High-stability mobile industrial robot

Abstract

The utility model provides a high-stability mobile industrial robot which comprises a mechanical arm body, a mobile base and a sliding rail, the mobile base is arranged on the right side of the mechanical arm body, the sliding rail is arranged on the right side of the mobile base, the sliding rail is of an inverted-T-shaped structure, and the right side of the mobile base is of a U-shaped structure. Compared with the prior art, the device has the following beneficial effects that by arranging the first limiting sliding block, the second limiting sliding block, the first limiting sliding groove and the second limiting sliding groove, the first limiting sliding block can slide left and right in the first limiting sliding groove, and the position of the first limiting sliding block is limited in the first limiting sliding groove; a second limiting sliding block slides left and right in a second limiting sliding groove, the position of the second limiting sliding block is limited in the second limiting sliding groove, normal movement of the movable base is guaranteed, meanwhile, it is guaranteed that contact between the movable base and a sliding rail is not separated, vibration generated when the movable base moves can be weakened by arranging a vibration reduction contact and a sliding groove, and the vibration reduction effect is improved. And the stability of the movable base during movement is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, and particularly relates to a highly stable mobile industrial robot. Background Art

[0002] Mobile industrial robots are robots with autonomous mobility, and are often used in industrial applications such as material handling, warehouse management, and assembly lines. They are able to interact with surrounding objects in a dynamic environment and have the ability to perceive the environment and navigate. These robots use sensors and algorithms for path planning, can perform tasks in complex factory environments, and provide efficient and flexible solutions. Although mobile industrial robots perform well in many applications, they may have problems with unstable movement in some cases. For example, if the center of gravity is too high or the layout is unreasonable, it will lead to the risk of tipping over. The conventional approach is to improve the chassis design and design a wider or lower center of gravity chassis to increase the stability of the robot. However, the disadvantage of this approach is that a wider chassis may increase costs and manufacturing complexity, and secondly, it will make the robot too large, resulting in reduced flexibility. Therefore, it is hoped that a new structure will be proposed to solve the above problems. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model aims to provide a highly stable mobile industrial robot.

[0004] The utility model is realized by the following technical scheme: a highly stable mobile industrial robot, comprising: a mechanical arm body, a mobile base and a slide rail, wherein the right side of the mechanical arm body is provided with a mobile base, the right side of the mobile base is provided with a slide rail, the slide rail is a convex structure, and the right side of the mobile base is a concave structure;

[0005] A limit slider 1 is provided above the right side of the mobile base, a limit slider 2 is provided below the limit slider 1, a rotation groove is provided below the limit slider 2, a universal ball is installed inside the rotation groove, a stabilizing cavity is provided inside the lower right side of the mobile base, and a vibration reduction device is provided inside the stabilizing cavity;

[0006] A vibration-damping contact is arranged on the right side of the vibration-damping device, a limiting slide groove 1 is arranged on the upper left side of the slide rail, a limiting slide groove 2 is arranged below the limiting slide groove 1, a rolling groove is arranged below the limiting slide groove 2, and a sliding groove is arranged below the rolling groove.

[0007] As a preferred embodiment, the movable base is connected to an external control mechanism 1 via a wire 1, the robot arm body is connected to an external control mechanism 2 via a wire 2, and the movable base and the slide rail are both made of stainless steel.

[0008] As a preferred embodiment, the movable base is a cylindrical structure, the center of the right side of the movable base is concave to the left to form a groove, the limit slider 1 is located on the upper right side of the outside of the groove, the limit slider 2 is located on the upper inside of the groove, the rotating groove is located in the center of the left side of the groove, and the stabilizing cavity is located inside the bottom of the groove.

[0009] As a preferred embodiment, the limit slider 1 is inside the limit slide groove 1, the limit slider 1 is a convex structure, the limit slide groove 1 is matched with the limit slider 1 in shape, the limit slider 2 is inside the limit slide groove 2, the right side of the rotating groove is an open structure, the limit slider 2 is a convex structure, and the limit slide groove 2 is matched with the limit slider 1 in shape;

[0010] The radius length of the rotating groove is greater than the radius length of the universal ball, the length of the right opening of the rotating groove is less than the diameter length of the universal ball, and the universal ball is located inside the rotating groove and movably connected to the rotating groove.

[0011] As a preferred embodiment, the left side of the slide rail protrudes to the left to form a boss, the limit slide groove 1 is on the right side above the boss, the limit slide groove 2 is on the top of the boss, the rolling groove is in the center of the left side of the boss, and the sliding groove is on the right side below the boss. In actual use, the movable base is controlled to move to the left by the external control mechanism 1. At this time, the limit slide block 1 slides to the left inside the limit slide groove 1. Since the limit slide block 1 is a convex structure and the shape of the limit slide groove 1 matches the limit slide block 1, the limit slide block 1 will not disengage from the limit slide groove 1, and the limit slide block 2 slides to the left inside the limit slide groove 2. Since the limit slide block 2 is a convex structure and the shape of the limit slide groove 2 matches the limit slide block 2, the limit slide block 2 will not disengage from the limit slide groove 2. Therefore, the limit slide block 1 and the limit slide block 2 can not only meet the movement of the movable base, but also ensure that the movable base will not disengage from the left side of the slide rail, thereby ensuring the stable connection between the movable base and the slide rail.

[0012] As a preferred embodiment, the radius length of the rolling groove is greater than the radius length of the universal rolling ball, and the arc length of the rolling groove is less than half the circumference of the universal rolling ball;

[0013] The radius length of the sliding groove is greater than the radius length of the damping contact, the damping contact is located inside the sliding groove, and the left side of the sliding groove is an open structure.

[0014] As a preferred embodiment, the left side of the vibration-damping contact is connected and fixed to the right side of the vibration-damping device by a connecting rod. In actual use, since the upper part of the movable base is limited by the limit slider 1 and the limit slider 2, its lower part will generate slight vibration when the movable base moves. Therefore, when the movable base moves to the left, the vibration is transmitted to the connecting rod through the vibration-damping contact, and the connecting rod transmits the vibration to the vibration-damping device. The vibration-damping device absorbs and weakens the vibration, thereby ensuring the stability of the movable base when it moves.

[0015] After adopting the above technical scheme, the beneficial effects of the utility model are as follows: by setting the limit slider 1, the limit slider 2, the limit slide groove 1 and the limit slide groove 2, the limit slider 1 can slide left and right inside the limit slide groove 1 and its position is limited inside the limit slide groove 1, and the limit slider 2 can slide left and right inside the limit slide groove 2 and its position is limited inside the limit slide groove 2, thereby ensuring the normal movement of the mobile base and at the same time ensuring that the mobile base and the slide rail will not lose contact. By setting the vibration-damping contact and the sliding groove, since the upper part of the base is movably connected to the slide rail through the limit slider 1 and the limit slider 2, its lower part will generate slight vibration when moving. At this time, the vibration-damping contact transmits the vibration to the vibration-damping device through the connecting rod, thereby weakening the vibration absorption and ensuring the stability of the mobile base when moving. By setting the universal ball, the rotating groove and the rolling groove, the movement of the mobile base is smoother and more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 The utility model is a schematic diagram of a highly stable mobile industrial robot.

[0018] Figure 2 The utility model is a schematic diagram of the structure of a mobile base in a highly stable mobile industrial robot.

[0019] Figure 3 The utility model is a schematic diagram of the structure of a slide rail in a highly stable mobile industrial robot.

[0020] In the figure, 100 is the main body of the mechanical arm, 110 is the moving base, 120 is the slide rail, 130 is the limiting slide groove 1, 140 is the limiting slide groove 2, and 150 is the rolling groove;

[0021] 160-sliding groove, 170-limiting slider 1, 180-limiting slider 2, 190-rotating groove, 200-universal ball;

[0022] 210 - vibration-damping contact, 220 - vibration-damping device, 230 - connecting rod. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only one end of the utility model, not the whole end. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figures 1 to 3 : A highly stable mobile industrial robot, comprising: a mechanical arm body 100, a mobile base 110 and a slide rail 120, wherein the mobile base 110 is disposed on the right side of the mechanical arm body 100, the slide rail 120 is disposed on the right side of the mobile base 110, the slide rail 120 is a convex structure, and the right side of the mobile base 110 is a concave structure;

[0025] A limit slider 170 is provided above the right side of the mobile base 110, a limit slider 2 180 is provided below the limit slider 170, a rotation groove 190 is provided below the limit slider 2 180, a universal ball 200 is installed inside the rotation groove 190, a stabilizing cavity is provided inside the lower right side of the mobile base 110, and a vibration reduction device 220 is provided inside the stabilizing cavity;

[0026] A damping contact 210 is provided on the right side of the damping device 220 , a limiting slide groove 130 is provided on the upper left side of the slide rail 120 , a limiting slide groove 2 140 is provided below the limiting slide groove 130 , a rolling groove 150 is provided below the limiting slide groove 140 , and a sliding groove 160 is provided below the rolling groove 150 .

[0027] The movable base 110 is connected to the external control mechanism 1 through the wire 1, and the robot arm body 100 is connected to the external control mechanism 2 through the wire 2. The movable base 110 and the slide rail 120 are both made of stainless steel.

[0028] The movable base 110 is a cylindrical structure. The center of the right side of the movable base 110 is concave to the left to form a groove. The limit slider 170 is located on the upper right side of the outside of the groove, the limit slider 2 180 is located on the upper inside of the groove, the rotating groove 190 is located in the center of the left side of the groove, and the stabilizing cavity is located inside the bottom of the groove.

[0029] The limiting slider 170 is inside the limiting chute 130, the limiting slider 170 is a convex structure, the limiting chute 130 is matched with the limiting slider 170, the limiting slider 180 is inside the limiting chute 140, the right side of the rotating groove 190 is an open structure, the limiting slider 180 is a convex structure, and the limiting chute 140 is matched with the limiting slider 170;

[0030] The radius of the rotating groove 190 is greater than the radius of the universal ball 200 . The length of the right opening of the rotating groove 190 is less than the diameter of the universal ball 200 . The universal ball 200 is located inside the rotating groove 190 and is movably connected to the rotating groove 190 .

[0031] The left side of the slide rail 120 protrudes to the left to form a boss, the limiting slide groove 130 is located on the right side above the boss, the limiting slide groove 140 is located on the top of the boss, the rolling groove 150 is located in the center of the left side of the boss, and the sliding groove 160 is located on the right side below the boss. In actual use, the mobile base 110 is controlled to move to the left by the external control mechanism 1. At this time, the limiting slider 170 slides to the left inside the limiting slide groove 130. Since the limiting slider 170 is a convex structure and the shape of the limiting slide groove 130 matches the limiting slider 170, the limiting slider 170 will not Disengage from the interior of the limiting slide groove 130, and the limiting slider 2 180 slides to the left inside the limiting slide groove 140. Since the limiting slider 2 180 is a convex structure, and the shape of the limiting slide groove 140 matches that of the limiting slider 2 180, the limiting slider 2 180 will not disengage from the interior of the limiting slide groove 140. Therefore, the limiting slider 170 and the limiting slider 2 180 can not only meet the movement of the mobile base 110, but also ensure that the mobile base 110 will not disengage from the left side of the slide rail 120, thereby ensuring the stable connection between the mobile base 110 and the slide rail 120.

[0032] The radius of the rolling groove 150 is greater than the radius of the universal ball 200, and the arc length of the rolling groove 150 is less than half of the circumference of the universal ball 200;

[0033] The radius length of the sliding slot 160 is greater than the radius length of the damping contact 210 . The damping contact 210 is located inside the sliding slot 160 , and the left side of the sliding slot 160 is an open structure.

[0034] The left side of the vibration-damping contact 210 is connected and fixed to the right side of the vibration-damping device 220 by a connecting rod 230. In actual use, since the upper part of the mobile base 110 is limited by the limit slider 170 and the limit slider 2 180, the lower part of the mobile base 110 will produce slight vibration when the mobile base 110 moves. Therefore, when the mobile base 110 moves to the left, the vibration is transmitted to the connecting rod 230 through the vibration-damping contact 210, and the connecting rod 230 transmits the vibration to the vibration-damping device 220. The vibration-damping device 220 absorbs and weakens the vibration, thereby ensuring the stability of the mobile base 110 when it moves.

[0035] Example 1: Please refer to Figures 1 to 3 In actual use, the mobile base 110 is on the left side of the slide rail 120, at this time, the limit slider 170 is inside the limit slide groove 130, the limit slider 2 180 is inside the limit slide groove 2 140, the right side of the universal ball 200 is in contact with the inside of the rolling groove 150, and the damping contact 210 is inside the sliding groove 160 (the limit slide groove 130, the limit slide groove 2 140, the rolling groove 150, the sliding groove 160 and the rotating groove 190 are all coated with lubricating oil), and the mobile base 110 is controlled to move to the left by the external control mechanism 1. At this time, the limit slider 170 slides to the left inside the limit slide groove 130. Since the limit slider 170 is a convex structure , and the shape of the limiting slide groove 130 matches the limiting slider 170, so the limiting slider 170 will not detach from the limiting slide groove 130, and the limiting slider 180 slides to the left inside the limiting slide groove 140. Since the limiting slider 180 is a convex structure, and the shape of the limiting slide groove 140 matches the limiting slider 180, the limiting slider 180 will not detach from the limiting slide groove 140. Therefore, the limiting slider 170 and the limiting slider 180 can not only meet the movement of the mobile base 110, but also ensure that the mobile base 110 will not detach from the left side of the slide rail 120, thereby ensuring the stable connection between the mobile base 110 and the slide rail 120.

[0036] Example 2: Please refer to Figure 2 and Figure 3When the limit slider 170 and the limit slider 2 180 move to the left, the right side of the universal ball 200 rubs against the inside of the rolling groove 150, so that the universal ball 200 rotates inside the rotating groove 190, thereby ensuring the stability of the movement of the mobile base 110. At the same time, the vibration-damping contact 210 slides to the left inside the sliding groove 160. Since the upper part of the mobile base 110 is limited by the limit slider 170 and the limit slider 2 180, the lower part of the mobile base 110 will produce slight vibration when the mobile base 110 moves. Therefore, when the mobile base 110 moves to the left, the vibration is transmitted to the connecting rod 230 through the vibration-damping contact 210, and the connecting rod 230 transmits the vibration to the vibration-damping device 220. The vibration-damping device 220 absorbs and weakens the vibration, thereby ensuring the stability of the mobile base 110 when it moves.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A highly stable mobile industrial robot, comprising: A mechanical arm body (100), a movable base (110) and a slide rail (120), characterized in that: a movable base (110) is provided on the right side of the mechanical arm body (100), a slide rail (120) is provided on the right side of the movable base (110), the slide rail (120) is a convex structure, and the right side of the movable base (110) is a concave structure; A limit slider 1 (170) is provided above the right side of the mobile base (110), a limit slider 2 (180) is provided below the limit slider 1 (170), a rotation groove (190) is provided below the limit slider 2 (180), a universal ball (200) is installed inside the rotation groove (190), a stabilizing cavity is provided inside the lower right side of the mobile base (110), and a vibration reduction device (220) is provided inside the stabilizing cavity; A vibration-damping contact (210) is provided on the right side of the vibration-damping device (220); a limiting slide groove (130) is provided on the upper left side of the slide rail (120); a limiting slide groove (140) is provided below the limiting slide groove (130); a rolling groove (150) is provided below the limiting slide groove (140); and a sliding groove (160) is provided below the rolling groove (150).

2. A highly stable mobile industrial robot as claimed in claim 1, characterized in that: The movable base (110) is connected to an external control mechanism one via a wire one, and the mechanical arm body (100) is connected to an external control mechanism two via a wire two. The movable base (110) and the slide rail (120) are both made of stainless steel.

3. A highly stable mobile industrial robot as claimed in claim 1, characterized in that: The movable base (110) is a cylindrical structure. The center of the right side of the movable base (110) is concave to the left to form a groove. The limiting slider 1 (170) is located on the right side above the outside of the groove. The limiting slider 2 (180) is located on the upper inside of the groove. The rotating groove (190) is located at the center of the left side of the groove. The stabilizing cavity is located inside the bottom of the groove.

4. A highly stable mobile industrial robot as claimed in claim 3, characterized in that: The limiting slider 1 (170) is located inside the limiting slide groove 1 (130), the limiting slider 1 (170) is a convex structure, the limiting slide groove 1 (130) is matched with the limiting slider 1 (170), the limiting slider 2 (180) is located inside the limiting slide groove 2 (140), the right side of the rotating groove (190) is an open structure, the limiting slider 2 (180) is a convex structure, and the limiting slide groove 2 (140) is matched with the limiting slider 1 (170); The radius length of the rotating groove (190) is greater than the radius length of the universal rolling ball (200), the length of the right opening of the rotating groove (190) is less than the diameter length of the universal rolling ball (200), and the universal rolling ball (200) is located inside the rotating groove (190) and is movably connected to the rotating groove (190).

5. A highly stable mobile industrial robot as claimed in claim 1, characterized in that: The left side of the slide rail (120) protrudes to the left to form a boss, the limiting slide groove 1 (130) is located on the right side above the boss, the limiting slide groove 2 (140) is located at the top of the boss, the rolling groove (150) is located at the center of the left side of the boss, and the sliding groove (160) is located on the right side below the boss.

6. A highly stable mobile industrial robot as claimed in claim 5, characterized in that: The radius length of the rolling groove (150) is greater than the radius length of the universal rolling ball (200), and the arc length of the rolling groove (150) is less than half the circumference of the universal rolling ball (200); The radius length of the sliding groove (160) is greater than the radius length of the vibration-damping contact (210); the vibration-damping contact (210) is located inside the sliding groove (160); and the left side of the sliding groove (160) is an open structure.

7. A highly stable mobile industrial robot as claimed in claim 6, characterized in that: The left side of the vibration reduction contact (210) and the right side of the vibration reduction device (220) are connected and fixed via a connecting rod (230).

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