A robot ground track mechanism

Abstract

The utility model provides a robot ground rail mechanism, comprising a ground rail bar, wherein the upper surface of the ground rail bar is recessed downward to form a guide groove for limiting the position of a bottom support wheel of the robot, the guide groove is arranged along the length direction of the ground rail bar, a plurality of strip grooves arranged along the width direction of the ground rail bar are evenly provided at the bottom of the ground rail bar, an extension plate is inserted in the strip groove, both ends of the extension plate extend to the outside of the strip groove, the thickness of the extension plate is the same as the depth of the strip groove, a positioning part is connected and fixed to the middle position of the upper surface of the extension plate, a plurality of positioning grooves communicating with the strip groove are evenly provided at the bottom of the guide groove, the positioning part is inserted in the positioning groove, and reinforcement pieces for preventing the extension plate from deforming and bending are installed at both ends of the extension plate. The utility model has the following beneficial effects: the pressure exerted by the robot on the ground rail is dispersed to a large area of ​​the ground, and the requirements for the strength and hardness of the ground are reduced.

Description

Technical Field

[0001] The utility model relates to a robot ground rail mechanism, belonging to the field of industrial robots. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. In order to facilitate the movement of the robot along the set route, it is necessary to install a ground rail on the ground so that the support wheels at the bottom of the robot are placed in the guide grooves on the ground rail. When the robot moves, the support wheels roll along the guide grooves to limit the robot's movement trajectory. At present, the width of the ground rail is small, so the contact range between the ground rail and the ground is small. For robots with a large self-weight, the overall weight of the robot will act on a small area of ​​the ground through the ground rail. In order to avoid ground subsidence, the requirements for ground strength and hardness are high. Therefore, it is necessary to design a robot ground rail mechanism that reduces the requirements for ground strength and hardness. Utility Model Content

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a robot ground rail mechanism to solve the problems raised in the above-mentioned background technology. The present invention enables the pressure exerted by the robot on the ground rail to be dispersed to a large area of ​​the ground, thereby reducing the requirements for ground strength and hardness.

[0004] In order to achieve the above-mentioned purpose, the utility model is realized through the following technical scheme: a robot ground rail mechanism, including a ground rail bar, the upper surface of the ground rail bar is recessed downward to form a guide groove for limiting the position of the bottom support wheel of the robot, the guide groove is arranged along the length direction of the ground rail bar, and the bottom of the ground rail bar is evenly provided with a plurality of strip grooves arranged along the width direction of the ground rail bar, an expansion plate is inserted in the strip groove, both ends of the expansion plate extend to the outside of the strip groove, the thickness of the expansion plate is the same as the depth of the strip groove, a positioning part is connected and fixed to the middle position of the upper surface of the expansion plate, a plurality of positioning grooves communicating with the strip groove are evenly provided at the bottom of the guide groove, the positioning part is inserted in the positioning groove, and both ends of the expansion plate are installed with reinforcement members for preventing the expansion plate from deformation and bending.

[0005] Furthermore, the reinforcement comprises a right-angled triangle plate, and right-angled triangle plates are provided on both sides of the upper surface of the extension plate on the ground rail bar, and a vertically arranged plug-in strip is connected and fixed to the side of the right-angled triangle plate facing the ground rail bar, and two plug-in slots are symmetrically opened at the top of the strip groove, and the top of the plug-in slot is closed, and the plug-in strip is inserted in the plug-in slot.

[0006] Furthermore, the cross section of the plug-in strip is T-shaped, the cross section of the plug-in slot is T-shaped, and the plug-in strip and the right-angled triangle plate are an integrally formed structure.

[0007] Furthermore, a plurality of protective pads are evenly laid on the bottom of the guide groove, the plurality of protective pads are connected end to end, a plurality of pins are evenly fixed on the lower surface of the protective pads, a plurality of pin holes matching with the pins are evenly opened on the bottom of the guide groove, and the pins are inserted in the pin holes.

[0008] Furthermore, a plurality of fixing ears are evenly installed on one side of the floor rail, and the upper surfaces of the fixing ears are recessed downward to form mounting holes penetrating the fixing ears for inserting bolts.

[0009] Furthermore, a support ear for limiting the position of the nut on the bolt is provided on the upper side of the fixing ear, one end of the support ear is connected and fixed to the ground rail, the circular hole opened on the upper surface of the support ear is aligned with the mounting hole and there is a gap between the circular hole and the mounting hole.

[0010] Beneficial effects of the utility model:

[0011] 1. When installing the floor rail, expansion boards are arranged in the multiple strip grooves at the bottom of the floor rail, and the positioning parts on the expansion boards are inserted into the positioning grooves to limit the relative position of the expansion boards and the floor rail. After the floor rail is installed on the ground, the expansion boards are also in contact with the ground, and then the pressure exerted by the robot on the floor rail is dispersed to a large area of ​​the ground through multiple expansion boards, reducing the requirements for the strength and hardness of the ground.

[0012] 2. When assembling the ground rail and the expansion board, the plug-in strip on the right-angle triangle plate is inserted into the plug-in slot to connect the right-angle triangle plate and the ground rail. After the expansion board and the ground rail are assembled, a right-angle edge of the right-angle triangle plate is pressed on the expansion board, thereby increasing the deformation resistance of the expansion board and preventing the end of the expansion board from warping upward due to the weight of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0014] Figure 1 This is a schematic diagram of the structure of a robot ground rail mechanism of the utility model;

[0015] Figure 2 It is a cross-sectional view of a ground rail bar in a ground rail mechanism of a robot according to the utility model;

[0016] Figure 3 This is a schematic diagram of the assembly of a positioning part and an expansion board in a robot ground rail mechanism of the utility model;

[0017] Figure 4 It is a schematic diagram of the assembly of a plug-in strip and a right-angled triangle plate in a robot ground rail mechanism of the utility model;

[0018] Figure 5 This is a schematic diagram of the assembly of a pin and a protective pad in a robot ground rail mechanism of the utility model;

[0019] In the figure: 1-ground rail, 2-guide groove, 3-protective pad, 4-right-angle triangle plate, 5-expansion plate, 6-fixing ear, 7-support ear, 8-strip groove, 9-positioning groove, 10-pin hole, 11-plug-in groove, 12-positioning part, 13-groove, 14-plug-in strip, 15-pin column. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0021] See also Figure 1 The utility model provides a technical solution: a robot ground rail mechanism, comprising a ground rail bar 1, the upper surface of the ground rail bar 1 is recessed downward to form a guide groove 2 for limiting the position of the bottom support wheel of the robot, wherein the guide groove 2 is arranged along the length direction of the ground rail bar 1, and a plurality of fixing ears 6 are evenly installed on one side of the ground rail bar 1, and the upper surface of the fixing ear 6 is recessed downward to form a mounting hole for inserting a bolt through the fixing ear 6, and a support ear 7 for limiting the position of a nut on the bolt is provided on the upper side of the fixing ear 6, and a circular hole opened on the upper surface of the support ear 7, one end of which is connected and fixed to the ground rail bar 1, is aligned with the mounting hole, so that one end of the bolt fixed on the ground passes through the mounting hole and the circular hole in sequence and then the nut is screwed on. At this time, the nut is on the upper side of the support ear 7, and because there is a gap between the circular hole and the mounting hole, the bolt fixed on the ground is in a naked state between the fixing ear 6 and the support ear 7. When the bolt and nut fixed on the ground are difficult to twist, a hacksaw blade is inserted between the support ear 7 and the fixing ear 6 to saw off the bolt, so as to facilitate the complete recovery of the ground rail bar 1.

[0022] See also Figure 1 , Figure 2 and Figure 5 A plurality of protective pads 3 are evenly laid on the bottom of the guide groove 2, and the plurality of protective pads 3 are connected end to end. A plurality of pins 15 are evenly fixed on the lower surface of the protective pads 3. A plurality of pin holes 10 matching the pins 15 are evenly opened on the bottom of the guide groove 2, so that the pins 15 on the protective pads 3 are respectively inserted into the corresponding pin holes 10 to realize the plug-in connection between the protective pads 3 and the ground rail 1. Under the action of the protective pads 3, the bottom of the guide groove 2 is protected from being squeezed and damaged by the bottom support wheel of the robot. Because the protective pads 3 and the ground rail 1 are plugged into each other, it is convenient to replace the damaged protective pads 3.

[0023] See also Figure 1 , Figure 2 and Figure 3, a plurality of strip grooves 8 arranged along the width direction of the ground rail bar 1 are evenly opened at the bottom of the ground rail bar 1, and expansion plates 5 are inserted in the plurality of strip grooves 8, wherein both ends of the expansion plates 5 with the same thickness as the depth of the strip grooves 8 extend to the outside of the strip grooves 8, and a positioning portion 12 is connected and fixed to the middle position of the upper surface of the expansion plate 5, and the upper surface of the positioning portion 12 is recessed downward to form a groove 13, thereby reducing the production material amount of the positioning portion 12, and a plurality of positioning grooves 9 communicating with the strip grooves 8 are evenly opened at the bottom of the guide groove 2. When installing the ground rail bar 1, expansion plates 5 are arranged in the plurality of strip grooves 8 at the bottom of the ground rail bar 1, and the positioning portions 12 on the expansion plates 5 are inserted in the positioning grooves 9, so as to limit the relative position of the expansion plates 5 and the ground rail bar 1. After the ground rail bar 1 is installed on the ground, the expansion plates 5 are also in contact with the ground, and then the pressure exerted by the robot on the ground rail bar 1 is dispersed to a large area of ​​the ground through the plurality of expansion plates 5, thereby reducing the requirements for the strength and hardness of the ground.

[0024] See also Figure 1 , Figure 2 and Figure 4 , right-angled triangle plates 4 are provided on both sides of the upper surface of the expansion plate 5 on the ground rail bar 1, and a vertically arranged T-shaped cross-section plug-in strip 14 is connected and fixed to the side of the right-angled triangle plate 4 facing the ground rail bar 1, and the plug-in strip 14 and the right-angled triangle plate 4 are an integrally formed structure, and two plug-in slots 11 are symmetrically opened on the top of the strip groove 8, wherein the top of the plug-in slot 11 is closed. When assembling the ground rail bar 1 and the expansion plate 5, the plug-in strip 14 on the right-angled triangle plate 4 is inserted into the plug-in slot 11 to realize the plug-in of the right-angled triangle plate 4 and the ground rail bar 1. After the expansion plate 5 and the ground rail bar 1 are assembled, a right angle side of the right-angled triangle plate 4 is pressed on the expansion plate 5, thereby increasing the anti-deformation performance of the expansion plate 5 and preventing the end of the expansion plate 5 from being affected by the deadweight of the robot and tilting upward.

[0025] Although this specification is described according to implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot ground rail mechanism, comprising a ground rail bar (1), characterized in that: The upper surface of the floor rail (1) is recessed downward to form a guide groove (2) for limiting the position of the bottom support wheel of the robot. The guide groove (2) is arranged along the length direction of the floor rail (1). The bottom of the floor rail (1) is evenly provided with a plurality of strip grooves (8) arranged along the width direction of the floor rail (1). An expansion plate (5) is inserted in the strip groove (8). Both ends of the expansion plate (5) extend to the outside of the strip groove (8). The thickness of the expansion plate (5) is the same as the depth of the strip groove (8). A positioning portion (12) is connected and fixed to the middle position of the upper surface of the expansion plate (5). The bottom of the guide groove (2) is evenly provided with a plurality of positioning grooves (9) communicating with the strip groove (8). The positioning portion (12) is inserted in the positioning groove (9). Both ends of the expansion plate (5) are installed with reinforcement members for preventing the expansion plate (5) from deforming and bending.

2. A robot ground rail mechanism according to claim 1, characterized in that: The reinforcing member comprises a right-angled triangular plate (4), and the upper surface of the expansion plate (5) is provided with right-angled triangular plates (4) on both sides of the ground rail (1), and a vertically arranged plug-in strip (14) is connected and fixed to the side of the right-angled triangular plate (4) facing the ground rail (1), and two plug-in slots (11) are symmetrically provided at the top of the strip groove (8), and the top of the plug-in slot (11) is closed, and the plug-in strip (14) is inserted into the plug-in slot (11).

3. A robot ground rail mechanism according to claim 2, characterized in that: The plug-in strip (14) has a T-shaped cross section, the plug-in slot (11) has a T-shaped cross section, and the plug-in strip (14) and the right-angled triangle plate (4) are an integrally formed structure.

4. A robot ground rail mechanism according to claim 1, characterized in that: A plurality of protective pads (3) are evenly laid on the bottom of the guide groove (2), the plurality of protective pads (3) are connected end to end, a plurality of pins (15) are evenly fixed on the lower surface of the protective pads (3), a plurality of pin holes (10) matching with the pins (15) are evenly opened on the bottom of the guide groove (2), and the pins (15) are inserted into the pin holes (10).

5. The robot ground rail mechanism according to claim 1, characterized in that: A plurality of fixing ears (6) are evenly mounted on one side of the floor rail (1), and the upper surface of the fixing ears (6) is recessed downward to form a mounting hole penetrating the fixing ears (6) for inserting bolts.

6. A robot ground rail mechanism according to claim 5, characterized in that: A support ear (7) for limiting the position of a nut on the bolt is provided on the upper side of the fixing ear (6); one end of the support ear (7) is connected and fixed to the ground rail (1); a circular hole formed on the upper surface of the support ear (7) is aligned with the mounting hole and a gap exists between the circular hole and the mounting hole.

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