Movable platform in whole vehicle of six-axis robot

Abstract

The utility model discloses a movable platform in a whole vehicle of a six-axis robot, which comprises a six-axis robot body, a load-bearing platform arranged on the six-axis robot body, a load-bearing plate fixed on the six-axis robot body, and a moving unit arranged on the load-bearing plate and matched with the load-bearing platform, the moving unit is used for adjusting the six-axis robot body to translate in the bearing platform; the cleaning unit is arranged on the bearing plate and used for cleaning dust and impurities attached to the bearing platform; the servo motor accurately controls and drives the driven shaft to operate stably, it is ensured that the bearing plate and the six-axis robot body can smoothly move along a preset linear path when affected by external force, the linear movement capacity enables the six-axis robot to efficiently and accurately adjust the position, the working requirements of different linear positions are met, and the working efficiency is improved. And the working efficiency and precision are improved.

Description

Technical Field

[0001] This utility model relates to the field of robot mobile platform technology, and in particular to a six-axis robot mobile platform within a vehicle. Background Technology

[0002] A six-axis robot consists of six joints, each of which can move independently, thus achieving control of six degrees of freedom. These six degrees of freedom typically include three translational degrees of freedom and three rotational degrees of freedom, enabling the robot to move in the X, Y, and Z axes and rotate in the pitch, yaw, and roll directions. The basic structure of a six-axis robot includes a robotic arm, a control system, sensors, and a drive unit.

[0003] Currently available six-axis robot mobile platforms struggle to maintain a smooth and stable state when driving a six-axis robot to translate. Dust or impurities can easily accumulate in the platform's movement trajectory, causing jamming when moving the six-axis robot and making it difficult to ensure the stability of the six-axis robot during translation.

[0004] For example, Chinese Patent Publication No. CN221583599U discloses an integrated mobile robot operating platform, including a mobile platform, an operating handle, a first robotic arm, a first computer, a first controller, a first communication device, and a first force sensor. The first robotic arm, the first computer, the first controller, and the first communication device are mounted on the mobile platform. The operating handle is mounted on the first robotic arm. The first force sensor is located between the operating handle and the first robotic arm. The first computer is electrically connected to the first controller, the first communication device, and the first force sensor. The first controller is electrically connected to the first robotic arm. This utility model uses end-effector force feedback control, allowing the operator to remotely control the robotic arm on the robot by simply holding the end effector, replacing on-site human operation. It enables real-time manual operation of the robot to complete dangerous tasks, reducing the direct risks faced by workers. Moreover, it uses a collaborative robotic arm in conjunction with a six-axis force sensor to achieve real-time force control feedback. Although the above-mentioned patent document enables manual operation of the robot to complete dangerous tasks, it cannot adjust the robot's linear position on a plane, making it difficult to meet the needs of working at different locations. Utility Model Content

[0005] The purpose of this invention is to provide a movable platform within a vehicle for a six-axis robot, in order to solve the problem in the background art where it is difficult to maintain the stability and smoothness of a six-axis robot during translation, because dust or impurities in the movement path may cause the robot to jam, affecting the stability of its translation.

[0006] To achieve the above objectives, the present invention provides the following solution to the aforementioned technical problems: a six-axis robot mobile platform within a vehicle, comprising:

[0007] The six-axis robot body and the load-bearing platform mounted on the six-axis robot body:

[0008] A load-bearing plate is fixed to the body of the six-axis robot. The load-bearing plate is equipped with a moving unit that cooperates with the load-bearing platform. The moving unit is used to adjust the translation of the six-axis robot body within the load-bearing platform.

[0009] A cleaning unit installed on the load-bearing plate is used to clean dust and impurities adhering to the load-bearing platform.

[0010] As a further embodiment of this utility model, the moving unit includes:

[0011] Two mounting frames are fixed to a load-bearing plate, and several guide wheels are rotatably connected to the mounting frames. A guide rail is fixed on the load-bearing platform, and the guide wheels are slidably connected to the guide rail.

[0012] A rotating seat is fixed on a load-bearing plate, and a driven shaft is rotatably connected to the rotating seat. A spur gear is fixed on the driven shaft. A toothed plate that meshes with the spur gear is fixed on the load-bearing platform. A servo motor is fixed on the load-bearing plate, and a drive shaft is coaxially fixed to the output shaft of the servo motor. Two bevel gears that mesh with each other are fixed between the drive shaft and the driven shaft.

[0013] As a further embodiment of this utility model, the cleaning unit includes:

[0014] An incomplete gear fixed on the driven shaft, a toothed ring meshing with the incomplete gear, and a guide frame for sliding connection of the toothed ring fixed on the load-bearing plate;

[0015] Two guide rods are fixed on the load-bearing platform, and a brush plate is slidably sleeved on both guide rods. A connecting plate that is fixed to the brush plate is fixed on the toothed ring.

[0016] As a further embodiment of this utility model, the length of the guide rod is consistent with the length of the load-bearing platform, and the length of the load-bearing platform is consistent with the length of the toothed plate.

[0017] As a further embodiment of this utility model, the length of the guide frame is greater than the length of the toothed ring, and the included angle between the connecting plate and the toothed ring is set at a right angle.

[0018] As a further embodiment of this utility model, the brush plate is in contact with the guide rail and the toothed plate, and the outer wall of the guide wheel is provided with a chamfered slope.

[0019] As a further embodiment of this utility model, a load-bearing base plate is fixed on the load-bearing platform, and the size of the load-bearing base plate is larger than the size of the load-bearing platform.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] (1) This utility model ensures that the driven axis can operate smoothly and accurately through the precise control and drive of the servo motor. When the load-bearing plate and the six-axis robot body are affected by external forces, they can move smoothly along the pre-set straight path. This precise linear movement capability enables the six-axis robot body to make efficient and accurate position adjustments in the straight direction, thereby meeting the work requirements of various straight positions. Whether it is material handling tasks on the production line or complex assembly processes, this adjustment capability can ensure that the six-axis robot body can accurately reach the designated position, thereby significantly improving work efficiency and accuracy.

[0022] (2) Through the driving action of the moving unit, the load-bearing plate and the six-axis robot body can move smoothly on the track. At the same time, the linkage cleaning unit also drives the brush plate to perform regular reciprocating translational movements. During this process, the brush plate thoroughly cleans the impurities and dust in the guide rail and toothed plate area, effectively preventing impurities from falling in, thereby avoiding adverse effects on the smooth movement of the six-axis robot body. Through this carefully designed cleaning mechanism, it is ensured that the six-axis robot body can maintain a stable translational state in various working environments, thereby improving the overall work efficiency and equipment reliability. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0024] Figure 1 This is a perspective view of the overall structure of this utility model;

[0025] Figure 2 This is a side view of the structure of this utility model;

[0026] Figure 3 This is a side sectional view of the mounting plate of this utility model;

[0027] Figure 4 for Figure 3 Enlarged schematic diagram of the structure of region A in the middle;

[0028] Figure 5 This is a schematic diagram of the brush plate structure of this utility model;

[0029] Figure 6 for Figure 5 Enlarged schematic diagram of the structure of region B in the middle;

[0030] Figure 7 This is a structural schematic diagram of the load-bearing platform of this utility model.

[0031] The attached diagram lists the components represented by each number as follows:

[0032] 1. Six-axis robot body; 2. Load-bearing platform; 3. Load-bearing plate; 4. Moving unit; 41. Mounting frame; 42. Guide wheel; 43. Guide rail; 44. Rotating seat; 45. Driven shaft; 46. Spur gear; 47. Toothed plate; 48. Servo motor; 49. Drive shaft; 410. Bevel gear; 5. Cleaning unit; 51. Incomplete gear; 52. Toothed ring; 53. Guide frame; 54. Guide rod; 55. Brush plate; 56. Connecting plate; 6. Load-bearing base plate. Detailed Implementation

[0033] The present invention will be further described below with reference to the embodiments.

[0034] Please see Figure 1-7 This utility model provides a movable platform inside a six-axis robot vehicle, including a six-axis robot body 1 and a load-bearing platform 2 set on the six-axis robot body 1. A load-bearing base plate 6 is fixed on the load-bearing platform 2, and the size of the load-bearing base plate 6 is larger than the size of the load-bearing platform 2. The load-bearing base plate 6 can significantly support the load-bearing platform 2 and effectively improve the load-bearing capacity of the load-bearing platform 2. A load-bearing plate 3 is fixed on the six-axis robot body 1, and a moving unit 4 that cooperates with the load-bearing platform 2 is set on the load-bearing plate 3. The moving unit 4 is used to adjust the translation of the six-axis robot body 1 within the load-bearing platform 2. A cleaning unit 5 is set on the load-bearing plate 3, and the cleaning unit 5 is used to clean the dust and impurities attached to the load-bearing platform 2.

[0035] It should be noted that the six-axis robot body 1 is an existing product. The six-axis robot body 1 achieves six degrees of freedom of the end effector through the coordinated work of six joints. Each joint rotates independently, which makes the robot highly maneuverable in space, so as to be able to perform complex tasks. This is a conventional setting in this field, so it will not be described in detail here.

[0036] In this solution, the six-axis robot body 1 is driven to translate along the trajectory of the load-bearing platform 2 by the moving unit 4, so as to achieve the purpose of smoothly driving the six-axis robot body 1 to move, thereby greatly improving the working range of the six-axis robot body 1. In conjunction with the cleaning unit 5 and the moving unit 4, the impurities and dust at the moving trajectory are cleaned at the same time when the six-axis robot body 1 is translated.

[0037] Further as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6As shown, it is worth noting that the moving unit 4 includes two mounting frames 41 fixed on the load-bearing plate 3. Several guide wheels 42 are rotatably connected to the mounting frames 41. A guide rail 43 is fixed on the load-bearing platform 2, and the guide wheels 42 are slidably connected to the guide rail 43. The outer wall of the guide wheel 42 is chamfered. The chamfered outer wall of the guide wheel 42 can improve the smoothness of the guide wheel 42 when sliding in the guide rail 43. There is also a rotating seat 44 fixed on the load-bearing plate 3, and a driven shaft 45 is rotatably connected to the rotating seat 44. A spur gear 46 is fixed on the driven shaft 45, and a toothed plate 47 that meshes with the spur gear 46 is fixed on the load-bearing platform 2. The length of the load-bearing platform 2 is the same as the length of the toothed plate 47. By setting the length of the toothed plate 47 and the load-bearing platform 2, the six-axis robot body 1 is prevented from moving too far and getting stuck. A servo motor 48 is fixed on the load-bearing plate 3, and an active shaft 49 is coaxially fixed on the output shaft of the servo motor 48. Two bevel gears 410 that mesh with the driven shaft 45 are fixed between the active shaft 49 and the driven shaft 45.

[0038] It should be noted that through the precise control and drive of the servo motor 48, the driven axis 45 can operate smoothly and accurately. When the load-bearing plate 3 and the six-axis robot body 1 are subjected to external forces, they can move smoothly along a predetermined straight path. The precise linear movement capability enables the six-axis robot body 1 to make effective position adjustments in the straight direction, thereby meeting the work requirements of various straight positions. Whether it is material handling on the production line or in complex assembly tasks, this adjustment capability can ensure that the six-axis robot body 1 can accurately reach the designated position, improving work efficiency and accuracy.

[0039] Further as Figure 2 , Figure 4 , Figure 5 and Figure 7 As shown, it is worth noting that the cleaning unit 5 includes an incomplete gear 51 fixed on the driven shaft 45, a toothed ring 52 meshing with the incomplete gear 51, and a guide frame 53 fixed on the load-bearing plate 3 to allow the toothed ring 52 to slide. The length of the guide frame 53 is greater than the length of the toothed ring 52. There are also two guide rods 54 fixed on the load-bearing platform 2. The length of the guide rods 54 is the same as the length of the load-bearing platform 2. A brush plate 55 is slidably sleeved on both guide rods 54. The brush plate 55 contacts the guide rail 43 and the toothed plate 47. A connecting plate 56 fixed to the brush plate 55 is fixed on the toothed ring 52. The angle between the connecting plate 56 and the toothed ring 52 is set at a right angle.

[0040] It should be noted that by sliding the toothed ring 52 within the guide frame 53, it not only guides the toothed ring 52, but also effectively ensures that the toothed ring 52 always moves back and forth along a straight line after being subjected to force. This effectively drives the brush plate 55 to move back and forth, and drives the brush plate 55 to clean the impurities and dust at the guide rail 43 and the toothed plate 47.

[0041] It should also be noted that, driven by the moving unit 4, the load-bearing plate 3 and the six-axis robot body 1 can move smoothly on the track. At the same time, the linkage cleaning unit also drives the brush plate 55 to perform regular reciprocating translational movements. During this process, the brush plate 55 thoroughly cleans the impurities and dust in the guide rail 43 and toothed plate 47 areas, effectively preventing impurities from falling in, thereby avoiding adverse effects on the smooth movement of the six-axis robot body 1. Through this carefully designed cleaning mechanism, it is ensured that the six-axis robot body 1 can maintain a stable translational state in various working environments, thereby improving the overall work efficiency and equipment reliability.

[0042] In this solution, when it is necessary to adjust the horizontal position of the six-axis robot body 1, the working principle for adjusting the position of the six-axis robot body 1 is as follows:

[0043] First, the servo motor 48 drives the drive shaft 49 to rotate synchronously. The meshing transmission between the two bevel gears 410 drives the driven shaft 45 to rotate, which in turn drives the spur gear 46 to rotate synchronously. The meshing transmission between the spur gear 46 and the toothed plate 47 enables the six-axis robot body 1 to move smoothly in a straight line.

[0044] Secondly, while moving the six-axis robot body 1, the driven shaft 45 drives the incomplete gear 51 to rotate synchronously. The meshing transmission between the incomplete gear 51 and the toothed ring 52 causes the toothed ring 52 to reciprocate along the guide frame 53 after being subjected to force. The transmission effect of the connecting plate 56 drives the brush plate 55 to reciprocate synchronously.

[0045] Then, the reciprocating brush plate 55 thoroughly cleans the dust and impurities at the teeth of the guide rail 43 and the spur gear 46, thereby cleaning the movement trajectory when driving the six-axis robot body 1 to translate.

[0046] Both the six-axis robot body 1 and the servo motor 48 can be purchased commercially. Both the six-axis robot body 1 and the servo motor 48 have power supplies, which are mature technologies in this field and have been fully disclosed. Therefore, they will not be described again in the specification.

Claims

1. A six-axis robot mobile platform within a vehicle, comprising: The six-axis robot body (1) and the load-bearing platform (2) set on the six-axis robot body (1) are characterized by: a load-bearing plate (3) fixed on the six-axis robot body (1), a moving unit (4) that cooperates with the load-bearing platform (2) on the load-bearing plate (3), the moving unit (4) being used to adjust the translation of the six-axis robot body (1) within the load-bearing platform (2); and a cleaning unit (5) set on the load-bearing plate (3), the cleaning unit (5) being used to clean the dust and impurities attached to the load-bearing platform (2).

2. The six-axis robot mobile platform within a vehicle according to claim 1, characterized in that, The moving unit (4) includes: two mounting frames (41) fixed on the load-bearing plate (3), a plurality of guide wheels (42) rotatably connected to the mounting frames (41), a guide rail (43) fixed on the load-bearing platform (2), and the guide wheels (42) and the guide rail (43) slidably connected; and a rotating seat (44) fixed on the load-bearing plate (3), and a driven shaft (45) rotatably connected to the rotating seat (44), a spur gear (46) fixed on the driven shaft (45), a toothed plate (47) meshing with the spur gear (46) fixed on the load-bearing platform (2), a servo motor (48) fixed on the load-bearing plate (3), and a drive shaft (49) coaxially fixed to the output shaft of the servo motor (48), and two meshing bevel gears (410) fixed between the drive shaft (49) and the driven shaft (45).

3. The six-axis robot mobile platform within a vehicle according to claim 2, characterized in that, The cleaning unit (5) includes: an incomplete gear (51) fixed on the driven shaft (45), a toothed ring (52) meshing with the incomplete gear (51), and a guide frame (53) fixed on the load-bearing plate (3) for sliding connection of the toothed ring (52); and two guide rods (54) fixed on the load-bearing platform (2), with a brush plate (55) slidably sleeved on both guide rods (54), and a connecting plate (56) fixed on the toothed ring (52) and fixed to the brush plate (55).

4. The six-axis robot mobile platform within a vehicle according to claim 3, characterized in that, The length of the guide rod (54) is the same as the length of the load-bearing platform (2), and the length of the load-bearing platform (2) is the same as the length of the toothed plate (47).

5. The six-axis robot mobile platform within a vehicle according to claim 3, characterized in that, The length of the guide frame (53) is greater than the length of the toothed ring (52), and the angle between the connecting plate (56) and the toothed ring (52) is set at a right angle.

6. The six-axis robot mobile platform within a vehicle according to claim 3, characterized in that, The brush plate (55) is in contact with the guide rail (43) and the toothed plate (47), and the outer wall of the guide wheel (42) is set with a chamfered slope.

7. The six-axis robot mobile platform within a vehicle according to claim 1, characterized in that, The load-bearing platform (2) is fixed with a load-bearing base plate (6), and the size of the load-bearing base plate (6) is larger than the size of the load-bearing platform (2).

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