Robotic assisted work device with bilateral increased active area

Abstract

The application discloses a robot-assisted work device with increased activity area on both sides, and aims to solve the technical problems of high cost and small filling area of existing double-side filling robots. The device comprises a base frame, a first guide rail module arranged on the top of the base frame, a second guide rail module arranged horizontally and vertically on the first guide rail module, and a six-axis mechanical arm module arranged on the second guide rail module. The double-axis base effectively solves the problem of small filling area in the prior art and reduces the parking difficulty of users. The adjustable shock-absorbing foot is used to adjust and prevent displacement of the filling device.

Description

Technical Field

[0001] This application relates to the field of refueling equipment technology, specifically to a robot-assisted operation device that increases the activity area on both sides. Background Technology

[0002] With the rapid development of the automotive industry and the continuous growth of motor vehicle ownership, vehicle refueling has become a high-frequency and fundamental service demand in modern society. Currently, the mainstream refueling method still heavily relies on manual operation, with refueling station staff completing a series of processes such as guiding vehicles, opening refueling ports, inserting and retrieving refueling nozzles, and settling accounts. Manual refueling has many problems, such as low refueling efficiency, high labor costs, and safety hazards. To solve these problems, robot-assisted operation devices have emerged.

[0003] A patent document with publication number CN219860558U, known to the inventors, discloses a single-arm, dual-sided refueling robot. Its robotic arm performs translational motion via a linear module mounted on the refueling island, enabling the end effector to move horizontally on a base, thus completing the refueling process. However, through long-term practice and research, the inventors discovered that this robotic arm can only move in a straight line, resulting in a small effective working area during refueling. This makes it unsuitable for efficient, flexible, and automated refueling operations in multi-car parking spaces, irregular parking spaces, and complex, narrow spaces.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the background technology of this disclosure and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] In view of at least one of the above technical problems, this disclosure provides a robot-assisted operation device that increases the activity area on both sides, mainly solving the technical problem that existing robots cannot meet the requirements of large-scale operations.

[0006] According to one aspect of this disclosure, a robot-assisted operation device with double-sided increased activity area is provided, which includes a base frame, a first guide rail module horizontally disposed on the top of the base frame and capable of linear motion, a second guide rail module vertically disposed above the first guide rail module and moving with the first guide rail module, and a six-axis robotic arm module fixed above the second guide rail module and moving with the second guide rail module.

[0007] The first guide rail module includes two parallel guide rails fixed to opposite sides of the top of the base frame, a first rack fixed to the base frame and located next to one of the first guide rails, two first sliders slidably connected to the two first guide rails, a first motor fixed to the bottom of the second guide rail module, and a first gear coaxially connected to the output shaft of the first motor and meshing with the first rack.

[0008] In some embodiments of this disclosure, the six-axis robotic arm module includes a robotic arm base and a six-axis robotic arm fixed on the robotic arm base.

[0009] In some embodiments of this disclosure, the second guide rail module includes a ball screw base fixed to the upper surfaces of the two first sliders and perpendicular to the length direction of the first guide rail; two ball screw guide rails fixed to the upper surfaces of the ball screw bases and parallel to the length direction of the ball screw bases; a screw fixed to the ball screw bases in the same direction via mounting plates on both sides and located at the middle position of the two ball screw guide rails; two ball screw sliders slidably connected to the two ball screw guide rails respectively; and a ball screw motor fixed to the ball screw bases and drivenly connected to the screw.

[0010] In some embodiments of this disclosure, the second guide rail module includes a second base fixed to the upper surfaces of the two first sliders and perpendicular to the length direction of the first guide rails, two second guide rails fixed to the upper surfaces of the second bases and parallel to the length direction of the second bases, a second rack fixed to the second base and located beside one of the second guide rails, two second sliders slidably connected to the two second guide rails respectively, a second motor fixed to the robotic arm base, and a second gear hinged to the lower part of the robotic arm base and simultaneously connected to the second motor and meshing with the second rack.

[0011] In some embodiments of this disclosure, the second guide rail module includes a linear motor base fixed to the upper surfaces of the two first sliders and perpendicular to the length direction of the first guide rail; two linear motor guide rails fixed to the upper surfaces of the linear motor bases and parallel to the length direction of the linear motor bases; a plurality of stators fixed to the linear motor bases and located between the two linear motor guide rails; two linear motor sliders slidably connected to the two linear motor guide rails respectively; and a mover fixed between the two linear motor sliders.

[0012] In some embodiments of this disclosure, both the first guide rail module and the second guide rail module are provided with buffer blocks at the ends of the guide rails to prevent the device from impacting or slipping.

[0013] In some embodiments of this disclosure, both the first guide rail module and the second guide rail module are provided with position sensors for detecting the position of the slider in the module.

[0014] In some embodiments of this disclosure, both the first guide rail module and the second guide rail module are provided with dust covers to prevent dust from entering the module.

[0015] In some embodiments of this disclosure, the base frame includes a frame body and anchor screw mounting plates fixed at the four corners of the frame body.

[0016] In some embodiments of this disclosure, a cable chain is also included for protecting and providing path constraints for cables that are connected to an external power source and electrically connected to the first rail module, the second rail module, and the six-axis robotic arm module.

[0017] One or more technical solutions provided in the embodiments of this application have at least one of the following technical effects or advantages: 1. The adoption of a dual-axis base effectively solves the problem of small filling area in existing technologies, thereby enabling a wide range of horizontal movement of the robotic arm, reducing the difficulty of parking for users, and improving the robot's filling efficiency.

[0018] 2. The adoption of a six-axis robotic arm effectively solves the problem that existing robotic arms can only work on one side, thereby enabling the robot to work on both sides of the device. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the robot-assisted operation device in one embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the overall structure of the robot-assisted operation device in another embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the overall structure of the robot-assisted operation device in another embodiment of this application.

[0022] In the above figures, 1 is the base frame, 11 is the frame body, and 12 is the anchor bolt mounting plate; 2 is the first guide rail module, 21 is the first guide rail, 22 is the first rack, 23 is the first slider, 24 is the first gear, 25 is the first motor, 26 is the first buffer block, and 27 is the dust cover; 3 is the second guide rail module, 311 is the ball screw base, 312 is the ball screw guide rail, 313 is the screw, 314 is the ball screw slider, 315 is the ball screw motor, 316 is the ball screw buffer block, and 317 is the ball screw sensor; 321 is the second base, 322 is the second guide rail, 323 is the second rack, 324 is the second slider, 325 is the second gear, 326 is the second motor, and 327 is the second buffer block; 331 is the linear motor base, 332 is the linear motor guide rail, 333 is the stator, 334 is the linear motor slider, 335 is the mover, 336 is the linear motor buffer block, and 337 is the linear motor sensor; 4 is the six-axis robotic arm module, 41 is the robotic arm base, 42 is the six-axis robotic arm; and 5 is the cable chain. Detailed Implementation

[0023] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," "vertical," "horizontal," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "first," "second," etc., used in this application are used to distinguish the described objects and do not have any sequential or technical meaning. And the terms "connection" and "linkage," unless otherwise specified, include both direct and indirect connections (linkages).

[0024] Unless otherwise specified, the unit modules (components, structures, mechanisms) or sensors involved in the following embodiments are all conventional commercially available products.

[0025] This application provides a robot-assisted operation device. Through the multi-dimensional movement of a multi-axis robotic arm, the multi-functional end effector can face in various directions, allowing the device to dispense liquid from both sides. A double-layer guide rail base enables the multi-axis robotic arm to move freely within the plane provided by the base, thus expanding the device's movement area. Integrating these two functions allows the robot to dispense liquid from both sides and increases the dispensing area.

[0026] To better understand the technical solution of this application, the above technical solution will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Example 1 This example discloses a robot-assisted operation device with increased activity area on both sides. See [link to relevant documentation]. Figure 1 .

[0028] A robot-assisted operation device includes a base frame 1, a first guide rail module 2 horizontally positioned on top of the base frame 1 and capable of linear motion, a second guide rail module 3 vertically mounted above the first guide rail module 2 and moving with it, and a six-axis robotic arm module 4 fixed above the second guide rail module 3 and moving with it. The base frame 1 is a rectangular welded steel frame providing support for the entire device. The first guide rail module, mounted on the base frame 1, is a rack and pinion sliding assembly used to move the second guide rail module 3 and the six-axis robotic arm module 4 mounted above it along its track direction. The second guide rail module 3, also a rack and pinion sliding assembly, is horizontally placed and perpendicular to the first guide rail module, mounted on the slider of the first guide rail module 2, and used to drive the six-axis robotic arm module 4 mounted above it to move along its track direction. The six-axis robotic arm module 4 uses a robotic arm base 41 at its bottom to mount a six-axis robotic arm 42 onto the slider of the second guide rail module. By using two mutually perpendicular slide rail assemblies that cooperate with each other, the six-axis robotic arm 42 can move within a horizontal rectangular range, increasing the area of ​​the robotic arm that can be dispensed.

[0029] The first guide rail module 2 includes two parallel first guide rails 21 fixed to opposite sides of the top of the base frame 1, a first rack 22 fixed to the base frame 1 and located beside one of the first guide rails 21, two first sliders 23 slidably connected to the two first guide rails 21, a first motor 25 fixed to the bottom of the second guide rail module 3, and a first gear 24 coaxially connected to the output shaft of the first motor 25 and meshing with the first rack 22. Two first guide rails 21 in the first guide rail module 2 are fixed on both sides of the upper surface of the base frame 1, and their direction is the same as that of a pair of opposite sides of the base frame 1. A first rack 22 is also installed on one side of one of the guide rails. Two first sliders 23 are slidably connected to the two first guide rails 21, and they simultaneously mount the base of the second guide rail module 3 on its upper surface. A first motor 25 is installed on the lower surface of the base of the second guide rail module 3 near the first rack 22, which is used to transmit power to the first gear 24 coaxially connected to it, so that the second guide rail module 3 can move along the first guide rail module 2.

[0030] The six-axis robotic arm module 4 includes a robotic arm base 41 and a six-axis robotic arm 42 fixed on the robotic arm base. The robotic arm base 41 in the six-axis robotic arm module 4 provides a mounting platform for the six-axis robotic arm 42, and completes linear movement along the second guide rail module 3 via a slider installed in the second guide rail module 32.

[0031] The second guide rail module 3 includes a ball screw base 321 that is simultaneously fixed to the upper surface of the two first sliders 23 and perpendicular to the length direction of the first guide rail 21; two ball screw guide rails 312 that are fixed to the upper surface of the ball screw base 311 and parallel to the length direction of the ball screw base 311; a screw 313 that is fixed in the same direction to the ball screw base 311 through mounting plates on both sides and located in the middle position of the two ball screw guide rails 312; two ball screw sliders 324 that are slidably connected to the two ball screw guide rails 312 respectively; and a ball screw motor 325 that is fixed to the ball screw base 311 and drivenly connected to the screw 313. The ball screw base 311 in the second guide rail module 3 is elongated and fixed on both sides of the first guide rail module, so that other components above it follow the first guide rail module and move along the first guide rail module. Two ball screw guide rails 312 are fixed on the ball screw base 311, and their direction is consistent with the ball screw base 311. A screw 313 is installed between the two ball screw guide rails 312 and fixed on the ball screw base 311 through bearing boxes on both sides. Both ball screw guide rails 312 are slidably connected to sliders, and the two sliders are connected as one unit by the mechanical arm base 41 fixedly installed above them. A ball screw motor 315 is installed at one end of the ball screw base 321 near one of the bearing boxes, which transmits power to the gear of the screw 313 through pulleys and belts.

[0032] Both the first guide rail module 2 and the second guide rail module 3 have buffer blocks at their guide rail ends to prevent the device from impacting or slipping. The buffer blocks are made of rubber and include first buffer blocks 26 installed at both ends of the first guide rail 21 and ball screw buffer blocks 316 installed at both ends of the ball screw guide rail 312. They are used to prevent the slider from impacting or flying out of the device due to loss of control when it moves to the end of the guide rail.

[0033] A ball screw sensor 317 is installed on one side of the ball screw base 311. It is a distance sensor and acts as a photoelectric switch. It uses the blocking or reflection of the light beam by the detected object to connect the circuit through the synchronous circuit, thereby detecting the presence or absence of the object and thus detecting whether the position after sliding is in place.

[0034] The outer periphery of the first guide rail module 2 is equipped with a dust cover 27 with an opening that moves with the movement of the first slider 23. It plays a certain role in dust and water protection, and increases the service life of outdoor equipment.

[0035] The base frame 1 includes a frame body 11 and anchor bolt mounting plates 12 fixed at the four corners of the frame body. The base frame 1 defines the position of the anchor bolts by welding the anchor bolt mounting plates 12 at the four corners of the frame body 11, thereby driving the anchor bolts into the ground and fixing the entire device.

[0036] The first guide rail module 2, the second guide rail module 3, and the six-axis robotic arm module 4 are all powered by an external power source through wires installed in the cable chain 5. These external power cables are threaded through the cable chain 5 and move with the guide rails, greatly reducing cable management difficulties and improving the overall integrity of the device.

[0037] During operation, the first motor 25 is turned on in the first guide rail module, controlling the first gear 24 to rotate forward and backward. Since the first rack 22, which is hinged to the first gear 24, is fixed, the first gear 24 moves forward and backward on the first rack 22. The first gear 24 is coaxially mounted on the first motor 25, and the first motor 25 is fixed on the second guide rail module. Therefore, the first gear 24 will drive the second guide rail module above it and the six-axis robotic arm module 4 to move back and forth along the direction of the first guide rail module.

[0038] In the second guide rail module 3, the ball screw motor 315 is turned on to control the forward and reverse rotation of the screw 313. Since the screw 313 is fixed relative to the ball screw guide rail 312 module, the ball screw slider 314, which is threadedly connected to the screw 313, can move forward and backward along the screw 313. That is, the ball screw slider 314 will drive the six-axis robotic arm module 4 above it to move back and forth along the direction of the ball screw guide rail 312 module.

[0039] By combining the first guide rail module and the second guide rail module, the multi-axis robotic arm can move freely within the area enclosed by the two sets of horizontal guide rails, thereby increasing the filling area on both sides.

[0040] Example 2 This example discloses a robot-assisted operation device with increased activity area on both sides. See [link to relevant documentation] Figure 2 .

[0041] A robot-assisted operation device includes a base frame 1, a first guide rail module 2 horizontally positioned on top of the base frame 1 and capable of linear motion, a second guide rail module 3 vertically mounted above the first guide rail module 2 and moving with it, and a six-axis robotic arm module 4 fixed above the second guide rail module 3 and moving with it. The base frame 1 is a rectangular welded steel frame providing support for the entire device. The first guide rail module, mounted on the base frame 1, is a rack and pinion sliding assembly used to move the second guide rail module 3 and the six-axis robotic arm module 4 mounted above it along its track direction. The second guide rail module 3, also a rack and pinion sliding assembly, is horizontally placed and perpendicular to the first guide rail module, mounted on the slider of the first guide rail module 2, and used to drive the six-axis robotic arm module 4 mounted above it to move along its track direction. The six-axis robotic arm module 4 uses a robotic arm base 41 at its bottom to mount a six-axis robotic arm 42 onto the slider of the second guide rail module. By using two mutually perpendicular slide rail assemblies that cooperate with each other, the six-axis robotic arm 42 can move within a horizontal rectangular range, increasing the area of ​​the robotic arm that can be dispensed.

[0042] The first guide rail module 2 includes two parallel first guide rails 21 fixed to opposite sides of the top of the base frame 1, a first rack 22 fixed to the base frame 1 and located beside one of the first guide rails 21, two first sliders 23 slidably connected to the two first guide rails 21, a first motor 25 fixed to the bottom of the second guide rail module 3, and a first gear 24 coaxially connected to the output shaft of the first motor 25 and meshing with the first rack 22. Two first guide rails 21 in the first guide rail module 2 are fixed on both sides of the upper surface of the base frame 1, and their direction is the same as that of a pair of opposite sides of the base frame 1. A first rack 22 is also installed on one side of one of the guide rails. Two first sliders 23 are slidably connected to the two first guide rails 21, and they simultaneously mount the base of the second guide rail module 3 on its upper surface. A first motor 25 is installed on the lower surface of the base of the second guide rail module 3 near the first rack 22, which is used to transmit power to the first gear 24 coaxially connected to it, so that the second guide rail module 3 can move along the first guide rail module 2.

[0043] The six-axis robotic arm module 4 includes a robotic arm base 41 and a six-axis robotic arm 42 fixed on the robotic arm base. The robotic arm base 41 in the six-axis robotic arm module 4 provides a mounting platform for the six-axis robotic arm 42, and completes linear movement along the second guide rail module 3 via a slider installed in the second guide rail module 32.

[0044] The second guide rail module 3 includes a second base 321 that is simultaneously fixed to the upper surfaces of the two first sliders 23 and perpendicular to the length direction of the first guide rail 21; two second guide rails 322 that are fixed to the upper surfaces of the second base 321 and parallel to the length direction of the second base 321; a second rack 323 that is fixed to the second base 321 and located beside one of the second guide rails 322; two second sliders 324 that are slidably connected to the two second guide rails 322 respectively; a second motor 326 that is fixed to the robotic arm base 41; and a second gear 325 that is hinged to the lower part of the robotic arm base 41, simultaneously connected to the second motor 326 and meshing with the second rack 323. The second guide rail 322 in the second guide rail module 3 is elongated and fixed to the first sliders 23 on both sides of the first guide rail module 2, so that the second guide rail module 3 and the six-axis robotic arm module 4 can move with the movement of the first sliders 23. The two second guide rails 322 are fixed to the second base 321, and their direction is consistent with the second base 321. A second rack 323 fixed to the second base 321 is installed on the outer side of one of the second guide rails 322. The two second sliders 324 are slidably connected to the two second guide rails 322 respectively. The two second sliders 324 are connected to a whole by the robotic arm base 41 fixedly installed above them. At the same time, a second motor 326 is installed on the upper surface of the robotic arm base 41 near the rack. It transmits power to the second gear 325 hinged to the bottom of the robotic arm base 41 through a transmission connection. The second gear 325 meshes with the second rack 323.

[0045] Both the first guide rail module 2 and the second guide rail module 3 have buffer blocks at their guide rail ends to prevent the device from impacting or slipping. The buffer blocks are made of rubber and include a first buffer block 26 installed at both ends of the first guide rail 21 and a second buffer block 327 installed at both ends of the second guide rail 322. They are used to prevent the slider from impacting or flying out of the device due to loss of control when it moves to the end of the guide rail.

[0046] The first guide rail module 2, the second guide rail module 3, and the six-axis robotic arm module 4 are all powered by an external power source through wires installed in the cable chain 5. These external power cables are threaded through the cable chain 5 and move with the guide rails, greatly reducing cable management difficulties and improving the overall integrity of the device.

[0047] During operation, the first motor 25 is turned on in the first guide rail module, controlling the first gear 24 to rotate forward and backward. Since the first rack 22, which is hinged to the first gear 24, is fixed, the first gear 24 moves forward and backward on the first rack 22. The first gear 24 is coaxially mounted on the first motor 25, and the first motor 25 is fixed on the second guide rail module. Therefore, the first gear 24 will drive the second guide rail module above it and the six-axis robotic arm module 4 to move back and forth along the direction of the first guide rail module.

[0048] In the second guide rail module 3, the second motor 326 is turned on to control the second gear 325 to rotate forward and backward. Since the second rack 323, which is hinged to the second gear 325, is fixed, the second gear 325 moves forward and backward on the second rack 323. The second gear 325 is coaxially mounted on the second motor 326, and the second motor 326 is fixed on the six-axis robotic arm module 4. Therefore, the second gear 325 will drive the six-axis robotic arm module 4 above it to move back and forth along the direction of the second guide rail module.

[0049] By combining the first guide rail module and the second guide rail module, the multi-axis robotic arm can move freely within the area enclosed by the two sets of horizontal guide rails, thereby increasing the filling area on both sides.

[0050] Example 3 This example discloses a robot-assisted operation device with increased activity area on both sides. See [link to relevant documentation] Figure 3 .

[0051] A robot-assisted operation device includes a base frame 1, a first guide rail module 2 horizontally positioned on top of the base frame 1 and capable of linear motion, a second guide rail module 3 vertically mounted above the first guide rail module 2 and moving with it, and a six-axis robotic arm module 4 fixed above the second guide rail module 3 and moving with it. The base frame 1 is a rectangular welded steel frame providing support for the entire device. The first guide rail module, mounted on the base frame 1, is a rack and pinion sliding assembly used to move the second guide rail module 3 and the six-axis robotic arm module 4 mounted above it along its track direction. The second guide rail module 3, also a rack and pinion sliding assembly, is horizontally placed and perpendicular to the first guide rail module, mounted on the slider of the first guide rail module 2, and used to drive the six-axis robotic arm module 4 mounted above it to move along its track direction. The six-axis robotic arm module 4 uses a robotic arm base 41 at its bottom to mount a six-axis robotic arm 42 onto the slider of the second guide rail module. By using two mutually perpendicular slide rail assemblies that cooperate with each other, the six-axis robotic arm 42 can move within a horizontal rectangular range, increasing the area of ​​the robotic arm that can be dispensed.

[0052] The first guide rail module 2 includes two parallel first guide rails 21 fixed to opposite sides of the top of the base frame 1, a first rack 22 fixed to the base frame 1 and located beside one of the first guide rails 21, two first sliders 23 slidably connected to the two first guide rails 21, a first motor 25 fixed to the bottom of the second guide rail module 3, and a first gear 24 coaxially connected to the output shaft of the first motor 25 and meshing with the first rack 22. Two first guide rails 21 in the first guide rail module 2 are fixed on both sides of the upper surface of the base frame 1, and their direction is the same as that of a pair of opposite sides of the base frame 1. A first rack 22 is also installed on one side of one of the guide rails. Two first sliders 23 are slidably connected to the two first guide rails 21, and they simultaneously mount the base of the second guide rail module 3 on its upper surface. A first motor 25 is installed on the lower surface of the base of the second guide rail module 3 near the first rack 22, which is used to transmit power to the first gear 24 coaxially connected to it, so that the second guide rail module 3 can move along the first guide rail module 2. A dust cover 27 with an opening that moves with the movement of the first slider 23 is installed around the first guide rail module 2 to ensure that the device is not affected by dust.

[0053] The six-axis robotic arm module 4 includes a robotic arm base 41 and a six-axis robotic arm 42 fixed on the robotic arm base. The robotic arm base 41 in the six-axis robotic arm module 4 provides a mounting platform for the six-axis robotic arm 42, and completes linear movement along the second guide rail module 3 via a slider installed in the second guide rail module 32.

[0054] The second guide rail module 3 includes a linear motor base 331 that is simultaneously fixed to the upper surface of the two first sliders 23 and perpendicular to the length direction of the first guide rail 21; two linear motor guide rails 332 that are fixed to the upper surface of the linear motor base 331 and parallel to the length direction of the linear motor base 331; several stators 333 that are fixed on the linear motor base 331 and located between the two linear motor guide rails 332; two linear motor sliders 334 that are slidably connected to the two linear motor guide rails 332 respectively; and a mover 335 that is simultaneously fixed between the two linear motor sliders 334. The linear motor base 331 in the second guide rail module 3 is elongated and fixed to both sides of the first guide rail module, allowing other upper components to follow the first guide rail module in moving along it. Two linear motor guide rails 332 are fixed to the linear motor base 331, with their direction aligned with the base. Several rectangular stators 333 are fixed to the base 331 and positioned between the two linear motor guide rails 332. Two linear motor sliders 334 are slidably connected to the two linear motor guide rails 332, with a mover 335 installed between them. When the stators 333 are energized, a traveling wave magnetic field is generated in the direction of the linear motor guide rails 332. The strength of this magnetic field is proportional to the magnitude of the current, generating sufficient thrust to drive the mover 335 to move along the stators 333. Under the influence of the magnetic field, the mover 335 is propelled by the Lorentz force, achieving contactless linear motion. By changing the frequency of the current, the speed and direction of the mover 335 can be precisely controlled.

[0055] Both the first guide rail module 2 and the second guide rail module 3 have buffer blocks at their guide rail ends to prevent the device from impacting or slipping. The buffer blocks are made of rubber and include first buffer blocks 26 installed at both ends of the first guide rail 21 and linear motor buffer blocks 335 installed at both ends of the linear motor guide rail 332. They are used to prevent the slider from impacting or flying out of the device due to loss of control when it moves to the end of the guide rail.

[0056] A ball screw sensor 317 is installed on one side of the ball screw base 311. It is a distance sensor and acts as a photoelectric switch. It uses the blocking or reflection of the light beam by the detected object to connect the circuit through the synchronous circuit, thereby detecting the presence or absence of the object and thus detecting whether the position after sliding is in place.

[0057] The outer periphery of the first guide rail module 2 is equipped with a dust cover 27 with an opening that moves with the movement of the first slider 23. It plays a certain role in dust and water protection, and increases the service life of outdoor equipment.

[0058] The base frame 1 includes a frame body 11 and anchor bolt mounting plates 12 fixed at the four corners of the frame body. The base frame 1 defines the position of the anchor bolts by welding the anchor bolt mounting plates 12 at the four corners of the frame body 11, thereby driving the anchor bolts into the ground and fixing the entire device.

[0059] The first guide rail module 2, the second guide rail module 3, and the six-axis robotic arm module 4 are all powered by an external power source through wires installed in the cable chain 5. These external power cables are threaded through the cable chain 5 and move with the guide rails, greatly reducing cable management difficulties and improving the overall integrity of the device.

[0060] During operation, in the first guide rail module, the first motor 25 is activated, controlling the first gear 24 to rotate forward and backward. Since the first rack 22, which is hinged to the first gear 24, is fixed, the first gear 24 moves forward and backward along the rack 22. The first gear 24 is coaxially mounted on the first motor 25, which is in turn fixed to the second guide rail module. Therefore, the first gear 24 drives the second guide rail module above it and the six-axis robotic arm module 4 to move back and forth along the direction of the first guide rail module. In the linear motor guide rail module... In the second guide rail module 3, the stator 333 is energized, generating a traveling wave magnetic field in the direction of the linear motor guide rail 332. The strength of this magnetic field is proportional to the magnitude of the current, generating sufficient thrust to drive the mover 335 to move along the stator 333. Under the influence of the magnetic field, the mover 335 is propelled by the Lorentz force, achieving contactless linear motion. By changing the frequency of the current, the speed and direction of the mover 335 can be precisely controlled. The movement of the mover 335 drives the six-axis robotic arm module 4 above it to move back and forth along the direction of the linear motor guide rail 332.

[0061] By combining the first guide rail module and the second guide rail module, the multi-axis robotic arm can move freely within the area enclosed by the two sets of horizontal guide rails, thereby increasing the filling area on both sides.

[0062] Although some preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0063] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A robot-assisted operation device with double-sided increased activity area, characterized in that, It includes a base frame, a first guide rail module horizontally disposed on the top of the base frame and capable of linear motion, a second guide rail module vertically disposed above the first guide rail module and moving with the first guide rail module, and a six-axis robotic arm module fixed above the second guide rail module and moving with the second guide rail module. The first guide rail module includes two parallel guide rails fixed to opposite sides of the top of the base frame, a first rack fixed to the base frame and located next to one of the first guide rails, two first sliders slidably connected to the two first guide rails, a first motor fixed to the bottom of the second guide rail module, and a first gear coaxially connected to the output shaft of the first motor and meshing with the first rack.

2. The robot-assisted operation device according to claim 1, characterized in that, The six-axis robotic arm module includes a robotic arm base and a six-axis robotic arm fixed on the robotic arm base.

3. The robot-assisted operation device according to claim 1, characterized in that, The second guide rail module includes a ball screw base fixed to the upper surface of the two first sliders and perpendicular to the length direction of the first guide rail; two ball screw guide rails fixed to the upper surface of the ball screw bases and parallel to the length direction of the ball screw bases; a screw fixed to the ball screw bases in the same direction via mounting plates on both sides and located at the middle position of the two ball screw guide rails; two ball screw sliders slidably connected to the two ball screw guide rails respectively; and a ball screw motor fixed to the ball screw bases and drivenly connected to the screw.

4. The robot-assisted operation device according to claim 2, characterized in that, The second guide rail module includes a second base fixed to the upper surfaces of the two first sliders and perpendicular to the length direction of the first guide rails, two second guide rails fixed to the upper surfaces of the second bases and parallel to the length direction of the second bases, a second rack fixed to the second base and located beside one of the second guide rails, two second sliders slidably connected to the two second guide rails respectively, a second motor fixed to the robotic arm base, and a second gear hinged to the lower part of the robotic arm base and simultaneously connected to the second motor and meshing with the second rack.

5. The robot-assisted operation device according to claim 1, characterized in that, The second guide rail module includes a linear motor base fixed to the upper surfaces of the two first sliders and perpendicular to the length direction of the first guide rail; two linear motor guide rails fixed to the upper surfaces of the linear motor bases and parallel to the length direction of the linear motor bases; a plurality of stators fixed on the linear motor bases and located between the two linear motor guide rails; two linear motor sliders slidably connected to the two linear motor guide rails respectively; and a mover fixed between the two linear motor sliders.

6. The robot-assisted operation device according to claim 1, characterized in that, Both the first guide rail module and the second guide rail module have buffer blocks at the ends of their guide rails to prevent the device from impacting or slipping.

7. The robot-assisted operation device according to claim 1, characterized in that, Both the first guide rail module and the second guide rail module are equipped with position sensors for detecting the position of the slider in the module.

8. The robot-assisted operation device according to claim 1, characterized in that, Both the first guide rail module and the second guide rail module are equipped with dust covers to prevent dust from entering the module.

9. The robot-assisted operation device according to claim 1, characterized in that, The base frame includes a frame body and anchor bolt mounting plates fixed at the four corners of the frame body.

10. The robot-assisted operation device according to claim 1, characterized in that, It also includes a cable chain for protecting and providing path constraints for cables that are connected to an external power source and electrically connected to the first rail module, the second rail module and the six-axis robotic arm module.

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