Industrial robot with mobile precision positioning

Abstract

The utility model provides an industrial robot with mobile precision positioning belongs to industrial robot technical field, in order to solve the problem that screw rod and mobile seat can bear reciprocating load, start and stop impact and friction effect for a long time, and the thread engagement gap and sliding gap can increase gradually synchronously, cause the whole mobile positioning precision of equipment to decline, difficult to satisfy the point position requirement of precision operation, the utility model includes drive seat, the inside installation of drive seat has screw rod, drive seat surface sliding connection has mobile seat, and mobile seat is connected with screw rod threadedly, according to slight position offset, gap superposition shaking and thread transmission skidding three different wear degree, corresponding development point position fine adjustment, load support and thread tight three kinds of correction action, can reduce the matching error of screw rod, mobile seat and drive seat long -term friction, slow down the positioning precision with the length of use constantly attenuate, let the robot body can improve the positioning standard of precision operation in the whole service cycle.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to an industrial robot with precise mobile positioning. Background Technology

[0002] At present, industrial robots equipped with lead screw linear transmission mechanisms generally use motors to drive the lead screw to rotate, and rely on the thread engagement to drive the moving seat to make linear reciprocating motion along the track. The robot body is mounted on the moving seat, thereby realizing point-to-point movement and precision operation between workstations. This structure has the characteristics of fast transmission response, high basic positioning accuracy and compact structure, and is widely used in short-stroke high-precision operation scenarios such as precision machining, workpiece gripping and automated assembly.

[0003] Current industrial robots with precise positioning rely on a screw-driven transmission pair (the lead screw and the moving base) and a sliding contact pair (the moving base and the track). These components are subjected to reciprocating loads, start-stop impacts, and friction over extended periods. As operating time increases, wear gradually occurs on both contact surfaces. This wear leads to a simultaneous increase in the threaded meshing clearance and the track sliding clearance. The cumulative clearance between these two types of clearances prevents the robot's movement from being synchronously transmitted to the moving base. This causes a deviation between the robot's actual displacement and the preset travel distance, directly resulting in a decrease in the overall positioning accuracy of the equipment and making it difficult to meet the point-to-point requirements of precision operations.

[0004] To address the above issues, an industrial robot with precise mobile positioning is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide an industrial robot with precise mobile positioning. By using this device, the problem in the background is solved that the threaded transmission pair formed by the lead screw and the moving seat, and the sliding pair formed by the moving seat and the track, will be subjected to reciprocating loads, start-stop impacts and friction for a long time. As a result, the thread meshing clearance and the sliding clearance of the track will gradually increase, causing the overall mobile positioning accuracy of the equipment to decrease and making it difficult to meet the point requirements of precision operations.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An industrial robot with precise mobile positioning includes a drive base, a lead screw installed inside the drive base, a movable seat slidably connected to the surface of the drive base and threadedly connected to the lead screw, a rotary encoder fixedly mounted at one end of the drive base and fixedly connected at one end of the rotary encoder to the end of the lead screw, a cylinder fixedly mounted on one side of the movable seat, a support plate slidably connected to the surface of the movable seat and fixedly connected to the output end of the cylinder, a vision sensor fixedly mounted at one end of the support plate, and the rotary encoder, cylinder, and vision sensor electrically connected via a controller, a robot body fixedly mounted on the surface of the support plate, two limit seats fixedly mounted on one side of the support plate and slidably connected to the movable seat respectively, two elastic support members provided inside the movable seat and rollingly connected to the limit seats and elastic support members, a guide member provided inside the movable seat and slidably connected to the support plate and guide member, arc-shaped threaded sleeves slidably connected to both sides of the movable seat near the lead screw and slidably connected to the guide member and arc-shaped threaded sleeves, an elastic member fixedly mounted on one side of the guide member and connected to the movable seat.

[0007] Furthermore, the drive base includes a track and a motor fixed to one end of the track. Positioning blocks are fixedly installed at both ends of the track. Both ends of the lead screw are rotatably connected to the positioning blocks, and one end of the lead screw is fixedly connected to the output end of the motor.

[0008] Furthermore, two limiting plates are fixedly installed on one side of the movable seat, and the arc-shaped threaded sleeve is in rolling connection with the limiting plates.

[0009] Furthermore, the rotary encoder is fixedly mounted on both sides with fixed brackets, and the fixed brackets are fixedly connected to the track.

[0010] Furthermore, a first guide groove is provided on one side of the limiting seat, and the elastic support member is tumbledly connected to the first guide groove.

[0011] Furthermore, a second guide groove is provided on one side of the support plate, and the guide member is slidably connected to the second guide groove.

[0012] Furthermore, the elastic support includes a horizontal plate and several first ball bearings rotatably connected to one side of the horizontal plate. The horizontal plate is slidably connected to the interior of the movable seat. A vertical plate is fixedly installed on one side of the horizontal plate and is slidably connected to the interior of the movable seat. Several second ball bearings are rotatably connected to one end of the vertical plate and are in contact with the first guide groove. Two limiting posts are fixedly installed on one side of the horizontal plate and are slidably connected to the interior of the movable seat. A first spring is sleeved on the surface of the limiting post. One end of the first spring is fixedly connected to the interior of the movable seat, and the other end of the first spring is fixedly connected to the limiting post.

[0013] Furthermore, the guide includes a movable plate and a trapezoidal block fixed to one side of the movable plate. The movable plate is slidably connected to the movable seat, and the trapezoidal block is slidably connected to the second guide groove. Two limiting blocks are fixedly installed on one side of the movable plate, and the two limiting blocks are slidably connected to the movable seat respectively. The limiting blocks are provided with inclined grooves, and the arc-shaped threaded sleeve is slidably connected to the inclined groove.

[0014] Furthermore, a first roller is installed on one side of the arc-shaped threaded sleeve, and the first roller is in rolling connection with the limiting plate. A second roller is installed inside one end of the arc-shaped threaded sleeve, and the second roller is in rolling connection with the inclined groove.

[0015] Furthermore, the elastic element includes a slide rod and a circular plate fixed to one end of the slide rod. The slide rod is fixedly connected to the movable plate and slidably connected to the movable seat. A second spring is sleeved on the surface of the slide rod. One end of the second spring is fixedly connected to the circular plate and the other end of the second spring is fixedly connected to the movable seat.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Based on three different wear levels—slight positional offset, gap overlap and wobbling, and threaded drive slippage—the equipment performs three types of corrective actions: point fine-tuning, load support, and thread clamping. This reduces the fit error caused by long-term friction between the lead screw, moving seat, and drive seat, and slows down the decline in positioning accuracy over time, allowing the robot body to maintain a high positioning standard for precision operations throughout its entire service life.

[0017] 2. When the gap is too large, the elastic support fits against the bearing surface to share the load of the machine body, constrains the displacement of the moving seat, and reduces the power backlash caused by the superposition of transmission gap and sliding gap. This can significantly improve the shaking and vibration phenomenon during the robot's start-up, stopping and reversing processes, and ensure the stable quality of processing, gripping and assembly operations.

[0018] 3. When severe thread wear leads to slippage and lag in displacement response, the arc-shaped threaded sleeve can actively converge and conform to the outer wall of the lead screw, forming an auxiliary meshing transmission structure to compensate for the original thread wear defects. This restores transmission engagement performance without disassembling the equipment or replacing parts, ensuring stable and synchronous power transmission and preventing misalignment.

[0019] 4. The mechanism has the ability to self-correct wear on site. It can automatically handle minor wear in daily life without frequent shutdowns for disassembly, inspection, and replacement of worn parts. This effectively reduces production line downtime and lowers the amount of parts loss and manual maintenance workload. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the drive seat structure of the present invention; Figure 4 This is a schematic diagram of the robot body structure of the present invention; Figure 5 for Figure 4 Enlarged view at point B in the middle; Figure 6 This is a schematic diagram of the elastic support structure of the present invention; Figure 7 This is a schematic diagram of the movable seat structure of the present invention; Figure 8 This is a schematic diagram of the arc-shaped threaded sleeve structure of the present invention; Figure 9 for Figure 8 Enlarged view of point C in the middle.

[0021] In the diagram: 1. Drive seat; 11. Track; 12. Motor; 13. Positioning block; 2. Moving seat; 21. Limiting plate; 3. Rotary encoder; 31. Fixing frame; 4. Vision sensor; 5. Cylinder; 6. Support plate; 61. Second guide groove; 7. Robot body; 8. Limiting seat; 81. First guide groove; 9. Elastic support component; 91. Horizontal plate; 92. First ball bearing; 93. Vertical plate; 94. Second ball bearing; 95. Limiting post; 96. First spring; 10. Guide component; 101. Moving plate; 102. Trapezoidal block; 103. Limiting block; 104. Inclined groove; 20. Arc-shaped threaded sleeve; 201. First roller; 202. Second roller; 30. Elastic component; 301. Slide rod; 302. Circular plate; 303. Second spring; 40. Lead screw. Detailed Implementation

[0022] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] To address the technical problem that the lead screw 40 and the moving seat 2 are subjected to reciprocating loads, start-stop impacts, and friction over a long period, causing the thread engagement clearance and sliding clearance to gradually increase, resulting in a decrease in the overall movement and positioning accuracy of the equipment and making it difficult to meet the point-to-point requirements of precision operations, such as... Figures 1-9 As shown, the following preferred technical solutions are provided: like Figure 1 and Figure 2As shown, an industrial robot with precise mobile positioning includes a drive base 1, inside which a lead screw 40 is installed. A movable seat 2 is slidably connected to the surface of the drive base 1, and the movable seat 2 is threadedly connected to the lead screw 40, forming a basic linear transmission pair. The robot's overall displacement is achieved through threaded engagement. The structure is compact and the transmission is stable, providing a basic motion carrier for precise positioning and adapting to high-frequency reciprocating motion operations. A rotary encoder 3 is fixedly installed at one end of the drive base 1, and one end of the rotary encoder 3 is fixedly connected to the end of the lead screw 40. The rotary encoder 3 collects the rotation angle and theoretical stroke of the lead screw 40 in real time, tracing the operating data of the transmission end. It can accurately predict changes in transmission clearance, providing a benchmark value for deviation judgment and ensuring detection and judgment. Based on reliable data, a cylinder 5 is fixedly installed on one side of the mobile base 2, and a support plate 6 is slidably connected to the surface of the mobile base 2. The support plate 6 is fixedly connected to the output end of the cylinder 5. The cylinder 5 serves as the power source to drive the support plate 6 to slide flexibly, which can realize small-range rapid point fine adjustment, quickly offset slight positioning deviations, and provide rapid response for short-stroke compensation, effectively restoring the work calibration position. A vision sensor 4 is fixedly installed on one end of the support plate 6, and the rotary encoder 3, the cylinder 5, and the vision sensor 4 are electrically connected through a controller. The vision sensor 4 collects the actual position of the robot body 7 in real time and forms a two-way comparison with the data of the rotary encoder 3 to identify displacement errors caused by wear, automatically trigger compensation actions in a graded manner, and automatically control without manual intervention.

[0024] The robot body 7 is fixedly mounted on the surface of the support plate 6, and is stably integrated on top of the support plate 6. Its posture and position are adjusted synchronously with the compensation mechanism to ensure consistent action benchmarks for grasping, processing, and assembly, resulting in high operational stability. Two limit seats 8 are fixedly mounted on one side of the support plate 6, and the two limit seats 8 are slidably connected to the movable seat 2. The movable seat 2 has two elastic support members 9 inside, and the limit seats 8 are rollably connected to the elastic support members 9. When the gap between the elastic support members 9 is large, they can conform downwards to the bearing surface of the drive seat 1, sharing the load on the movable seat 2, reducing wear and tear on the sliding surface, restraining seat sway, and effectively suppressing equipment start-up, shutdown, and reversal vibrations. The movable seat 2 has guides inside. Part 10, support plate 6 and guide part 10 are slidably connected. Inside the movable seat 2, arc-shaped threaded sleeves 20 are slidably connected to both sides near the lead screw 40. The guide part 10 is slidably connected to the arc-shaped threaded sleeves 20. When the thread wears and slips, they can hug the outer wall of the lead screw 40 to form an auxiliary meshing contact surface, make up for the original thread pair clearance defect, restore the transmission meshing force, prevent idling and slippage, and ensure efficient power transmission. An elastic element 30 is fixedly installed on one side of the guide part 10 and is connected to the movable seat 2. Under normal conditions, the arc-shaped threaded sleeves 20 and guide part 10 are kept in the returned state. After the correction is completed, it automatically springs back to reset without interfering with the normal thread transmission. It has the dual functions of action drive and reset limit.

[0025] During normal operation, the drive seat 1 drives the internal lead screw 40 to rotate. The lead screw 40 engages with the moving seat 2, causing the moving seat 2 to slide along the surface of the drive seat 1. Simultaneously, it drives the support plate 6 and the robot body 7 to complete the workstation switching movement. The rotary encoder 3 fixed at the end of the drive seat 1 rotates coaxially with the lead screw 40, collecting rotation parameters in real time to calculate the theoretical movement stroke. The vision sensor 4 at the end of the support plate 6 moves synchronously, collecting the actual position of the robot body 7 in real time. The two sets of data are uploaded to the controller for comparison in real time. The controller is existing technology and is not shown in the figure. It determines the position deviation and wear conditions. After long-term reciprocating operation of the equipment, slight wear occurs on the contact surfaces of the lead screw 40 and the moving seat 2, and the moving seat 2 and the drive seat 1, forming a fit gap. This results in insufficient positioning accuracy of the robot body 7. The rotary encoder 3 and the vision sensor 4 detect and compare a small position deviation. The controller controls the cylinder 5 to extend, pushing the support plate 6 to slide slightly on the surface of the moving seat 2, directly driving the robot body 7 to fine-tune the position and achieve position compensation.

[0026] If wear continues to accumulate, the combined gap between the threaded transmission clearance and the sliding clearance widens, increasing the positional deviation. The system then determines the deviation is increasing, causing cylinder 5 to extend its stroke, pushing support plate 6 to shift significantly. This, in turn, presses down on the elastic support 9 inside the moving seat 2, ensuring its lower end fits against the bearing surface of drive seat 1. The elastic support 9 shares the load-bearing pressure of the moving seat 2, reducing vibration caused by clearance during robot body 7 operation. If severe wear is detected, the original thread meshing clearance between the lead screw 40 and the moving seat 2 becomes too large, resulting in transmission slippage and delayed displacement response. The controller issues a command to further extend cylinder 5. During the sliding process of support plate 6, guide 10 moves downward, overcoming the elastic force of elastic element 30 and pushing the two sets of arc-shaped threaded sleeves 20 inside the moving seat 2 towards each other, allowing the inner wall of the arc-shaped threaded sleeves 20 to tightly press against the outer wall of the lead screw 40. The arc-shaped threaded sleeves 20 form an auxiliary meshing transmission structure, compensating for the original thread wear defects, replacing the damaged mating surface to transmit power, effectively reducing slippage, and ensuring stable power transmission from the lead screw 40 to the moving seat 2.

[0027] Therefore, the three types of wear states—slight deviation, gap wobble, and thread slippage—are corrected sequentially to continuously reduce the errors caused by wear on the lead screw 40, moving seat 2, and drive seat 1. This improves the movement accuracy of the equipment during long-term use. The elastic support 9 shares the load and limits displacement wobble, which can reduce the vibration problem caused by the gap during operation of the robot body 7 due to the double gap. The stability of the robot body 7 during operation is significantly improved. When wear and slippage occur, it can automatically fit and hold the lead screw 40, and rely on the arc-shaped threaded sleeve 20 to replace the transmission contact surface. The transmission capacity can be restored without disassembling and replacing parts. The power transmission is continuous and reliable, and it has the ability to repair wear on-site. This reduces the frequency of parts replacement and production line downtime, and effectively saves labor maintenance and parts wear costs.

[0028] like Figure 3 As shown, the drive base 1 includes a track 11 and a motor 12 fixed to one end of the track 11. Positioning blocks 13 are fixedly installed at both ends of the track 11. The two ends of the lead screw 40 are rotatably connected to the positioning blocks 13 respectively. One end of the lead screw 40 is fixedly connected to the output end of the motor 12. When the motor 12 is energized, it outputs torque, which directly drives the lead screw 40 to rotate at a constant speed around its own axis. The positioning blocks 13 provide axial and radial limiting support for the lead screw 40, preventing the lead screw 40 from shifting or deviating during rotation. The rotating lead screw 40 drives the moving base 2 to slide linearly along the track 11 by means of thread meshing, thereby driving the support plate 6 and the robot body 7 to complete the work position movement and realize the switching of the work position.

[0029] like Figure 6 and Figure 7 As shown, two limiting plates 21 are fixedly installed on one side of the movable seat 2, and the arc-shaped threaded sleeve 20 is rolledly connected to the limiting plate 21. The limiting plate 21 forms a motion constraint on the arc-shaped threaded sleeve 20, limiting the opening and closing movement trajectory, avoiding deviation and skew, ensuring that the arc-shaped threaded sleeves 20 on both sides can symmetrically fit the lead screw 40, and the meshing force is uniform. The rolling contact cooperation greatly reduces the sliding friction resistance of the arc-shaped threaded sleeve 20 during reciprocating motion, and the linkage extension and retraction are smooth without jamming, improving the response efficiency of the correction action.

[0030] like Figure 3 As shown, the rotary encoder 3 is fixedly mounted on both sides with a fixed bracket 31, and the fixed bracket 31 is fixedly connected to the track 11 to securely lock the rotary encoder 3. Relying on the fixed bracket 31, it is firmly fixed on the track 11 and will not rotate or deviate with the vibration of the lead screw 40 during operation, thus ensuring that the detection reference remains fixed.

[0031] like Figure 4 and Figure 5 As shown, a first guide groove 81 is provided on one side of the limiting seat 8, and the elastic support member 9 is rolledly connected to the first guide groove 81. The first guide groove 81 constrains the movement path of the elastic support member 9, so that the movement does not deviate or misalign, and the support fits precisely. When a small positional deviation occurs, the limiting seat 8 only moves slightly, so the elastic support member 9 moves inside the first guide groove 81.

[0032] like Figure 7 As shown, a second guide groove 61 is provided on one side of the support plate 6. The guide member 10 is slidably connected to the second guide groove 61. The second guide groove 61 limits the movement direction of the guide member 10, ensuring that the sliding does not deviate or tilt, thus ensuring the stability of the power transmission direction.

[0033] To address the technical issues that arise when the gap is too large, such as robot body 7 shaking, severe thread wear leading to slippage and delayed displacement response, etc. Figures 5-9 As shown, the following preferred technical solutions are provided: like Figure 5 , Figure 6 and Figure 8 As shown, the elastic support 9 includes a horizontal plate 91 and several first ball bearings 92 rotatably connected to one side of the horizontal plate 91. The horizontal plate 91 is slidably connected to the interior of the movable seat 2. A vertical plate 93 is fixedly installed on one side of the horizontal plate 91 and is slidably connected to the interior of the movable seat 2. The horizontal plate 91 and the vertical plate 93 slide against the inner wall of the movable seat 2, resulting in a regular overall movement posture, uniform downward support force, and no tilting or displacement. Several second ball bearings 94 are rotatably connected to one end of the vertical plate 93, and the second ball bearings 94 contact the first guide groove 81. The second ball bearings 94 and the first guide groove 81, the first... Both the ball bearing 92 and the track 11 are in rolling contact, which greatly reduces frictional resistance, and there is no jamming when extending or pressing down. At the same time, it reduces wear on the contact surface. Two limit posts 95 are fixedly installed on one side of the horizontal plate 91, and the limit posts 95 are slidably connected to the inside of the movable seat 2. A first spring 96 is sleeved on the surface of the limit post 95. One end of the first spring 96 is fixedly connected to the inside of the movable seat 2. The first spring 96 achieves autonomous rebound and reset by relying on its elastic force. No additional drive structure is required. After the working condition is switched, it quickly returns to the initial state and is adapted to repeated start-stop support actions. The other end of the first spring 96 is fixedly connected to the limit post 95.

[0034] The horizontal plate 91 and the vertical plate 93 can slide vertically within the movable seat 2. The limiting post 95 constrains the overall sliding trajectory. The first spring 96 provides a holding force under normal conditions to maintain the initial retracted state of the support. When the limiting seat 8 moves slightly with the support plate 6, the vertical plate 93 only moves within the first guide groove 81 and will not detach from it. When severe wear is detected, the continuous movement of the limiting seat 8 causes the first guide groove 81 to press against the vertical plate 93 until the vertical plate 93 detaches from the first guide groove 81, due to the surface pressure of the limiting seat 8. When the second ball bearing 94 contacts, the rolling force causes the vertical plate 93 and the horizontal plate 91 to slide downwards simultaneously. The limiting post 95 slides along with the first spring 96, and the first ball bearing 92 at the bottom of the horizontal plate 91 presses down to fit against the bearing surface of the track 11, thus achieving load support. After the position deviation is corrected, the external force is removed, the compressed first spring 96 rebounds and resets, pushing the limiting post 95, along with the horizontal plate 91 and the vertical plate 93, to move upwards. The first ball bearing 92 disengages from the contact surface of the track 11, and the elastic support 9 returns to its initial position, without interfering with the normal sliding motion of the movable seat 2.

[0035] like Figure 9As shown, the guide member 10 includes a movable plate 101 and a trapezoidal block 102 fixed to one side of the movable plate 101. The movable plate 101 is slidably connected to the movable seat 2, and the trapezoidal block 102 is slidably connected to the second guide groove 61. Two limiting blocks 103 are fixedly installed on one side of the movable plate 101, and the two limiting blocks 103 are slidably connected to the movable seat 2 respectively. The limiting blocks 103 have inclined grooves 104 through them. The arc-shaped threaded sleeves 20 are rollably connected to the inclined grooves 104. The trapezoidal block 102 is inserted into the second guide groove 61 of the support plate 6. When the support plate 6 slides, the trapezoidal block 102 will move inside the second guide groove 61. When it is necessary to drive the two arc-shaped threaded sleeves 20 to move relative to each other, the continuous movement of the support plate 6 causes the inclined surface of the second guide groove 61 to push the trapezoidal block 102 downward and separate it from the trapezoidal block 102, and the surface of the support plate 6... The trapezoidal block 102 is squeezed downwards, which in turn pushes the moving plate 101 to slide smoothly inside the moving seat 2. The moving plate 101 drives the two limit blocks 103 to move together. The limit blocks 103 have inclined grooves 104. The arc-shaped threaded sleeves 20 roll and slide along the inner wall of the inclined grooves 104. By relying on the change of the inclined angle of the inclined grooves 104, the horizontal downward displacement of the moving plate 101 is converted into the radial action of the two sets of arc-shaped threaded sleeves 20 converging towards each other, so that the arc-shaped threaded sleeves 20 hug the screw 40, realizing thread clearance compensation and reducing transmission slippage. When the support plate 6 is reset and retracted, it pulls the guide 10 back in the opposite direction. The inclined grooves 104 drive the arc-shaped threaded sleeves 20 to separate from each other, disengage from the hugging state, and restore the screw 40 to normal free rotation transmission. The limit blocks 103 slide in contact with the inner wall of the moving seat 2 throughout the process, constraining the overall movement posture and avoiding displacement.

[0036] like Figure 7 and Figure 9 As shown, a first roller 201 is installed on one side of the arc-shaped threaded sleeve 20, and the first roller 201 is in rolling connection with the limiting plate 21. A second roller 202 is installed inside one end of the arc-shaped threaded sleeve 20, and the second roller 202 is in rolling connection with the inclined groove 104. The first roller 201 is in rolling contact with the limiting plate 21, which greatly reduces the resistance to opening and closing of the arc-shaped threaded sleeve 20, making the movement flexible and without jamming. The limiting plate 21, together with the first roller 201, constrains the travel path, ensuring that the arc-shaped threaded sleeves 20 on both sides are symmetrically closed and the position of the lead screw 40 is correct.

[0037] The elastic element 30 includes a slide rod 301 and a circular plate 302 fixed to one end of the slide rod 301. The slide rod 301 is fixedly connected to the movable plate 101 and slidably connected to the movable seat 2. A second spring 303 is sleeved on the surface of the slide rod 301. One end of the second spring 303 is fixedly connected to the circular plate 302 and the other end of the second spring 303 is fixedly connected to the movable seat 2. Under normal conditions, the second spring 303 is in a naturally contracted state, and the arc-shaped threaded sleeve 20 remains in a loose state, does not contact the lead screw 40, and does not interfere with normal thread transmission.

[0038] When the movable plate 101 pushes the slide bar 301 to move synchronously, the circular plate 302 pulls and compresses the second spring 303. The second spring 303 is stretched, which in turn completes the clamping and correction action of the arc-shaped threaded sleeve 20.

[0039] After the deviation correction is completed and the external driving force is removed, the stretched second spring 303 releases its elasticity, causing the circular plate 302 and the slide bar 301 to reset, driving the moving plate 101 back to its original position, and the arc-shaped threaded sleeve 20 to loosen and reset simultaneously, and the equipment resumes normal transmission operation.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An industrial robot with precise mobile positioning, comprising a drive base (1), characterized in that: The drive seat (1) is equipped with a lead screw (40). A movable seat (2) is slidably connected to the surface of the drive seat (1), and the movable seat (2) is threadedly connected to the lead screw (40). A rotary encoder (3) is fixedly installed at one end of the drive seat (1), and one end of the rotary encoder (3) is fixedly connected to the end of the lead screw (40). A cylinder (5) is fixedly installed on one side of the movable seat (2). A support plate (6) is slidably connected to the surface of the movable seat (2), and the support plate (6) is fixedly connected to the output end of the cylinder (5). A vision sensor (4) is fixedly installed at one end of the support plate (6), and the rotary encoder (3), the cylinder (5), and the vision sensor (4) are electrically connected through a controller. The surface of the support plate (6) is fixedly... The robot body (7) is installed. Two limit seats (8) are fixedly installed on one side of the support plate (6), and the two limit seats (8) are slidably connected to the moving seat (2). The moving seat (2) is provided with two elastic support members (9), and the limit seats (8) are slidably connected to the elastic support members (9). The moving seat (2) is provided with a guide member (10), and the support plate (6) is slidably connected to the guide member (10). The moving seat (2) is slidably connected with the arc-shaped threaded sleeve (20) on both sides near the lead screw (40), and the guide member (10) is slidably connected to the arc-shaped threaded sleeve (20). An elastic member (30) is fixedly installed on one side of the guide member (10), and the elastic member (30) is connected to the moving seat (2).

2. An industrial robot with precise mobile positioning according to claim 1, characterized in that: The drive base (1) includes a track (11) and a motor (12) fixed at one end of the track (11). Positioning blocks (13) are fixedly installed at both ends of the track (11). The two ends of the lead screw (40) are rotatably connected to the positioning blocks (13) respectively, and one end of the lead screw (40) is fixedly connected to the output end of the motor (12).

3. An industrial robot with precise mobile positioning according to claim 1, characterized in that: Two limiting plates (21) are fixedly installed on one side of the movable seat (2), and the arc-shaped threaded sleeve (20) is rolledly connected to the limiting plate (21).

4. An industrial robot with precise mobile positioning according to claim 2, characterized in that: The rotary encoder (3) is fixedly mounted on both sides with a mounting bracket (31), and the mounting bracket (31) is fixedly connected to the track (11).

5. An industrial robot with precise mobile positioning according to claim 1, characterized in that: The limiting seat (8) has a first guide groove (81) on one side, and the elastic support (9) is tumbled to the first guide groove (81).

6. An industrial robot with precise mobile positioning according to claim 3, characterized in that: The support plate (6) has a second guide groove (61) on one side, and the guide member (10) is slidably connected to the second guide groove (61).

7. An industrial robot with precise mobile positioning according to claim 5, characterized in that: The elastic support member (9) includes a horizontal plate (91) and several first balls (92) rotatably connected to one side of the horizontal plate (91). The horizontal plate (91) is slidably connected to the inside of the movable seat (2). A vertical plate (93) is fixedly installed on one side of the horizontal plate (91) and is slidably connected to the inside of the movable seat (2). Several second balls (94) are rotatably connected to one end of the vertical plate (93) and the second balls (94) are in contact with the first guide groove (81). Two limiting posts (95) are fixedly installed on one side of the horizontal plate (91) and are slidably connected to the inside of the movable seat (2). A first spring (96) is sleeved on the surface of the limiting post (95). One end of the first spring (96) is fixedly connected to the inside of the movable seat (2) and the other end of the first spring (96) is fixedly connected to the limiting post (95).

8. An industrial robot with precise mobile positioning according to claim 6, characterized in that: The guide (10) includes a movable plate (101) and a trapezoidal block (102) fixed on one side of the movable plate (101). The movable plate (101) is slidably connected to the movable seat (2), and the trapezoidal block (102) is slidably connected to the second guide groove (61). Two limiting blocks (103) are fixedly installed on one side of the movable plate (101), and the two limiting blocks (103) are slidably connected to the movable seat (2) respectively. The limiting block (103) has an inclined groove (104) through it, and the arc-shaped threaded sleeve (20) is slidably connected to the inclined groove (104).

9. An industrial robot with precise mobile positioning according to claim 8, characterized in that: The arc-shaped threaded sleeve (20) is equipped with a first roller (201) on one side, and the first roller (201) is in rolling connection with the limiting plate (21). The arc-shaped threaded sleeve (20) is equipped with a second roller (202) inside one end, and the second roller (202) is in rolling connection with the inclined groove (104).

10. An industrial robot with precise mobile positioning according to claim 8, characterized in that: The elastic element (30) includes a slide rod (301) and a circular plate (302) fixed to one end of the slide rod (301). The slide rod (301) is fixedly connected to the movable plate (101), and the slide rod (301) is slidably connected to the movable seat (2). A second spring (303) is sleeved on the surface of the slide rod (301). One end of the second spring (303) is fixedly connected to the circular plate (302), and the other end of the second spring (303) is fixedly connected to the movable seat (2).

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