Cleaning frame; 29. ​​Sliding rod; 30. Wedge plate; 31. Collection box; 32. Third electric push rod; 33. Scraper; 34. Piston tube; 35. Piston rod. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0036] The present invention will be further described below with reference to embodiments.

[0037] Example 1:

[0038] refer to Figure 1A special mobile industrial robot includes a processing chamber 1 and a mobile operating mechanism, comprising multiple ground rails 2 installed in the processing chamber 1. A robotic arm 5 is slidably mounted on each ground rail 2. Mounting slots 9 are provided on the ground rails 2, and a sliding frame 4 is slidably mounted in each mounting slot 9. The robotic arm 5 is mounted on the sliding frame 4. A vision component is located on one side of the sliding frame 4, and a controller is located within the sliding frame 4. The controller controls the start and stop of the mobile mechanism, and the vision component provides the controller with the position information of the robotic arm 5. A guide frame 3 is located on the top of the processing chamber 1, and a telescopic frame 6 is mounted on the sliding frame 4. A guide rod 21 is located on the top of the telescopic frame 6, and the guide rod 21 is slidably mounted. In the guide frame 3, a moving component is provided between the robotic arm 5 and the ground rail 2. The robotic arm 5 slides along the ground rail 2 via the moving component. The moving operation mechanism also includes a drive motor 22 installed at the bottom of the sliding frame 4. A gear is provided on the output shaft of the drive motor 22. A transmission rod 23 is installed at the output end of the drive motor 22. A gear 24 is provided at the bottom end of the transmission rod 23. The gear 24 meshes with the first transmission gear 7. A guide groove 10 is provided on the ground rail 2. A guide block that matches the guide groove 10 is provided at the bottom of the sliding frame 4. It is worth noting that a guide groove 10 is also provided on the rotating frame 8, and the two guide grooves 10 are connected after being aligned and spliced.

[0039] like Figure 2 As shown, the robotic arm 5 is mounted on the sliding frame 4, which in turn is slidably mounted on the ground rail 2. Alternatively, the robotic arm 5 and the ground rail 2 can be directly slidably connected, depending on the actual needs. The drive motor 22 at the bottom of the sliding frame 4 drives the gears to rotate, and the gears transmit power through the first transmission gear 7 in the ground rail 2. This transmission is used to complete the sliding of the sliding frame 4 and the robotic arm 5, adjusting the robot's workstation position and increasing its working range. This allows for the replacement of different types of robotic arms 5 to achieve different working effects. To improve positional stability, a guide rod 21 is installed on the sliding frame 4, which is slidably connected to the guide frame 3 at the top of the processing chamber 1, improving the stability and accuracy of the robotic arm 5's positional transfer. A vision component and controller are also included to monitor the movement position, further ensuring the accuracy of the moving workstation.

[0040] Example 2:

[0041] refer to Figure 2A rotating mechanism is located at the close ends of two ground rails 2. This mechanism moves the robotic arm 5 from one ground rail 2 to the other. A second electric push rod 18 is provided in the mounting slot 9. A mounting frame is fixedly installed between two adjacent ground rails 2. An adjusting motor 11 is fixedly installed on the mounting frame. The rotating frame 8 is slidably connected to the output shaft of the adjusting motor 11. A first electric push rod 14 for pushing the rotating frame 8 to slide is movably installed on the mounting frame. A connecting frame 15 is fixedly installed on the output shaft of the first electric push rod 14. The rotating frame 8 is provided with a ring frame 16, and a first electric push rod 14 is slidably mounted on the ring frame 16. A first sliding groove 13 is opened on the bottom of the rotating frame 8. A first slider 12 adapted to the first sliding groove 13 is rotatably mounted on the output shaft of the adjusting motor 11. A second slider 17 is installed on the bottom wall of the first electric push rod 14. A second sliding groove adapted to the second slider 17 is opened on the ring frame 16. A positioning pin 19 is fixedly installed on the output shaft of the second electric push rod 18. A positioning frame 20 adapted to the positioning pin 19 is provided on the bottom wall of the rotating frame 8.

[0042] To expand the working range and improve the flexibility of robotic arm 5, a rotating mechanism was installed to assist robotic arm 5 in changing onto different paths of track 2, such as... Figure 2 As shown, a rotating frame 8 is set between adjacent ground rails 2. The guide groove 10 and the second transmission gear are well connected after the rotating frame 8 is aligned with the ground rail 2. For example, after the first transmission gear 7 and the second transmission gear are aligned, the gear can move from the first transmission gear 7 to the second transmission gear, thereby moving the robotic arm 5 onto the rotating frame 8. In this way, the movement trajectory of the robotic arm 5 is changed by the movement of the rotating frame 8.

[0043] Specifically, such as Figure 4 The diagram illustrates, from left to right, how the rotating frame 8 assists the robotic arm 5 in moving to another ground rail 2 through rotation and translation. First, it translates to separate from the existing aligned ground rail 2. Then, the rotating frame 8 is driven by the adjusting motor 11 to adjust its angle; the adjustment angle shown in the diagram is approximately 90 degrees, but is not limited to this. After the angle adjustment is complete, the rotating frame 8 is driven by the first electric actuator 14 to translate and dock with the new ground rail 2. Once docked, the drive motor drives the gears to slide the robotic arm 5 from the rotating frame 8 into the new ground rail 2, thus completing the path change. This method further improves the working range and flexibility of the robotic arm 5.

[0044] Example 3:

[0045] refer to Figure 6To ensure stable and precise movement, a cleaning assembly for cleaning the moving components is installed at the bottom of the sliding frame 4. The cleaning assembly includes a fixed rod 25 installed on the bottom wall of the sliding frame 4, a sliding plate 26 slidably mounted on the fixed rod 25, a wave groove on the transmission rod 23, and the sliding plate 26 slidably mounted in the wave groove. An elastic rod 27 is fixedly mounted on the sliding plate 26, and a cleaning frame 28 is installed at the end of the elastic rod 27. The cleaning frame 28 includes a brush and a soft plate mounted on the top of the brush. When the cleaning frame 28 moves downward, it does not contact the first transmission gear 7 or the second transmission gear. When the cleaning frame 28 moves upward, it fully contacts the first transmission gear 7 or the second transmission gear. A sliding rod 29 is fixedly mounted on the telescopic end of the elastic rod 27. A wedge plate 30 is fixedly mounted on the fixed rod 25, and the sliding rod 29 is slidably connected to the inclined surface of the wedge plate 30.

[0046] The drive motor 22 drives the transmission rod 23 to rotate. The transmission rod 23 has wave grooves, which guide the slide plate 26 to slide up and down. Figure 7 As shown, when the slide plate 26 moves down, the slide bar 29 slides down along the wedge plate 30, and the cleaning frame 28 gradually moves away from the first transmission tooth 7 and the second transmission tooth. When the slide plate 26 moves up, the cleaning frame 28 approaches the first transmission tooth 7 and the second transmission tooth to clean them, and the soft plate on top can scrape away the oil stains in the tooth groove.

[0047] refer to Figure 7 as well as Figure 8 A collection box 31 is fixedly installed on one side of the slide plate 26. A third electric push rod 32 is fixedly installed on the top of the collection box 31. A scraper 33 is fixedly installed on the output shaft of the third electric push rod 32. A pressure switch is provided on the collection box 31. When the cleaning rack 28 moves to the highest position, the pressure switch is triggered. Each time the pressure switch is triggered, the third electric push rod 32 performs a push-pull action. A piston tube 34 is provided on the top of the collection box 31. A piston rod 35 is movably inserted into the piston tube 34. The piston rod 35 and the output shaft of the third electric push rod 32 move synchronously. An oil tank is provided on the collection box 31, and an oil inlet pipe is connected between the piston tube 34 and the oil tank. An oil drip rack is provided on the scraper 33, and an oil outlet pipe is connected between the oil drip rack and the piston tube 34. Multiple oil drain holes are provided on the flexible plate.

[0048] A collection box 31 is set on one side of the skateboard 26, and a collection port is set on one side of the collection box 31. A scraper 33 is set at the collection port. The scraper 33 is driven to move back and forth by the third electric push rod 32. After the cleaning rack 28 moves to the highest position (cleaning is completed), the third electric push rod 32 is activated once.

[0049] The third electric actuator 32 drives the scraper 33 to scrape away the oil stains from the flexible plate. Simultaneously, it drives the piston rod 35 to reciprocate. When the piston rod 35 moves outward from the piston tube 34, the lubricating oil in the piston tube 34 enters the oil drip rack. The oil then seeps into the brush through the lower oil hole on the flexible plate, lubricating the first or second transmission gear 7. Conversely, when the piston rod 35 moves inward from the piston tube 34, the piston tube 34 draws lubricating oil from the oil tank.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. 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. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A special mobile industrial robot, including a processing chamber, characterized in that, Also includes: A mobile working mechanism includes multiple ground rails installed in a processing room, on which a robotic arm is slidably mounted. A moving component is provided between the robotic arm and the ground rail, and the robotic arm slides along the ground rail via the moving component. A rotating mechanism is located at the ends of two ground rails that are close to each other. The rotating mechanism is used to move the robotic arm on one ground rail to the other ground rail. The ground rail is provided with an installation groove, in which a sliding frame is slidably installed, and the robotic arm is installed on the sliding frame; A vision component is provided on one side of the sliding frame, and a controller is provided in the sliding frame. The controller controls the start and stop of the moving component, and the vision component provides the controller with the position information of the robotic arm. A cleaning component, installed at the bottom of the sliding frame, is used for cleaning the moving components; The mobile working mechanism also includes a drive motor installed at the bottom of the sliding frame. A transmission rod is installed at the output end of the drive motor, and a gear is provided at the bottom end of the transmission rod. A first transmission tooth is provided on the inner wall of the mounting groove, and the gear and the first transmission tooth mesh with each other. The rotating mechanism also includes a rotating frame movably mounted between two adjacent ground rails. The rotating frame has a positioning groove, and a second transmission tooth is provided in the positioning groove. When the rotating frame is aligned with the ground rail, the gear meshes with the second transmission tooth along the first transmission tooth. The mounting slot is provided with a second electric actuator, and a positioning pin is fixedly installed on the output shaft of the second electric actuator. The bottom wall of the rotating frame is provided with a positioning frame that matches the positioning pin. A mounting frame is fixedly installed between two adjacent ground rails, and an adjusting motor is fixedly installed on the mounting frame. The rotating frame is slidably connected to the output shaft of the adjusting motor, and a first electric push rod for pushing the rotating frame to slide is movably installed on the mounting frame. A connecting frame is fixedly mounted on the output shaft of the first electric actuator, and a ring frame is provided on the mounting frame. The first electric actuator is slidably mounted on the ring frame. The bottom of the rotating frame is provided with a first sliding groove, and a first slider adapted to the first sliding groove is rotatably mounted on the output shaft of the adjusting motor. A second slider is mounted on the bottom wall of the first electric push rod, and a second sliding groove adapted to the second slider is provided on the annular frame. The cleaning assembly includes a fixed rod mounted on the bottom wall of the sliding frame, a sliding plate slidably mounted on the fixed rod, a wave groove formed on the transmission rod, and the sliding plate slidably mounted in the wave groove. An elastic rod is fixedly mounted on the sliding plate, and a cleaning frame is mounted at the end of the elastic rod. The cleaning frame includes a brush and a soft plate mounted on top of the brush. When the cleaning frame moves downward, it does not contact the first or second transmission gear, and when the cleaning frame moves upward, it fully contacts the first or second transmission gear. A sliding rod is fixedly installed at the telescopic end of the elastic rod, and a wedge plate is fixedly installed on the fixed rod, with the sliding rod and the inclined surface of the wedge plate being slidably connected.

2. The special mobile industrial robot according to claim 1, characterized in that, The top of the processing chamber is equipped with a guide frame, the sliding frame is equipped with a telescopic frame, the top of the telescopic frame is equipped with a guide rod, and the guide rod is slidably installed in the guide frame.

3. The special mobile industrial robot according to claim 1, characterized in that, A collection box is fixedly installed on one side of the skateboard, and a third electric push rod is fixedly installed on the top of the collection box. A scraper is fixedly installed on the output shaft of the third electric push rod. A pressure switch is provided on the collection box. When the cleaning rack moves to the highest position, the pressure switch is triggered. Each time the pressure switch is triggered, the electric push rod performs a push-pull action.

4. The special mobile industrial robot according to claim 3, characterized in that, The top of the collection box is provided with a piston tube, and a piston rod is movably inserted into the piston tube. The output shaft of the piston rod and the third electric push rod move synchronously. The collection box is provided with an oil tank, and an oil inlet pipe is connected between the piston tube and the oil tank. An oil drip rack is provided on the scraper, and an oil outlet pipe is connected between the oil drip rack and the piston tube. Multiple oil drain holes are provided on the flexible plate.

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