Mobile base for an industrial robot

Abstract

The application relates to the field of industrial robots, in particular to a movable base of an industrial robot, which comprises a base body, guide strips, a bottom plate and a connecting seat and the like; a pair of guide strips are slidably connected to the lower side of the base body in an embedded mode; a plurality of hydraulic rods are installed on each guide strip; and the extension ends of all the hydraulic rods are fixedly connected with the bottom plate. The application realizes the contact of supporting blocks with the ground, limits the moving ability of universal wheels of the base body, fixes the base body, and when the robot needs to be removed from the machine tool hatch, the base body slides relative to the guide strips, so that the base body and the robot thereon move a distance, do not block the machine tool hatch, and the operator can operate from the machine tool hatch; the supporting blocks remain stationary, then the base body is reset, the supporting blocks serve as fixed-point references, the point position of the robot after resetting is consistent with the initial positioning, and the robot can be restored to normal use without reprogramming the fixed point after moving and avoiding.

Description

Technical Field

[0001] This invention relates to the field of industrial robots, and more particularly to a mobile base for an industrial robot. Background Technology

[0002] Industrial robots are programmable, multi-degree-of-freedom automated execution devices that can accurately and repeatedly complete tasks such as welding, assembly, handling, and painting in industrial environments according to preset programs. They replace or assist manual labor with high speed, high precision, and continuous operation capabilities, thereby improving production efficiency and consistency. In industrial production, to enable cross-regional operations, the robot's base is often equipped with casters to facilitate robot movement. When the robot is working, the base contacts the ground through its supporting legs, which lift the base off the ground and ensure the stability of the base.

[0003] When the robot is used in conjunction with the machine tool, the robot is positioned at the machine tool's door, blocking the door. When the operator needs to make adjustments to the inside of the machine tool, the robot and the base need to be moved apart. Moving the robot requires retracting the support legs and lowering the casters. Moving the robot back requires repeating the process, which is cumbersome. Furthermore, the robot's position is determined by programming, and the base needs to be moved and reset, which can easily lead to errors and cause the robot's position to shift, requiring repositioning. Summary of the Invention

[0004] To overcome the drawbacks of robots blocking the machine tool door when used with machine tools, cumbersome operation of removing the base when adjusting the machine tool, and the tendency for errors to occur after the base is reset, leading to offset of programming points, this invention provides a mobile base for industrial robots.

[0005] The technical solution is as follows: A mobile base for an industrial robot includes a base body; several omnidirectional wheels are installed on the bottom of the base body; an industrial robot is installed on the base body; it also includes guide strips, a base plate, a connecting seat, a support block, and a locking assembly; a pair of guide strips are slidably connected to the lower side of the base body in an embedded manner; a pair of sliding grooves are formed on the lower side of the base body; a second sliding groove is formed on the upper side of each guide strip; a limit block is slidably connected in the second sliding groove of each guide strip, the limit block being used to limit the sliding limit of the base body; each sliding groove... The sliding groove one engages with a corresponding sliding groove two, and the limiting block is located between sliding groove one and sliding groove two; several hydraulic rods are installed on each guide bar; the telescopic ends of all hydraulic rods are fixedly connected to the base plate; a pair of connecting seats are fixedly connected to the base plate; an even number of lifting blocks are fixedly connected to the lower side of each guide bar; an even number of adapter slots are opened on each connecting seat, and each adapter slot slides in cooperation with a lifting block; a rotating ring is fixedly connected to the base plate; the rotating ring is rotatably connected to a support block for supporting the main body of the base; a locking component for locking the main body of the base and the base plate is connected to the support block.

[0006] Preferably, the locking assembly includes: a connecting box, a pedal, a locking block, and an elastic element; the connecting box is mounted on the support block; the connecting box is slidably connected to the pedal; the locking block is fixedly connected to one side of the pedal; a locking groove is provided at the bottom of the base body; a passage groove is provided on the base plate; the locking block passes through the passage groove and is inserted into the locking groove; the other side of the pedal protrudes from the outside of the base body; an elastic element connects the connecting box and the pedal.

[0007] Preferably, the device also includes a sector block and a semicircular block; the sector block is fixedly connected to the inner side of the rotating ring; the semicircular block is fixedly connected to the support block; the semicircular block passes through the rotating ring, and the plane of the semicircular block contacts one of the planes of the sector block.

[0008] Preferably, it also includes ball wheels; each guide bar has several ball wheels installed on the contact surface with the base body to reduce friction.

[0009] Preferably, the inlet of the locking groove is configured as a flared structure.

[0010] As a preferred option, a ring of handrails is installed on the upper part of the base body.

[0011] Preferably, the bottom of the support block is provided with a wear-resistant rubber pad, and the support block contacts the ground through the rubber pad.

[0012] Preferably, the foot pedal has a groove.

[0013] Preferably, it also includes a rubber block; the rubber block is fixed to the end of the pedal away from the base body.

[0014] Preferably, it also includes a spring; a spring is installed on both sides of the sliding groove 2 of each guide bar; the upper side of the spring is tilted and raised, and is higher than the bottom surface of the sliding groove 2; the raised side of the spring is close to the side of the sliding groove 2.

[0015] The beneficial effects are as follows: This invention achieves the goal of limiting the movement of the casters of the base body by having the support block contact the ground, thus fixing the base body. When the robot needs to be moved from the machine tool door, the base body slides relative to the guide strip, allowing the base body and the robot on it to move a certain distance and no longer block the machine tool door, so that the operator can operate from the machine tool door. Meanwhile, the support block remains stationary. Afterwards, the base body resets, and the support block serves as a fixed point reference. The robot's reset point is consistent with the initial positioning. After the robot moves to avoid the obstacle, there is no need to reprogram the fixed point, and normal use can be resumed. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the mobile base of the industrial robot of the present invention;

[0017] Figure 2This is a schematic diagram of the structure of the movable base of the present invention;

[0018] Figure 3 This is a schematic diagram of the support block of the present invention in the raised state;

[0019] Figure 4 This is a schematic diagram of the support block in the descending state of the present invention;

[0020] Figure 5 This is a schematic diagram of the structure of the guide strip, base plate, connecting seat and support block assembly of the present invention;

[0021] Figure 6 This is a cross-sectional view of the guide bar and connecting seat of the present invention;

[0022] Figure 7 This is a schematic diagram of the structure of the limiting block and spring combination of the present invention;

[0023] Figure 8 This is an exploded view of the base plate and support block of the present invention;

[0024] Figure 9 This is a schematic diagram of the structure of the locking block of the present invention at its highest point;

[0025] Figure 10 This is a schematic diagram of the structure of the locking block portion of the present invention located within the locking groove;

[0026] Figure 11 This is a schematic diagram of the structure of the locking block disengaging from the locking groove in this invention;

[0027] Figure 12 This is a schematic diagram of the structure of the base body of the present invention sliding relative to the guide strip.

[0028] Explanation of reference numerals in the attached drawings: 1-Base body, 11-Wheel caster, 12-Handrail, 101-Sliding groove one, 102-Locking groove, 2-Guide bar, 21-Hydraulic rod, 22-Limit block, 23-Lifting block, 24-Ball wheel, 201-Sliding groove two, 3-Base plate, 31-Rotating ring, 32-Fan-shaped block, 301-Passage groove, 4-Connecting seat, 401-Adapter groove, 5-Support block, 51-Semicircular block, 6-Connecting box, 7-Pedal, 71-Locking block, 72-Elastic element, 73-Rubber block, 8-Spring. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] Example 1: A mobile base for an industrial robot, such as Figures 1-12 As shown, it includes a base body 1; four casters 11 are installed at the bottom of the base body 1; and an industrial robot is installed on the base body 1.

[0031] It also includes guide strips 2, base plate 3, connecting seat 4, support block 5, and locking assembly; a pair of guide strips 2 are slidably connected to the lower side of the base body 1 in an embedded manner; a pair of sliding grooves 101 are provided on the lower side of the base body 1; a second sliding groove 201 is provided on the upper side of each guide strip 2; a limit block 22 is slidably connected in the second sliding groove 201 of each guide strip 2; each first sliding groove 101 is engaged with a corresponding second sliding groove 201, and the limit block 22 is located between the first sliding groove 101 and the second sliding groove 201. Between the sliding grooves 201; three hydraulic rods 21 are installed on the lower side of each guide bar 2; the telescopic ends of all hydraulic rods 21 are fixedly connected to the base plate 3; a pair of connecting seats 4 are fixedly connected to the base plate 3; four lifting blocks 23 are fixedly connected to the lower side of each guide bar 2; four adapter slots 401 are opened on each connecting seat 4, and each adapter slot 401 slides with a lifting block 23; a rotating ring 31 is fixedly connected to the base plate 3; a support block 5 is rotatably connected to the rotating ring 31; a locking component is connected to the support block 5.

[0032] The locking assembly includes: a connecting box 6, a pedal 7, a locking block 71, and an elastic element 72; the connecting box 6 is mounted on the support block 5; the pedal 7 is slidably connected to the connecting box 6; the locking block 71 is fixedly connected to one side of the pedal 7; a locking groove 102 is provided at the bottom of the base body 1; a through passage 301 is provided on the base plate 3; the locking block 71 passes through the through passage 301 and is inserted into the locking groove 102; the other side of the pedal 7 protrudes from the outside of the base body 1 for easy operation by the operator; an elastic element 72 is connected between the connecting box 6 and the pedal 7; the elastic element 72 is a spring, used to push the pedal 7 upward to reset after it is stepped on.

[0033] It also includes a sector block 32 and a semicircular block 51; the sector block 32 is fixedly connected to the inner side of the rotating ring 31; the semicircular block 51 is fixedly connected to the support block 5; the semicircular block 51 passes through the rotating ring 31, and the plane of the semicircular block 51 is in contact with one of the planes of the sector block 32.

[0034] With the above structure, when the rotating ring 31 rotates, it drives the sector block 32 to rotate relative to the support block 5. After the rotating ring 31 rotates 90 degrees, the sector block 32 will be blocked by the semicircular block 51, so that the rotating ring 31 cannot continue to rotate. The rotation angle of the rotating ring 31 is limited to 90 degrees, and the rotation direction of the rotating ring 31 is also limited, which makes it easier for the operator to determine the angle and reset the rotation.

[0035] It also includes ball wheels 24; several ball wheels 24 are installed on the contact surface between each guide bar 2 and the base body 1.

[0036] The design of the ball wheel 24 contacting the base body 1 reduces the friction between the guide bar 2 and the base body 1, making the relative sliding between the guide bar 2 and the base body 1 smoother.

[0037] The inlet of the locking groove 102 is designed with a flared structure to facilitate the entry of the locking block 71.

[0038] The base body 1 is equipped with a handrail 12 around its upper part, which allows the operator to easily move or rotate the base body 1 from any position by holding the handrail 12.

[0039] The bottom of the support block 5 is equipped with a wear-resistant rubber pad, which contacts the ground to increase friction and reduce the possibility of displacement of the support block 5.

[0040] The foot pedal 7 has a groove for easy and precise footing by the operator, preventing slippage.

[0041] The steps for using this invention are as follows:

[0042] Initially, support block 5 is raised and not in contact with the ground. Base body 1 moves via casters 11. The operator moves base body 1 to the machine tool door, then extends hydraulic rod 21, pushing base plate 3 and connecting seat 4 downwards. Connecting seat 4 slides relative to lifting block 23, while lifting block 23 remains within the adapter groove 401. Base plate 3 pushes support block 5 towards the ground, pressing the rubber pad at the bottom of support block 5 against the ground, creating frictional contact. This restricts the movement of casters 11 on base body 1 (although casters 11 remain in contact with the ground, they cannot roll freely), thus fixing base body 1. The operator then programs the robot to automatically perform machine tool loading and unloading operations. It should be noted that, if... Figure 10 As shown, after the support block 5 descends, the locking component descends as well, but the locking block 71 does not disengage from the locking groove 102, maintaining the locking of the base body 1, and the base body 1 cannot move relative to the support block 5.

[0043] When the operator needs to adjust the machine tool or move the robot, the operator steps on pedal 7. Pedal 7 compresses the elastic element 72, causing the locking block 71 to move downwards until it disengages from the locking groove 102, releasing the lock on the base body 1. The base body 1 can then slide relative to the guide bar 2 (in the initial setup of the base body 1, the sliding direction of the base body 1 is set parallel to the machine tool). The operator then grasps the handle 12 and pushes the base body 1 away from pedal 7, causing it to slide relative to the guide bar 2. Figure 7 As shown, the base body 1 slides to the left. When the right side wall of the sliding groove 101 contacts the limiting block 22, it will push the limiting block 22 to slide to the left until the limiting block 22 contacts the left side wall of the sliding groove 201. At this point, the limiting block 22 cannot move, and the base body 1 reaches its sliding limit. Figure 12As shown, the base body 1 and the robot on it are moved a distance away, no longer blocking the machine tool door, so that the operator can operate from the machine tool door; while the base body 1 moves relative to the guide bar 2, it is supported by the universal wheels 11 and the ground, so that even after the base body 1 and the guide bar 2 are misaligned, it still has uniform support and will not tilt or fall in the sliding direction.

[0044] If the robot is used for loading and unloading between multiple machine tools, and the operator needs to move the robot from multiple directions, when stepping on pedal 7, the pedal 7 will be fully depressed, causing the top of locking block 71 to be lower than the passage groove 301, thereby simultaneously releasing the lock on the base body 1 and the base plate 3. The rotating ring 31 can then drive the base plate 3 to rotate relative to the support block 5. The operator rotates the base body 1, which in turn drives the guide bar 2. The guide bar 2 drives the base plate 3 via the connecting seat 4, and the base plate 3 rotates relative to the support block 5 via the rotating ring 31. At this point, the rotating ring 31 has rotated 90 degrees. The sector block 32 inside the rotating ring 31 will be blocked by the semi-circular block 51, preventing the rotating ring 31 from continuing to rotate. The rotation angle of the rotating ring 31 is limited to 90 degrees, and the rotation direction of the rotating ring 31 is also restricted. This makes it easier for the operator to determine the rotation angle of the base body 1 and to reset the rotation. Thus, the above steps rotate the sliding direction of the base body 1 to the opposite direction of the machine tool. Then, the base body 1 slides relative to the guide bar 2 (the base body 1 can slide relative to the guide bar 2 in two directions) away from the machine tool's door, providing space for the operator.

[0045] After the operator adjusts the machine tool, the base body 1 and the robot on it are reset. The operator grabs the handle 12 and pulls the base body 1 to slide and reset relative to the guide bar 2 (if the base body 1 has rotated 90 degrees relative to the support block 5, the base body 1 is rotated 90 degrees to reset first). When the base body 1 slides and overlaps with the guide bar 2 again, the locking block 71 aligns with the locking groove 102 and the passage groove 301. The operator releases the pedal 7, the elastic element 72 extends, and pushes the pedal 7 to slide upward relative to the connecting box 6. The pedal 7 pushes the locking block 71 to pass upward through the passage groove 301 and then into the locking groove 102, relocking the base body 1 and the base plate 3. The base body 1 can no longer slide relative to the guide bar 2, and the base plate 3 can no longer rotate relative to the support block 5, thus re-fixing the base body 1 and the robot. The robot's position remains unchanged from its initial positioning, and the loading and unloading work continues.

[0046] Based on the above steps, we can see that the present invention has the following effects:

[0047] By having the support block 5 contact the ground, the movement capability of the casters 11 of the base body 1 is restricted, thus fixing the base body 1. When the robot needs to be moved away from the machine tool door, the base body 1 slides relative to the guide bar 2, allowing the base body 1 and the robot on it to move a certain distance away, no longer blocking the machine tool door, so that the operator can operate from the machine tool door. The support block 5 remains stationary. Afterwards, the base body 1 resets, and the support block 5 serves as a fixed point reference. The robot's reset point is consistent with the initial positioning. After the robot moves and avoids obstacles, there is no need to reprogram the fixed point to resume normal use.

[0048] When the robot is applied between multiple machine tools, the base plate 3 rotates relative to the support block 5 through the rotating ring 31, turning the sliding direction of the base body 1 away from the machine tool. Then, the base body 1 slides relative to the guide bar 2 (the base body 1 can slide in two directions relative to the guide bar 2), away from the machine tool's hatch, and lifts the base body 1 to drive the robot in a direction that can be avoided, so as to adapt to the movement interference between multiple machine tools.

[0049] Example 2: Based on Example 1, such as Figures 8-11 As shown, it also includes a rubber block 73; the bottom of the pedal 7 away from the base body 1 is fixed with a rubber block 73.

[0050] With the above structure, when the pedal 7 is fully pressed down, the rubber block 73 is pressed to the ground, and the bottom surface of the rubber block 73 forms friction with the ground. The pedal 7 is fixed after being pressed down. When the base body 1 slides relative to the guide bar 2, the lateral force is transmitted to the support block 5 through each part. The pedal 7 is connected to the support block 5 through the connecting box 6, thereby forming a pulling force on the support block 5, improving the stability of the support block 5 and reducing the possibility of the support block 5 being moved.

[0051] Example 3: Based on Example 2, such as Figure 6 and Figure 7 As shown, it also includes a spring 8; a spring 8 is installed on both sides of the sliding groove 201 of each guide bar 2; the upper side of the spring 8 is tilted and raised, and is higher than the bottom surface of the sliding groove 201; the raised side of the spring 8 is close to the side of the sliding groove 201.

[0052] With the above structure, when the operator pushes the base body 1 to slide relative to the guide bar 2, the side of the sliding groove 101 pushes the limiting block 22 to slide in the sliding groove 201. When the limiting block 22 approaches one side of the sliding groove 201, it will slide on the upper side of the corresponding spring 8. The upper side of the spring 8 is tilted and raised. The closer it is to the side of the sliding groove 201, the higher the spring 8 is raised. The limiting block 22 presses down on the raised side of the spring 8. Therefore, the sliding resistance of the limiting block 22 is greater, and the base body 1 is more difficult to slide. This provides feedback to the operator that the base body 1 is near the sliding limit position, preventing the operator from pushing the base body 1 too hard, which would cause the support block 5, which serves as a fixed point reference, to shift.

[0053] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A mobile base for an industrial robot, comprising a base body (1); a plurality of casters (11) are mounted on the bottom of the base body (1); an industrial robot is mounted on the base body (1); characterized in that, It also includes guide strips (2), base plate (3), connecting seat (4), support block (5) and locking assembly; a pair of guide strips (2) are slidably connected to the lower side of the base body (1) in an embedded manner; a pair of sliding grooves (101) are opened on the lower side of the base body (1); a sliding groove (201) is opened on the upper side of each guide strip (2); a limit block (22) is slidably connected in the sliding groove (201) of each guide strip (2), the limit block (22) is used to limit the sliding limit of the base body (1); each sliding groove (101) is engaged with a corresponding sliding groove (201), and the limit block (22) is located between the sliding groove (101) and the sliding groove (201). Between two (201); each guide bar (2) is equipped with several hydraulic rods (21); the telescopic ends of all hydraulic rods (21) are fixed to a base plate (3); a pair of connecting seats (4) are fixed to the base plate (3); an even number of lifting blocks (23) are fixed to the lower side of each guide bar (2); an even number of adapter slots (401) are opened on each connecting seat (4), and each adapter slot (401) slides with a lifting block (23); a rotating ring (31) is fixed to the base plate (3); the rotating ring (31) is rotatably connected to a support block (5) for supporting the base body (1); a locking component for locking the base body (1) and the base plate (3) is connected to the support block (5).

2. The mobile base for an industrial robot according to claim 1, characterized in that, The locking assembly includes: a connecting box (6), a pedal (7), a locking block (71), and an elastic element (72); the connecting box (6) is mounted on the support block (5); the connecting box (6) is slidably connected to the pedal (7); the locking block (71) is fixedly connected to one side of the pedal (7); a locking groove (102) is provided at the bottom of the base body (1); a passage groove (301) is provided on the base plate (3); the locking block (71) passes through the passage groove (301) and is inserted into the locking groove (102); the other side of the pedal (7) protrudes out of the outer side of the base body (1); an elastic element (72) is connected between the connecting box (6) and the pedal (7).

3. The mobile base for an industrial robot according to claim 2, characterized in that, It also includes a sector block (32) and a semicircular block (51); the sector block (32) is fixed to the inside of the rotating ring (31); the semicircular block (51) is fixed to the support block (5); the semicircular block (51) passes through the rotating ring (31), and the plane of the semicircular block (51) is in contact with one of the planes of the sector block (32).

4. A mobile base for an industrial robot according to any one of claims 1-3, characterized in that, It also includes ball wheels (24); several ball wheels (24) for reducing friction are installed on the contact surface between each guide bar (2) and the base body (1).

5. A mobile base for an industrial robot according to claim 2, characterized in that, The inlet of the locking groove (102) is configured as a flared structure.

6. The mobile base for an industrial robot according to claim 5, characterized in that, A ring of armrests (12) is installed on the upper part of the base body (1).

7. A mobile base for an industrial robot according to claim 3, characterized in that, The bottom of the support block (5) is provided with a wear-resistant rubber pad, and the support block contacts the ground through the rubber pad.

8. A mobile base for an industrial robot according to claim 2, characterized in that, The foot pedal (7) has a groove.

9. A mobile base for an industrial robot according to claim 8, characterized in that, It also includes a rubber block (73); the pedal (7) is fixed to a rubber block (73) at one end away from the base body (1).

10. A mobile base for an industrial robot according to claim 6, characterized in that, It also includes a spring (8); a spring (8) is installed on both sides of the sliding groove (201) of each guide bar (2); the upper side of the spring (8) is tilted and raised, and is higher than the bottom surface of the sliding groove (201); the raised side of the spring (8) is close to the side of the sliding groove (201).

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