Industrial robot walking rotation structure

Abstract

The utility model provides an industrial robot walking rotation structure which comprises an industrial robot and further comprises an offset distance rotation assembly arranged on one side of the industrial robot and a linear walking assembly arranged below the offset distance rotation assembly, the linear walking assembly is provided with a working table, a rack rail is arranged on the working table, a sliding table is arranged above the rack rail, and the sliding table is provided with a rotating shaft. A first driving motor is arranged on one side of the sliding table, the output end of the first driving motor is connected with a first driving gear, the first driving gear is meshed with the toothed rail, the offset-distance rotation assembly is provided with an offset-distance rotation platform, the offset-distance rotation platform is arranged above the sliding table, and a rotation supporting bearing is arranged between the offset-distance rotation platform and the sliding table; a rotary gear is arranged on the outer ring of the rotary supporting bearing, a second driving motor is arranged on one side of the rotary supporting bearing and located on the sliding table, the output end of the second driving motor is connected with a second driving gear, and the second driving gear is meshed with the rotary gear. The robot can be widely applied to the technical field of industrial robots.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and more specifically, relates to a walking and rotating structure for an industrial robot. Background Technology

[0002] Industrial robots have multiple joints, and through advanced control systems, each joint can move independently or in conjunction with others. They can achieve linear motion along the X, Y, and Z axes or rotational motion around the X, Y, and Z axes, exhibiting high flexibility and adaptability. They are widely used in factory automation, such as in automated welding, handling, and palletizing, thereby improving product quality, work efficiency, and working conditions.

[0003] Industrial robots have limited workspace due to the constraints of their articulated arm length, joint angles, and maximum stress. Tasks exceeding this workspace require repositioning the robot. Many real-world automation applications necessitate changing the robot's location to more flexibly perform specific tasks. In such cases, adding external axes can expand the robot's workspace. Floor rails are the most widely used and suitable for long parts, but their width-wise travel is limited to the robot's arm span. While overhead rails can extend the width-wise travel, their longitudinal layout is constrained by the column spacing, making it difficult to meet the linear movement requirements of continuous operation for long parts. Summary of the Invention

[0004] This invention provides a walking and rotating structure for industrial robots. Without requiring additional external axes, it effectively meets the requirements for long stroke and wide width, ensuring sufficient working space for the industrial robot and solving problems existing in the prior art.

[0005] Therefore, this utility model provides an industrial robot walking and rotating structure, including an industrial robot, and further including an offset rotating component disposed on one side of the industrial robot and a linear walking component disposed below the offset rotating component. The linear walking component is provided with a worktable, a geared rail disposed on the worktable, a slide above the geared rail, a first drive motor disposed on one side of the slide, the output end of the first drive motor being connected to a first drive gear, the first drive gear meshing with the geared rail, the offset rotating component being provided with an offset rotating platform disposed above the slide, a rotating support bearing disposed between the offset rotating platform and the slide, a rotating gear disposed on the outer ring of the rotating support bearing, a second drive motor disposed on one side of the rotating support bearing and located on the slide, the output end of the second drive motor being connected to a second drive gear, the second drive gear meshing with the rotating gear.

[0006] Preferably, the offset rotary platform includes a circular plate and a straight plate fixedly connected to one side of the circular plate. The straight plate extends out of the workbench and an industrial robot is fixed to one side of the top surface of the straight plate.

[0007] Preferably, the toothed rail has parallel slide rails on both sides, a slider is provided between the slide rail and the slide table, and an inverted L-shaped guard plate is provided above each slide rail.

[0008] Preferably, the straight plate is a rectangular flat plate, the width of the straight plate is less than the diameter of the circular plate, and the length of the straight plate is not less than the diameter of the circular plate.

[0009] Preferably, the slide table is provided with a first slide plate and a second slide plate, and a vertical connecting plate is supported between the first slide plate and the second slide plate. The second slide plate is inserted into the space formed by the inverted L-shaped guard plate and the slide rail.

[0010] Preferably, a first support plate is fixedly connected to one side of the slide table, a first drive motor is fixed on the first support plate, the first drive gear is located below the first support plate, a second support plate is provided on the slide table to support the second drive gear, the two sides of the second support plate are fixed to the slide table, the second drive motor is fixed on the second support plate, and the second drive gear is located in the through groove formed by the second support plate and the slide table.

[0011] Preferably, the bottom inner side of the workbench is provided with a support rib, and multiple support legs are spaced apart along the length of the workbench at the bottom end.

[0012] This invention provides a walking and rotating structure for an industrial robot. A first drive motor drives a first drive gear to rotate, which in turn moves along a toothed track, causing a slide to move linearly along the track, ensuring the long stroke required within the robot's working range. During linear movement, a second drive motor simultaneously drives a second drive gear to rotate, which in turn drives a rotary gear, causing an offset rotary platform to rotate left and right. This allows the robot to complete tasks within its left and right workstations. The extended distance of the offset rotary platform also appropriately extends the robot's activity space in the X, Y, and Z axes, enabling flexible work over a wider range. This invention, through the cooperation of the linear walking component and the offset rotary component, eliminates the defects in existing ground-rail and overhead-rail robots, allowing the industrial robot not only to walk linearly but also to achieve large-radius offset rotation. This expands the robot's horizontal working space, increases its working range, and allows it to approach target objects as closely as possible, improving its dynamic characteristics and increasing work efficiency. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is the front view of the present invention;

[0016] Figure 3 for Figure 1 Enlarged view of point A in the middle;

[0017] Explanation of symbols in the diagram:

[0018] 1. Workbench; 2. Slide table; 3. Slide rail; 4. Gear rail; 5. First drive motor; 6. First drive gear; 7. Industrial robot; 8. Offset rotary platform; 9. First slide plate; 10. Rotary gear; 11. Second drive gear; 12. Second drive motor; 13. Circular plate; 14. Straight plate; 15. Second slide plate; 16. Inverted L-shaped guard plate; 17. First support plate; 18. Second support plate; 19. Vertical connecting plate; 20. Support leg. Detailed Implementation

[0019] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0020] The present application provides a description of an industrial robot walking and rotating structure. An industrial robot walking and rotating structure, such as... Figure 1-2 As shown, it includes an industrial robot 7, an offset rotary assembly located on one side of the industrial robot 7, and a linear travel assembly located below the offset rotary assembly.

[0021] The linear motion assembly includes a worktable 11, on which a geared rail 4 is mounted. Above the geared rail 4 is a slide 2. A first drive motor 5 is mounted on one side of the slide 2. The output end of the first drive motor 5 is connected to a first drive gear 6, which meshes with the geared rail 4. The offset rotation assembly includes an offset rotation platform 8, which is located above the slide 2. A rotation support bearing is located between the offset rotation platform 8 and the slide 2. A rotation gear 10 is mounted on the outer ring of the rotation support bearing. A second drive motor 12 is mounted on one side of the rotation support bearing and on the slide 2. The output end of the second drive motor 12 is connected to the second drive gear 11, which meshes with the rotation gear 10. An industrial robot 7 is fixed on the offset rotation platform 8.

[0022] This invention eliminates the defects in the working process of existing ground-rail and overhead-rail robots by combining the linear walking component and the offset rotation component. This allows the industrial robot 7 to not only walk in a straight line, but also achieve large-radius offset rotation, thereby expanding the working space of the industrial robot in the horizontal range and increasing its working range. At the same time, the industrial robot can get as close as possible to the target object, improving the power characteristics of the industrial robot and increasing its work efficiency.

[0023] Specifically, the first drive motor 5 drives the first drive gear 6 to rotate, and the first drive gear 6 moves along the toothed track 4, thereby driving the slide table 2 to move linearly along the toothed track 4, ensuring the long stroke requirement within the working range of the industrial robot 7; during the linear movement, the second drive motor 12 drives the second drive gear 11 to rotate, which in turn drives the rotary gear 10 to rotate, thereby driving the offset rotary platform 8 to rotate in the left and right directions, enabling the industrial robot 7 to complete the work within the working range on the left and right sides.

[0024] Furthermore, the offset rotary platform 8 includes a circular plate 13 and a straight plate 14 fixedly connected to one side of the circular plate 13. The straight plate 14 extends outward from the worktable 11. The straight plate 14 is a rectangular flat plate, with a width smaller than the diameter of the circular plate 13 and a length not less than the diameter of the circular plate 13. The industrial robot 7 is fixed to one side of the top surface of the straight plate 14. The extension distance of the straight plate 14 of the offset rotary platform 8 not only enables the industrial robot to rotate with a large radius of offset torque, but also appropriately extends the activity space of the industrial robot 7 in the X, Y, and Z axis directions, satisfying the flexible work of the industrial robot 7 within a wider range.

[0025] Furthermore, such as Figure 3As shown, parallel slide rails 3 are provided on both sides of the toothed rail 4, and a slider is provided between the slide rail 3 and the slide table 2. An inverted L-shaped guard plate 16 is also provided above each slide rail 3. The slide table 22 includes a first slide plate 9 and a second slide plate 15, and a vertical connecting plate 19 is supported and connected between the first slide plate 9 and the second slide plate 15; the second slide plate 15 is inserted into the space enclosed by the inverted L-shaped guard plate 16 and the slide rail 3.

[0026] Specifically, the slide rail 3 and the slide table 2 are slidably connected by a slider, which is fixed to the bottom of the second slide table plate 15 and contacts the upper surface of the slide rail 3; gaps are left between the two sides of the second slide table plate 15 and the inner side of the inverted L-shaped guard plate 16 to ensure that the slide table 2 slides freely along the slide rail 3.

[0027] Furthermore, a first support plate 17 is fixedly connected to one side of the slide table 2, a first drive motor 5 is fixed on the first support plate 17, a first drive gear 6 is located below the first support plate 17, a second support plate 18 is provided on the slide table 2 to support the second drive gear 1111, the two sides of the second support plate 18 are fixed to the slide table 2, the second drive motor 12 is fixed on the second support plate 18, and the second drive gear 11 is located in the through groove formed by the second support plate 18 and the slide table 2.

[0028] In addition, the bottom inner side of the workbench 11 is provided with support ribs, and multiple support legs 20 are spaced apart along the length of the workbench 1 at the bottom end.

[0029] It is worth noting that the motor in this invention is controlled to start and stop via an external control system.

[0030] The working principle of this utility model is as follows:

[0031] In use, the first drive motor 5 drives the gear 6 to mesh with the toothed rail 4, thereby enabling the slide table 2 to slide along the toothed rail 4 within the slide rail 3, and thus driving the industrial robot 7 on the slide table 2 to move in the length direction. During this process, the second drive motor 12 drives the second drive gear 11 to rotate, which in turn drives the rotary gear 10 to rotate, thereby driving the offset rotary platform 8 to achieve a large-radius offset torque rotation in the left and right directions, enabling the industrial robot 7 to work on the left and right sides. This utility model, through the cooperation of the linear travel component and the offset rotary component, enables the industrial robot 7 to not only move in a straight line, but also flexibly achieve a large-radius offset torque rotation, expanding the working space of the industrial robot 7 in the horizontal range, increasing the working range of the industrial robot 7, and at the same time, the industrial robot 7 can get as close as possible to the target object, improving the dynamic characteristics of the industrial robot 7.

[0032] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An industrial robot walking and slewing structure comprising an industrial robot, characterized in that: It also includes an offset rotary assembly located on one side of the industrial robot and a linear travel assembly located below the offset rotary assembly. The linear travel assembly has a worktable with a geared rail on the worktable and a slide above the geared rail. A first drive motor is located on one side of the slide, and the output end of the first drive motor is connected to a first drive gear. The first drive gear meshes with the geared rail. The offset rotary assembly has an offset rotary platform located above the slide. A rotary support bearing is located between the offset rotary platform and the slide. A rotary gear is located on the outer ring of the rotary support bearing. A second drive motor is located on one side of the rotary support bearing and on the slide. The output end of the second drive motor is connected to a second drive gear, and the second drive gear meshes with the rotary gear.

2. An industrial robot walking swing structure according to claim 1, characterized in that: The offset rotary platform includes a circular plate and a straight plate fixedly connected to one side of the circular plate. The straight plate extends out of the workbench and an industrial robot is fixed to one side of the top surface of the straight plate.

3. The industrial robot walking swing structure according to claim 1, characterized in that: The toothed rail has parallel slide rails on both sides, and a slider is provided between the slide rail and the slide table. Each slide rail has an inverted L-shaped guard plate above it.

4. The industrial robot walking swing structure according to claim 2, characterized in that: The straight plate is a rectangular flat plate, the width of the straight plate is less than the diameter of the circular plate, and the length of the straight plate is not less than the diameter of the circular plate.

5. An industrial robot walking swing structure according to claim 3, characterized in that: The slide table is provided with a first slide plate and a second slide plate, and a vertical connecting plate is supported between the first slide plate and the second slide plate. The second slide plate is inserted into the space formed by the inverted L-shaped guard plate and the slide rail.

6. An industrial robot walking swivel structure according to claim 5, characterized in that: A first support plate is fixedly connected to one side of the slide table. A first drive motor is fixed on the first support plate. The first drive gear is located below the first support plate. A second support plate is provided on the slide table to support the second drive gear. The two sides of the second support plate are fixed to the slide table. The second drive motor is fixed on the second support plate. The second drive gear is located in the through groove formed by the second support plate and the slide table.

7. The industrial robot walking swing structure according to claim 1, characterized in that: The bottom inner side of the workbench is provided with support ribs, and multiple support legs are spaced apart along the length of the workbench at the bottom end.

Images