A wireless ground rail robot

Abstract

The utility model discloses a wireless ground rail robot belongs to automatic production equipment technical field, including main control cabinet and robot body still includes walking base that a plurality of independent tracks are spliced to each other, be provided with the sliding platform that slides along its length direction on walking base, the robot body is installed on the sliding platform, the sliding platform top surface is installed with the robot electric control cabinet of control robot body operation, the sliding platform bottom is installed with light data transmission device mobile end, the walking track end installs light data transmission device fixed end, and two sets of light data transmission devices are installed in opposition, and infrared ray signal is transmitted / received along the straight line, and signal interaction is provided between the robot body and PLC, realizes no drag chain signal transmission, and the wireless ground rail robot realizes no drag chain power supply, and the brush moves with the sliding platform through the connecting arm synchronous, and the robot body and driving motor power supply are continuously stable, and the limitation of cable length to moving distance is eliminated.

Description

Technical Field

[0001] This utility model specifically relates to a wireless ground-rail robot, belonging to the field of automated production equipment technology. Background Technology

[0002] A ground-rail robot is a precision automated device that extends the seventh degree of freedom (horizontal linear motion axis) of a standard 6-axis industrial robot, enabling multi-dimensional spatial motion capabilities. Its core functions include multi-angle posture adjustment, high-precision trajectory tracking, and flexible cross-station transfer of workpieces in complex industrial scenarios. It is widely used in additive manufacturing and in material handling, process connection, and precision machining in automated production lines.

[0003] The control architecture of this equipment is based on an industrial controller (such as a central PLC, a robot numerical control system, etc.). It achieves full-process automated control through integrated signal processing and logical decision-making mechanisms: the controller collects multi-source input signals in real time from sensors (such as vision cameras, laser rangefinders, torque sensors, etc.) and operation buttons. After high-speed calculation and logical judgment, it sends precise execution instructions to the robot numerical control system. The robot numerical control system, based on a preset motion program (including parameters such as path planning, speed planning, and torque constraints), drives the robot to complete high-precision motion execution, ultimately forming a fully closed-loop automated operation process of "perception-decision-execution".

[0004] Compared to traditional 6-axis robots, the seventh axis extension of the ground-rail robot extends its motion space from the "fixed base coordinate system" to the "global coordinate system," significantly improving the equipment's adaptability in scenarios such as handling large workpieces and executing long-stroke trajectories. It is one of the key pieces of equipment for upgrading industrial automation to flexibility and intelligence.

[0005] Traditional ground-rail robots are connected to power and communication cables. When the production line needs to be expanded, the original electrical and communication cables and cable chains need to be replaced, which is time-consuming and costly. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a wireless ground-rail robot.

[0007] A wireless ground-rail robot includes a main control cabinet and a robot body, and a walking base composed of multiple independent tracks. The walking base has a sliding platform that slides along its length. The robot body is mounted on the sliding platform. A robot electrical control cabinet for controlling the robot body's operation is mounted on the top surface of the sliding platform. A mobile end of an optical data transmission device is mounted on the bottom surface of the sliding platform. A fixed end of an optical data transmission device, corresponding to the mobile end, is mounted on the tail end of the walking base. A sliding contact line protective cover extending along the length of the walking base is mounted on its outer wall. The sliding contact line protective cover is electrically connected to the main control cabinet. A sliding contact line is installed inside the sliding contact line protective cover, and a brush is slidably connected to the sliding contact line. The brush is fixed to the sliding platform and electrically connected to the robot electrical control cabinet.

[0008] Furthermore, the outer surface of the sliding contact line is wrapped with insulating material.

[0009] Furthermore, a connecting arm is provided on the slide, and the brush is connected to the slide through the connecting arm.

[0010] Furthermore, the track includes parallel and symmetrically arranged pillars, with a connecting pillar connecting the opposite sides of the two pillars. A base plate extending along the length of the pillar is installed on the connecting pillar, with the sidewall of the base plate fitting against the sidewall of the pillar. The top surface of the base plate, together with the opposite sidewall of the two pillars, forms a sliding channel for the robot body to slide.

[0011] Furthermore, the lower part of the outer side wall of the support column is connected to a mounting foot. Multiple mounting feet are provided, and the multiple mounting feet are spaced apart along the length of the support column. Each mounting foot is provided with an anchor rod, and the support column is fixed to the ground by the mounting feet and the anchor rods.

[0012] Furthermore, a protective plate is connected to the upper part of the outer side wall of the support column, the protective plate extending along the length of the support column and perpendicular to the support column.

[0013] Furthermore, a slide rail is installed on the top surface of the support column, and a slide block adapted to the slide rail is provided on the bottom surface of the robot body, and the slide block is slidably connected to the slide rail.

[0014] Furthermore, it also includes a drive component mounted on the slide for driving the slide to slide along the length direction of the walking base. The drive component includes a rack mounted on the support column. A drive motor is fixedly mounted on the robot body. The drive end of the drive motor is connected to a transmission gear that meshes with the drive motor.

[0015] Beneficial effects:

[0016] 1. This utility model effectively breaks through the limitations of traditional ground-rail robots that rely on cable drag chains. It achieves drag chain-free power supply by sliding the brush and the sliding contact line. The brush moves synchronously with the slide table through the connecting arm, continuously and stably supplying power to the robot body and drive motor, eliminating the limitation of cable length on the movement distance. At the same time, the walking base is composed of multiple independent tracks spliced ​​together, which can flexibly extend the stroke according to the needs of the production line, adapting to long-distance cross-workstation operations, and eliminating cable pulling resistance. Combined with the efficient meshing transmission of the drive motor and rack, it significantly improves the movement speed of the slide table, meets the needs of flexible transfer and efficient process connection in industrial scenarios, and solves the core problem of speed and distance limitations of traditional equipment.

[0017] 2. In this utility model, the meshing of the drive motor and the rack, combined with the guiding cooperation between the slide rail on the top surface of the support column and the slide block of the robot body, realizes the positioning of the slide table, meeting the needs of precision machining and trajectory tracking. The sliding contact line is wrapped with insulating material to prevent leakage, and the protective plate blocks dust and impurities. The moving end and the fixed end of the optical data transmission device realize over-travel stop protection, ensuring operational safety from multiple dimensions. In addition, the modular track is easy to disassemble and replace individually, the protective structure reduces component wear, significantly reduces maintenance frequency and cost, and the low friction of the slide rail also reduces component wear, effectively extending the overall service life of the equipment and supporting the long-term stable operation of the production line. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the left-side structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the right-side structure of this utility model;

[0020] Figure 3 This is a front view structural diagram of the present utility model;

[0021] Figure 4 This is a schematic diagram of the connection structure between the robot body and the walking base in this utility model;

[0022] Figure 5 This is a front view schematic diagram of the track structure in this utility model;

[0023] Figure 6 This is a schematic diagram of the track structure from below in this utility model.

[0024] In the diagram: 1. Main control cabinet; 2. Brush; 3. Sliding contact line; 4. Robot body; 5. Robot electrical control cabinet; 6. Sliding contact line protective cover; 7. Walking base; 71. Support column; 72. Connecting column; 73. Mounting foot; 74. Anchor rod; 75. Guard plate; 76. Base plate; 77. Slide rail; 8. Fixed end of optical data transmission device; 9. Moving end of optical data transmission device; 10. Rack; 11. Slide table; 12. Drive motor. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figure 1-6 As shown, a wireless ground-rail robot includes a main control cabinet 1 and a robot body 4, as well as a walking base 7 composed of multiple independent tracks. A slide table 11 that slides along the length of the walking base 7 is provided on the walking base 7. The robot body 4 is mounted on the slide table 11. A robot electrical control cabinet 5 for controlling the operation of the robot body 4 is installed on the top surface of the slide table 11. A moving end 9 of an optical data transmission device is installed on the bottom surface of the slide table 11. A fixed end 8 of an optical data transmission device, corresponding to the moving end 9, is installed at the tail end of the walking base 7. A sliding contact line protective cover 6 extending along the length of the walking base 7 is installed on its outer wall. The sliding contact line protective cover 6 is electrically connected to the main control cabinet 1. A sliding contact line 3 is installed inside the sliding contact line protective cover 6. A brush 2 is slidably connected to the sliding contact line 3. The brush 2 is fixed to the slide table 11 and electrically connected to the robot electrical control cabinet 5.

[0027] It should be noted that a small air compressor and an air tank are also installed on the top surface of the slide 11. The small air compressor and the air tank work together to supply air to the grippers installed on the robot body 4.

[0028] Specifically, a walking base 7, composed of multiple independent tracks, serves as the foundation, with the robot body 4 mounted on a sliding platform 11 that can slide along the walking base 7. The robot control cabinet 5 on the sliding platform 11 controls the operation of the robot body 4. When the sliding platform 11 moves, the moving end 9 of the optical data transmission device on its bottom surface cooperates with the fixed end 8 of the optical data transmission device at the tail end of the walking base 7 to achieve position detection. Simultaneously, the sliding contact line 3 inside the sliding contact line protective cover 6 on the outer wall of the walking base 7 slides into contact with the brush 2 on the sliding platform 11, realizing power transmission from the main control cabinet 1 to the robot control cabinet 5. The modular track design allows the length of the ground rail to be flexibly adjusted according to production needs, adapting to production lines of different scales. The sliding connection structure between the brush 2 and the sliding contact line 3 replaces traditional cables and cable chains, overcoming the limitations of robot movement speed and distance. The cooperation between the moving end 9 and the fixed end 8 of the optical data transmission device enables position detection, improving the safety and accuracy of robot operation. The overall structure enables wireless operation of the ground rail robot, enhancing the adaptability of the equipment in complex industrial scenarios.

[0029] As a technical optimization of this utility model, the outer surface of the sliding contact line 3 is wrapped with insulating material.

[0030] Specifically, the insulation material wrapping effectively prevents electric shock accidents caused by accidental contact with the sliding contact line 3, improving the safety performance of the equipment; at the same time, it can prevent the sliding contact line 3 from accidentally contacting external metal objects, thus avoiding short circuits and ensuring stable power transmission; it can also reduce the pollution and corrosion of the sliding contact line 3 by dust, oil, etc., extending the service life of the sliding contact line 3 and reducing maintenance costs.

[0031] As a technical optimization of this utility model, a connecting arm is provided on the slide table 11, and the brush 2 is connected to the slide table 11 through the connecting arm.

[0032] Specifically, the connecting arm structure ensures a stable connection between the brush 2 and the slide table 11, preventing the brush 2 from shaking or falling off during the movement of the slide table 11, and ensuring the continuity of power transmission. The length and shape of the connecting arm can be designed according to actual installation requirements, which improves the flexibility and adaptability of the brush 2 installation, ensures that the brush 2 and the sliding contact line 3 maintain appropriate contact pressure, and reduces poor contact.

[0033] As a technical optimization of this utility model, the track includes parallel and symmetrically arranged pillars 71. The two pillars 71 are connected to a connecting pillar 72 on opposite sides. A base plate 76 extending along the length of the pillars 71 is installed on the connecting pillar 72. The side wall of the base plate 76 fits against the side wall of the pillars 71. The top surface of the base plate 76 cooperates with the opposite side walls of the two pillars 71 to form a sliding channel for the robot body 4 to slide.

[0034] Specifically, the track has high structural strength and stability, which can stably support the weight of the robot body 4 and the forces generated during operation; the sliding channel guides and limits the sliding of the robot body 4, ensuring that the robot body 4 moves accurately along the predetermined trajectory; each component has a clear division of labor, which facilitates manufacturing and assembly, and also facilitates later maintenance and replacement.

[0035] As a technical optimization of this utility model, the lower part of the outer side wall of the support column 71 is connected to the mounting foot 73. Multiple mounting feet 73 are provided, and the multiple mounting feet 73 are spaced apart along the length direction of the support column 71. Each mounting foot 73 is provided with an anchor rod 74. The support column 71 is fixed to the ground by the mounting feet 73 and the anchor rods 74.

[0036] Specifically, multiple mounting feet 73 and anchor rods 74 spaced apart along the length of the support column 71 can firmly fix the walking base 7 to the ground, preventing the walking base 7 from shifting due to vibrations generated during robot operation, thus ensuring the stability and accuracy of robot operation; the installation method is simple and reliable, facilitating the installation and debugging of the equipment, and can also adapt to different ground conditions.

[0037] As a technical optimization of this utility model, a protective plate 75 is connected to the upper part of the outer side wall of the support column 71. The protective plate 75 extends along the length of the support column 71 and is perpendicular to the support column 71.

[0038] Specifically, the guard plate 75 can effectively prevent dust, debris, coolant and other impurities in the production environment from entering the track, thus avoiding these impurities from affecting the sliding of the robot body 4 and the contact performance between the brush 2 and the sliding contact line 3; at the same time, it can also prevent personnel from accidentally contacting the moving parts inside the track, thereby improving the safety of the equipment and extending its service life.

[0039] As a technical optimization of this utility model, a slide rail 77 is installed on the top surface of the support column 71, and a slide seat adapted to the slide rail 77 is provided on the bottom surface of the robot body 4. The slide seat is slidably connected to the slide rail 77.

[0040] Specifically, the cooperation between the slide rail 77 and the slide block greatly improves the straightness and accuracy of the robot body 4's movement, ensuring that the robot can accurately execute the predetermined trajectory; the sliding cooperation reduces the friction when the robot body 4 moves, making the movement smoother and more stable, reducing energy consumption and component wear, and improving the operating efficiency and service life of the equipment.

[0041] As a technical optimization of this utility model, it also includes a driving component set on the slide table 11 for driving the slide table 11 to slide along the length direction of the walking base 7. The driving component includes a rack 10 installed on the support column 71. A drive motor 12 is fixedly installed on the robot body 4. The drive end of the drive motor 12 is connected to a transmission gear that meshes with the drive motor 12.

[0042] Specifically, the rack 10 mounted on the support column 71 meshes with the transmission gear at the drive end of the drive motor 12 on the robot body 4. When the drive motor 12 rotates, it drives the slide table 11 to slide along the length direction of the walking base 7 through the meshing transmission of the gear and the rack 10.

[0043] The overall working principle of this wireless ground-rail robot is as follows:

[0044] The wireless ground-rail robot uses the walking base 7 as the basic support frame and the slide table 11 as the motion carrier of the robot body 4. It forms a two-layer control system through the main control cabinet 1 and the robot electrical control cabinet 5, which replaces the traditional cable drag chain to realize wireless power and signal transmission.

[0045] The main control cabinet 1, acting as the central power and control hub, processes industrial power and control signals and transmits them via wires to the sliding contact line protective cover 6, which is fixed to the outer wall of the walking base 7. The sliding contact line 3 inside the protective cover 6 receives power from the main control cabinet 1. The insulating material covering its outer surface prevents leakage and avoids the influence of external dust and oil on conductivity, ensuring the safety and stability of power transmission. The slide table 11 is fixed to the brush 2 via the connecting arm, and the brush 2 and the sliding contact line 3 always maintain sliding contact. When the slide table 11 moves along the length of the walking base 7, the brush 2 slides synchronously along the sliding contact line 3, continuously obtaining power from the sliding contact line 3 and transmitting the power to the robot control cabinet 5 to power the motion execution and control modules of the robot body 4. The chainless power supply structure completely eliminates the constraints of traditional cable drag chains on the movement speed and distance of the slide table 11, making it suitable for long-stroke industrial scenarios.

[0046] A rack 10 is fixedly installed on the support column 71 of the walking base 7. The rack 10 extends along the length of the support column 71, forming a linear transmission reference for the movement of the slide table 11. A drive motor 12 is fixed on the robot body 4. The drive motor 12 receives pulse control signals from the robot control cabinet 5, converts electrical energy into rotational mechanical energy, and drives the transmission gear at its drive end to rotate. The transmission gear meshes with the rack 10, converting the rotational motion of the drive motor 12 into the horizontal linear motion of the slide table 11 along the length of the rack 10. By precisely controlling the rotation angle of the drive motor 12, the position positioning of the slide table 11 can be achieved, meeting the high-precision trajectory tracking requirements in industrial scenarios. At the same time, a slide rail 77 is installed on the top surface of the support column 71 of the walking base 7, and a slide seat adapted to the slide rail 77 is set on the bottom surface of the robot body 4. The slide seat slides along the slide rail 77. This structure provides guiding constraints for the movement of the slide table 11, avoiding deviation or shaking during the transmission of the gear rack 10, and further improving the motion stability.

[0047] A mobile end 9 of an optical data transmission device is installed on the bottom surface of the slide table 11. The mobile end 9 of the optical data transmission device moves synchronously with the slide table 11 and continuously emits infrared detection signals toward the tail end of the walking base 7. A fixed end 8 of an optical data transmission device, corresponding to the mobile end 9, is installed at the tail end of the walking base 7. The detection range of the fixed end 8 of the optical data transmission device covers the maximum safe travel boundary of the slide table 11. When the slide table 11 moves to the safe boundary at the tail end due to control command deviation or malfunction, the infrared signal emitted by the mobile end 9 of the optical data transmission device is accurately received by the fixed end 8 of the optical data transmission device. The fixed end 8 of the optical data transmission device converts the detection signal into an electrical signal and feeds it back to the robot control cabinet 5. The control cabinet immediately triggers the emergency stop logic, cuts off the power output of the drive motor 12, and controls the robot body 4 to stop moving to avoid collision between the slide table 11 and the tail end structure of the walking base 7, thus ensuring the safe operation of the equipment.

[0048] The walking base 7 is composed of multiple independent tracks. Each track includes parallel and symmetrical support columns 71, connecting columns 72 connecting the two support columns 71, and a base plate 76 installed on the connecting column 72. The side wall of the base plate 76 fits against the side wall of the support column 71, and its top surface matches the opposite side wall of the two support columns 71, forming a sliding channel for the robot body 4 to slide. This channel provides space for the movement of the slide table 11 and also constrains the lateral displacement of the robot body 4 to prevent it from tipping over.

[0049] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0050] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A wireless floor robot comprising a master control cabinet (1) and a robot body (4), characterized in that: It also includes a walking base (7) composed of multiple independent tracks. The walking base (7) is provided with a slide (11) that slides along its length. The robot body (4) is mounted on the slide (11). The top surface of the slide (11) is equipped with a robot control cabinet (5) that controls the operation of the robot body (4). The bottom surface of the slide (11) is equipped with a moving end (9) of an optical data transmission device. The tail end of the walking base (7) is equipped with a fixed end (8) of an optical data transmission device corresponding to the moving end (9). The outer wall of the walking base (7) is equipped with a sliding contact line protective cover (6) that extends along its length. The sliding contact line protective cover (6) is electrically connected to the main control cabinet (1). A sliding contact line (3) is installed inside the sliding contact line protective cover (6). A brush (2) is slidably connected to the sliding contact line (3). The brush (2) is fixed to the slide (11) and is electrically connected to the robot control cabinet (5).

2. The wireless floor robot of claim 1, wherein: The outer surface of the sliding contact line (3) is covered with insulating material.

3. The wireless floor robot of claim 1, wherein: A connecting arm is provided on the slide (11), and the brush (2) is connected to the slide (11) through the connecting arm.

4. The wireless floor robot of claim 1, wherein: The track includes parallel and symmetrically arranged pillars (71), and two pillars (71) are connected to a connecting pillar (72) on opposite sides. A base plate (76) extending along the length of the pillar (71) is installed on the connecting pillar (72). The side wall of the base plate (76) fits against the side wall of the pillar (71), and the top surface of the base plate (76) cooperates with the opposite side walls of the two pillars (71) to form a sliding channel for the robot body (4) to slide.

5. The wireless floor robot of claim 4, wherein: The lower part of the outer wall of the support column (71) is connected to the mounting feet (73). Multiple mounting feet (73) are provided, and the multiple mounting feet (73) are spaced apart along the length direction of the support column (71). Each mounting foot (73) is provided with an anchor rod (74). The support column (71) is fixed to the ground by the mounting feet (73) and the anchor rods (74).

6. The wireless floor robot of claim 4, wherein: A protective plate (75) is connected to the upper part of the outer wall of the support column (71). The protective plate (75) extends along the length of the support column (71) and is perpendicular to the support column (71).

7. The wireless track-mounted robot as described in claim 4, characterized in that: The top surface of the support column (71) is equipped with a slide rail (77), and the bottom surface of the robot body (4) is provided with a slide seat that is compatible with the slide rail (77). The slide seat is slidably connected to the slide rail (77).

8. The wireless floor robot of claim 4, wherein: It also includes a drive unit set on the slide (11) for driving the slide (11) to slide along the length direction of the walking base (7). The drive unit includes a rack (10) mounted on the support column (71). A drive motor (12) is fixedly mounted on the robot body (4). The drive end of the drive motor (12) is connected to a transmission gear that meshes with the drive motor (12).

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