Mechanical arm with track cleaning function
By adding ground rails and cleaning components, the problem of fixed working radius of traditional robotic arms is solved, enabling flexible movement of the robotic arm over a wide range and cleaning of the guide rails, thus enhancing the adaptability and stability of the robotic arm.
Patent Information
- Application Number
- CN202520210803.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-10
- Publication Date
- 2026-01-06
- Estimated Expiration
- 2035-02-10
AI Technical Summary
Traditional fixed-base robotic arms have a fixed working radius, making them unsuitable for larger working ranges and less capable of handling complex tasks.
By adding ground rails and cleaning components, the robotic arm's flexible movement and synchronous cleaning of the guide rails are achieved, enhancing its working radius and adaptability.
The robotic arm can move flexibly over a wider area, enhancing the flexibility of the production line, and maintaining the safe and stable position of the base and the ground rail, thus improving the working radius and stability of the robotic arm.
Smart Images
Figure CN223763217U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm with a self-cleaning track function. Background Technology
[0002] Traditional fixed-base robotic arms play an important role in many fields due to their highly flexible movement capabilities and adaptability. Multi-axis robotic arms, in particular, can adjust their direction of rotation in various spatial angles and directions, making them highly adaptable.
[0003] However, traditional fixed-base robotic arms are limited by their base, with a fixed working radius, making them unsuitable for work environments with a large working range. They cannot flexibly adjust their position and have a weak ability to cope with complex tasks. Utility Model Content
[0004] In view of the above-mentioned prior art, the present invention provides a robotic arm with a built-in cleaning track function. By adding a ground rail, the working radius of the robotic arm is increased, and the robotic arm can move flexibly in a wider area, enhancing the flexibility of the production line. At the same time, it can clean the ground rail synchronously as the base moves, ensuring safe and stable contact between the base and the ground rail.
[0005] To achieve the above objectives, the technical solution of this utility model embodiment is implemented as follows:
[0006] A robotic arm with a built-in cleaning track function includes a base and a ground rail. A drive component is provided on the base to drive the base to move along the length of the ground rail. A rotation component and a cleaning component are also provided on the base. The cleaning component moves with the base to clean the ground rail. A six-axis robotic arm is connected to the rotation component to drive the six-axis robotic arm to rotate in the horizontal direction. A suction cup is connected to the end of the six-axis robotic arm.
[0007] Furthermore, the ground track includes two parallel guide rails, with fixed rods fixedly connected between the two ends of the two guide rails, a base that is slidably connected to the guide rails, and a U-shaped fastener that is fixedly connected to the lower surface of the base and is slidably connected to the guide rails.
[0008] Furthermore, the drive assembly includes a second motor, which is fixedly mounted on the base. The second motor is connected to a rotating shaft, and a power gear is fixedly connected to the rotating shaft. A rack is connected between two fixed rods, and the rack is parallel to the guide rail. The power gear meshes with the rack.
[0009] Furthermore, the rotating assembly includes a first motor, which is fixedly mounted on a base. A tray bearing is fixedly connected to the base, and a turntable is rotatably connected inside the tray bearing. The center of the lower surface of the turntable is fixedly connected to the power shaft of the first motor, and the upper surface of the turntable is fixedly connected to the six-axis robotic arm.
[0010] Furthermore, the cleaning component includes a support base, which is fixedly mounted on a base. A rotating rod is rotatably connected to the support base, and a second bevel gear is fixedly sleeved on the rotating rod. A first bevel gear is fixedly connected to a rotating shaft. The first and second bevel gears mesh with each other. The rotating rod is located above a guide rail, and brush bristles for cleaning the guide rail are sleeved at both ends of the rotating rod.
[0011] Furthermore, the six-axis robotic arm includes a first articulated arm perpendicular to the turntable. The bottom end of the first articulated arm is fixedly connected to the center of the upper surface of the turntable. The other end of the first articulated arm is rotatably connected to a second articulated arm, which rotates along a direction parallel to the central axis of the first articulated arm. The other end of the second articulated arm is rotatably connected to a third articulated arm, which rotates along a direction parallel to the central axis of the second articulated arm. The other end of the third articulated arm is rotatably connected to a fourth articulated arm, which rotates along a direction perpendicular to the central axis of the third articulated arm. The other end of the fourth articulated arm is rotatably connected to a fifth articulated arm, which rotates along a direction parallel to the central axis of the fourth articulated arm. The other end of the fifth articulated arm is rotatably connected to a sixth articulated arm, which rotates along a direction perpendicular to the central axis of the fifth articulated arm. A suction cup is fixedly connected to the top end of the sixth articulated arm.
[0012] Furthermore, the joint at the connection between the third joint arm and the second joint arm is installed in the opposite direction, with the third joint arm directly above the first joint arm.
[0013] Furthermore, a limiting member is fixedly connected to the upper end of the first articulated arm to limit the rotation range of the second articulated arm, and the limiting member and the second articulated arm are located on the same side surface of the first articulated arm.
[0014] Furthermore, a battery is installed on the base.
[0015] Furthermore, an air pump is installed on the base, and the air pump is connected to the suction cup via a pipe.
[0016] The beneficial effects of this utility model are as follows: by adding a ground rail, the robotic arm can move flexibly along the ground rail over a larger range, which greatly increases the working radius of the robotic arm and enhances the flexibility of the production line. The robotic arm can move to different work positions as needed to adapt to constantly changing work requirements. During the movement of the robotic arm along the ground rail, the rotating rod drives the brush to continuously clean the guide rail. Attached Figure Description
[0017] Figure 1 This is an overall schematic diagram of a robotic arm with a self-cleaning track function according to the present invention;
[0018] Figure 2 This is a schematic diagram of a robotic arm ground rail with a built-in cleaning track function according to the present invention;
[0019] Figure 3 This is a schematic diagram of a robotic arm base with a self-cleaning track function according to the present invention;
[0020] Figure 4 This is a schematic diagram of a robotic arm with a built-in cleaning track function according to the present invention.
[0021] Explanation of reference numerals: 1. Base; 2. Ground rail; 3. Rotating component; 4. Six-axis robotic arm; 5. Cleaning component; 6. Suction cup; 7. Drive component; 8. Guide rail; 9. Fixing rod; 10. Rack; 11. First motor; 12. Plate bearing; 13. Second motor; 14. Rotating shaft; 15. Power gear; 16. Support base; 17. Rotating rod; 18. First bevel gear; 19. Second bevel gear; 20. Brush bristles; 21. Turntable; 22. Air pump; 23. Battery; 24. First articulated arm; 25. Second articulated arm; 26. Third articulated arm; 27. Fourth articulated arm; 28. Fifth articulated arm; 29. Sixth articulated arm; 30. Limiting component. Detailed Implementation
[0022] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in this specification of this utility model is for the purpose of describing particular embodiments only and is not intended to limit the utility model. In the following description, the expression "some embodiments" refers to a subset of all possible embodiments; however, it should be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.
[0023] Combined with reference to the appendix Figures 1 to 4This utility model provides a robotic arm with a built-in cleaning track function, including a base 1 and a ground rail 2. A drive assembly 7 is mounted on the base 1 to drive the base 1 to move along the length of the ground rail 2. A rotating assembly 3 and a cleaning assembly 5 are also mounted on the base 1. The cleaning assembly 5 cleans the ground rail 2 as the base 1 moves. A six-axis robotic arm 4 is connected to the rotating assembly 3, which drives the six-axis robotic arm 4 to rotate horizontally. A suction cup 6 is connected to the end of the six-axis robotic arm 4. The drive assembly 7 on the base 1 drives the base 1 to move along the ground rail 2, increasing the working radius of the six-axis robotic arm 4. The rotating assembly 3 on the base 1 drives the six-axis robotic arm 4 to rotate 360° horizontally, improving the practicality of the six-axis robotic arm 4. The cleaning assembly 5 on the base 1 cleans the ground rail 2 as the base 1 moves, keeping the ground rail 2 clean. The base 1 can slide smoothly on the ground rail 2, improving the stability of the robotic arm and preventing accidents. After the six-axis robotic arm 4 moves to the required workstation, it uses the suction cup 6 at its tail end to pick up the item.
[0024] Preferably, the ground track 2 includes two parallel guide rails 8, with fixing rods 9 fixedly connected to the two ends of each guide rail 8. The base 1 is slidably connected to the guide rails 8, and a U-shaped fixing member is fixedly connected to the lower surface of the base 1, which is slidably connected to the guide rail 8. The base 1 moves on the two guide rails 8, and the two ends of the guide rails 8 are fixedly connected by the fixing rods 9. The length of the fixing rods 9 is greater than the distance between the two guide rails 8, increasing the support distance and making the guide rails 8 more stable when fixed on the ground, preventing them from accidentally collapsing to the side while the robotic arm is picking up items.
[0025] Preferably, the drive assembly 7 includes a second motor 13, which is fixedly mounted on the base 1. The second motor 13 is connected to a rotating shaft 14, and a power gear 15 is fixedly connected to the rotating shaft 14. A rack 10 is connected between the two fixed rods 9, and the rack 10 is parallel to the guide rail 8. The power gear 15 is meshed with the rack 10. The base 1 is moved by a gear transmission. Gear transmission can efficiently transmit power with relatively small energy loss. In addition, gear transmission has a long service life, is easy to maintain, and can operate stably for a long time, reducing the need for frequent replacement and maintenance due to wear.
[0026] Preferably, the rotating assembly 3 includes a first motor 11, which is fixedly mounted on a base 1. A tray bearing 12 is fixedly connected to the base 1, and a turntable 21 is rotatably connected inside the tray bearing 12. The center of the lower surface of the turntable 21 is fixedly connected to the power shaft of the first motor 11, and the upper surface of the turntable 21 is fixedly connected to the six-axis robotic arm 4. The tray bearing 12 can effectively support the weight of the turntable 21 and the six-axis robotic arm 4, and can provide better stability, making the entire robotic arm safer.
[0027] Preferably, the cleaning component 5 includes a support base 16, which is fixedly mounted on the base 1. A rotating rod 17 is rotatably connected to the support base 16, and a second bevel gear 19 is fixedly sleeved on the rotating rod 17. A first bevel gear 18 is fixedly connected to the rotating shaft 14, and the first bevel gear 18 and the second bevel gear 19 are meshed together. The rotating rod 17 is located above the guide rail 8, and brush bristles 20 for cleaning the guide rail 8 are sleeved at both ends of the rotating rod 17. When the rotating shaft 14 rotates, it drives the first bevel gear 18 connected to it to rotate, which in turn drives the second bevel gear 19 to rotate. The second bevel gear 19 is fixedly sleeved on the rotating rod 17, so that the rotating rod 17 rotates synchronously. When the base 1 stops moving and the robotic arm starts working, the rotating rod 17 is in a stopped state. When the rotating shaft 14 rotates and the power gear 15 drives the base 1 to move, the rotating rod 17 starts to rotate, and the brush bristles 20 sleeved at both ends of the rotating rod 17 start to rotate continuously, thereby cleaning the dust on the guide rail 8, keeping the guide rail 8 clean, and improving the efficiency of the base. 1. Stability when sliding on the guide rail 8: No matter whether the base 1 moves forward or backward, the bristles on the rotating rod 17 can clean the guide rail 8 in the forward direction of the base 1. A fixed limit rod is set on the rotating rod 17. The limit rod is on both sides of the support base 16 to prevent the rotating rod 17 from sliding relative to the support base 16, and to ensure that the first bevel gear 18 and the second bevel gear 19 are in a meshing connection. The two rotating rods 17 are connected by a belt. One guide rail 8 is driven to rotate by the rotating shaft 14, and the belt drives the other rotating rod 17 to rotate.
[0028] Preferably, the six-axis robotic arm 4 includes a first articulated arm 24, which is perpendicular to the turntable 21. The bottom end of the first articulated arm 24 is fixedly connected to the center of the upper surface of the turntable 21. The other end of the first articulated arm 24 is rotatably connected to a second articulated arm 25, which rotates along a direction parallel to the central axis of the first articulated arm 24. The other end of the second articulated arm 25 is rotatably connected to a third articulated arm 26, which rotates along a direction parallel to the central axis of the second articulated arm 25. The other end of the third articulated arm 26 is rotatably connected to a fourth articulated arm 27, which rotates along a direction perpendicular to the central axis of the third articulated arm 26. The other end of the fourth articulated arm 27 is rotatably connected to a fifth articulated arm 28, which rotates along a direction parallel to the central axis of the fourth articulated arm 27. The other end of the fifth articulated arm 28 is rotatably connected to a sixth articulated arm 29, which rotates along a direction perpendicular to the central axis of the fifth articulated arm 28. The top end of the sixth articulated arm 29 is fixedly connected to a suction cup 6. The joints of the six-axis robotic arm 4 are connected by carbon square tubing, which is lightweight and has high structural strength, reducing the weight of the robotic arm itself. The joints of the six-axis robotic arm 4 adopt a tension sleeve coupling method. A machined part is used on the outside of the tension sleeve to connect with the driving parts such as gears, reducing the play caused by the coupling. The first joint arm 24 is perpendicular to the turntable 21, allowing the entire six-axis robotic arm 4 to rotate 360° in the horizontal direction. The second joint arm 25 can drive the suction cup 6 to rotate perpendicular to the turntable 21. The third joint arm 26 can also drive the suction cup 6 to rotate perpendicular to the turntable 21, improving the flexibility of operation and improving the trajectory accuracy. The fourth joint arm 27 can drive the suction cup 6 to rotate perpendicular to the third joint arm 26. The fifth joint arm 28 can drive the suction cup 6 to rotate parallel to the fourth joint arm 27. The sixth joint arm 29 is fixedly connected to the suction cup 6 and can drive the suction cup 6 to rotate perpendicular to the fifth joint arm 28. By combining the movement directions of each joint arm, it can pick up objects at various angles.
[0029] Preferably, the joints at the connection between the third joint arm 26 and the second joint arm 25 are installed in opposite directions, with the third joint arm 26 directly above the first joint arm 24. This ensures that when the robotic arm is used vertically, the center of gravity is in the middle, improving stability and reducing the difficulty of establishing a spatial coordinate system from a visual perspective.
[0030] Preferably, a limiting member 30 is fixedly connected to the upper end of the first articulated arm 24 to limit the rotation range of the second articulated arm 25. The limiting member 30 and the second articulated arm 25 are located on the same side surface of the first articulated arm 24. When the second articulated arm 25 rotates, due to the obstruction of the limiting member 30, the second articulated arm 25 can only rotate within a safe and expected range, preventing the robotic arm from exceeding its designed working range and avoiding damage caused by overload or misoperation.
[0031] Preferably, a battery 23 is installed on the base 1. Normally, an external power source is used to drive the robotic arm. The backup battery 23 on the base 1 allows the robotic arm to be restored to its original state in case of emergencies, ensuring safety.
[0032] Preferably, an air pump 22 is installed on the base 1, and the air pump 22 is connected to the suction cup 6 through a pipe. The air pump 22 moves with the base 1 and moves together with the robotic arm, saving materials and improving applicability.
[0033] Working principle: When in use, the base 1 moves along the ground rail 2 to the required position. During the movement, the bristles 20 on the rotating rod 17 continuously clean the dust and other debris on the guide rail in the forward direction of the base 1, ensuring the stability of the base 1 during the movement. After reaching the designated position, the joints of the six-axis robotic arm 4 rotate horizontally or vertically, so that the suction cup 6 is aligned with the object. Then, the air pump 22 is started to pick up the object and then perform various angle operations on the object.
[0034] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. The protection scope of this utility model should be determined by the protection scope of the stated claims.
Claims
1. A robot arm with self-cleaning track function, characterized in that: The utility model provides a cleaning device for floor track, including base (1) and floor track (2), be provided with drive assembly (7) on base (1), drive assembly (7) is used for driving base (1) moves along the length direction of floor track (2), still be provided with rotating assembly (3) and cleaning assembly (5) on base (1), cleaning assembly (5) moves with base (1) to clean floor track (2), rotating assembly (3) is connected with six axis robot arm (4), rotating assembly (3) is used for driving six axis robot arm (4) rotates in horizontal direction, the end of six axis robot arm (4) is connected with sucking disc (6).
2. The robot arm with self-cleaning rail function according to claim 1, characterized in that: The floor track (2) includes two parallel guide rails (8), the two ends of the two guide rails (8) are fixedly connected with a fixed rod (9), the base (1) is slidably connected with the guide rails (8), the lower surface of the base (1) is fixedly connected with a U-shaped fixing member, and the U-shaped fixing member is slidably connected with the guide rails (8).
3. The robot arm with self-cleaning rail function according to claim 2, characterized in that: The drive assembly (7) includes a second motor (13) fixedly installed on the base (1), a rotating shaft (14) connected with the second motor (13), a power gear (15) fixedly connected to the rotating shaft (14), a rack (10) connected between the two fixed rods (9), and the rack (10) is parallel to the guide rails (8).
4. The robot arm with self-cleaning rail function according to claim 1, characterized in that: The rotating assembly (3) includes a first motor (11) fixedly installed on the base (1), a turntable bearing (12) fixedly connected to the base (1), a rotating disc (21) rotatably connected in the turntable bearing (12), a power shaft of the first motor (11) fixedly connected to the center of the lower surface of the rotating disc (21), and the upper surface of the rotating disc (21) is fixedly connected with the six axis robot arm (4).
5. The robot arm with self-cleaning rail function according to claim 3, characterized in that: The cleaning assembly (5) includes a support seat (16) fixedly installed on the base (1), a rotating rod (17) rotatably connected to the support seat (16), a second bevel gear (19) fixedly sleeved on the rotating rod (17), a first bevel gear (18) fixedly connected to the rotating shaft (14), the first bevel gear (18) and the second bevel gear (19) are meshedly connected, the rotating rod (17) is located above the guide rails (8), and bristles (20) for cleaning the guide rails (8) are sleeved on both ends of the rotating rod (17).
6. The robot arm with self-cleaning rail function according to claim 1, characterized in that: The six-axis mechanical arm (4) comprises a first joint arm (24) which is perpendicular to the rotating disc (21), the bottom end of the first joint arm (24) is fixedly connected with the center of the upper side surface of the rotating disc (21), the other end of the first joint arm (24) is rotatably connected with a second joint arm (25), the second joint arm (25) rotates along the direction parallel to the central axis of the first joint arm (24), the other end of the second joint arm (25) is rotatably connected with a third joint arm (26), the third joint arm (26) rotates along the direction parallel to the central axis of the second joint arm (25), the other end of the third joint arm (26) is rotatably connected with a fourth joint arm (27), the fourth joint arm (27) rotates along the direction perpendicular to the central axis of the third joint arm (26), the other end of the fourth joint arm (27) is rotatably connected with a fifth joint arm (28), the fifth joint arm (28) rotates along the direction parallel to the central axis of the fourth joint arm (27), the other end of the fifth joint arm (28) is rotatably connected with a sixth joint arm (29), the sixth joint arm (29) rotates along the direction perpendicular to the central axis of the fifth joint arm (28), and the top end of the sixth joint arm (29) is fixedly connected with a suction disc (6).
7. The robot arm with self-cleaning rail function according to claim 6, characterized in that: The joint of the third joint arm (26) and the second joint arm (25) is reversely installed, and the third joint arm (26) is directly above the first joint arm (24).
8. The robot arm with self-cleaning rail function according to claim 7, characterized in that: The upper end of the first joint arm (24) is fixedly connected with a limiting piece (30) to limit the rotation range of the second joint arm (25), and the limiting piece (30) and the second joint arm (25) are located on the same side surface of the first joint arm (24).
9. The robot arm with self-cleaning rail function according to claim 1, characterized in that: The base (1) is provided with a storage battery (23).
10. The robot arm with self-cleaning rail function according to claim 1, characterized in that: The base (1) is provided with an air pump (22), and the air pump (22) is connected with the suction disc (6) through a pipeline.