CN1066381C

CN1066381C - Portable buggy robot

Info

Publication number: CN1066381C
Application number: CN95111797A
Authority: CN
Inventors: 俄家齐
Original assignee: Individual
Current assignee: Individual
Priority date: 1995-10-11
Filing date: 1995-10-11
Publication date: 2001-05-30
Anticipated expiration: 2015-10-11
Also published as: CN1140119A

Abstract

The present invention provides a light electromechanical integrative intelligent robot with high technique. An extending and rotating arm is driven by a motor under the control of an inner computer, and the robot can freely walk on two high-precision parallel guide rails with tooth bars to complete various kinds of movement.

Description

Portable buggy robot

What patent of the present invention was explained is a kind of smart machine that includes computer of ray machine electricity one of high-tech, is the extremely strong robot of a kind of function.Can be widely used in needs cutting and the shipbuilding of welding, building, and metallurgy, chemical industry, military affairs, agriculturals etc. need the industry of machine-building.

The big-and-middle-sized gas cutting machine as domestic and international production that in the past had certain cutting accuracy, because of it is solid type greatly, and small-sized cutting tool all can't guarantee machining accuracy.The robot of this patent invention not only has higher cutting accuracy, and because of it gently can move, but because of its intelligence teaching, can also finish various welding and cutting that above-mentioned two class machine tools can't be finished, thereby have very application prospects.

Patent of the present invention is such enforcement (by the figure signal):

Robot has movably high accuracy guide rail (as figure one).Article two, high accuracy guide rail (1) is fixed on the square type flat board (2) abreast, and for light, the base plate perforate also can be connect by the weldering of flat strip material (riveting, sticking) on the base plate and forms.Article two, have one on the closed slide at least tooth bar (3) is housed, thereby robot can mesh by wheel and rack, freely walks back and forth on guide rail, accurately the location.The guide rail cross section can be square type or other abnormal shapes, even can be used as base plate one side the guide rail of a no tooth bar.

Robot body (as figure two) Xiang Yitai has the dolly of combination bearing wheel.This combination wheel relies on bearing (4) closed slide that links closely accurately, can move (as figure three) easily.Robot interior is equipped with transmission case (5), servo motor (6) (stepper motor or alternating current-direct current servo motor), and motor drives electric.Computer drives the electrical control motor according to fortune control program by motor, is harmonious through the output gear (5a) of transmission device and the tooth bar on the guide rail, thus walking before and after accurately on guide rail.What any motor must be associated with that thermal conductive shell includes pwm control circuit directly is fixed on solid block driver on the dolly outer casing inner wall

Postmedian above the dolly has two fixators, can fix various controlled valves and gas orchestration (7a) for one, can install motor and gear train (7b1) on another fixator, and actuating arm retainer ring (8) is rotated around fixator cylinder (7b2).Motor and transmission device (8a) are housed on the arm retainer, because of on the arm (9) tooth bar being housed or arm itself is carved with tooth bar, thereby can do accurate flexible by actuating arm.Must there be balance weight (9a) rear end of arm, and the front end of arm can be equipped with various built-up jigs (9b), can the clamping plasma cutting-torch, and oxy-acetylene cutter, arc torch etc.On the anchor clamps automatic lifting controller can be housed.A kind of simple robot meeting holding arms and guide rail are fixed into the right angle, allow to have motor actuator (10) and drive the combination grip device (11) that automatic lifting controller (11a) is housed by synchronous band or cog belt or hole shape band (10a), positioning strip on the arm or locating slot on arm before and after walking.As figure four

Robot contains a combined computer (12), the CPU host machine part and the keyboard of this computer, and the display part, power unit lumps together the combined computer that becomes panel type by structural member and panel sets.For certain needs, the panel type combined computer can be reorganized by robot, and keyboard portion in the isolated combined computer and host machine part are formed the line control machine or the remote controller of robot.Link to each other with robot by electric wire or infrared receiving-transmitting device.(combined computer can allow various general interfaces.)

As one of feature of this robot, anchor clamps can read in device or photoelectricity tracer by the clamping photoelectronic trace.Photoreader is interior except optical frames and light source, polynary photoelectricity array and the polynary logic array that can differentiate movement locus direction and position immediately must be housed, polynary photoelectricity logic is given outgoing direction, the data of position, directly give the computer in the machine, read in the track on the drawing etc. thus, thereby the permission robot does the memory cutting.The photoelectricity tracer can penetrate the light of a simulation welding feature, thereby people can follow the tracks of material object or drawing is carried out teaching to robot by the people that operates machine, and allows robot to do to recall cutting after the teaching.

Claims

1. portable buggy robot, its feature is to have;

A, light movably high accuracy guide rail (being portable guide rail), it is that two high accuracy guide rails are fixed on the square type flat underside of opening the hole abreast, tooth bar is housed, guide rail (1) base plate (2) tooth bar (3) three unification on the guide rail;

B, panel type combined computer (12), it is to constitute like this, the host machine part of CPU and keyboard display part, power unit lump together by structural member and panel sets, be fixed on buggy robot housing front portion, constitute the combined computer (can isolate CPU part and keyboard display part, constitute line control machine or remote controller) of panel type;

C, combination bearing wheel, it is fixed on buggy robot body shell bottom side, and each combination bearing wheel all relies on bearing (4) fastening guide rail, and buggy robot can lightly accurately be moved on guide rail;

D, stretch the pivoted arm structure, it is positioned at the buggy robot back body, it has fixator cylinder, arm retainer ring (8) and known numerical control motor actuator formations such as (8a), the lever arm (9) of inlaying positioning strip or locating slot is arranged on the arm retainer ring, arm one end is a balance weight, the arm another side has built-up jig (11), and the motor and the gear train (7b1) of (as Fig. 2) actuating arm retainer ring rotation under computer control are positioned at fixator cylinder (7b2) center;

E, solid block formula motor driver, this numerical control motor driver are a kind of solid block driver, its shell heat conduction, and it includes pwm control circuit, and directly is fixed on the buggy robot main body housing;

F combination grip device (11), it is made up of with the gripper portion branch slipper, automatic lifting controller (11a) part, long lever arm (9) drives (or slipper is dragged by certain belt) by known motor actuator (8a) during the slipper fixed installation when long lever arm (9) goes up slip, the automatic lifting part is by computer control, but clamper part clamping welding cut bit and photoelectricity tracer and photoreader.

2. as robot as described in the claim one, its portable guide rail processes like this, base plate can be a plate with opening, also can weld (riveting, sticking) with flat material connects and forms, article two, closed slide has at least one tooth bar is housed, the cross section of guide rail can be rectangle or other abnormity, even can be used as a side of base plate the guide rail of no tooth bar.

3. as robot as described in the claim one, when long lever arm (9) fixed installation or few rotation installation, robot must be moved on arm by hole shape band (10a) (or belts such as cog belt, synchronous band) the drive built-up jig of known numerical control motor actuator (10) by position, accurate hole, (as Fig. 4) this driving-belt standing part must be fixed on the slipper of built-up jig (on one side by pulley, by known motor actuator driven on one side).

4. as robot as described in the claim one, its combination bearing wheel is combination like this, each combination wheel has three bearings (4), each bearing all is separately fixed on three of the left, center, rights, three dependence like this connect to form a combination bearing wheel, are installed on the buggy robot casing, simultaneously, from upper left right three direction clamping guide rails (as Fig. 3), guarantee that buggy robot can even running.

5. as robot as described in the claim one, the photoelectricity tracer of its clamper clamping must include light source, and can penetrate the light of a simulation welding feature, so that teaching.

6. as robot as described in the claim one, must contain light source, optical lens in the photoreader of its clamper clamping, limited polynary photoelectricity array (is not single responsive first detector, neither CCD or CMOS planar array detector) and polynary logic array, the signal that polynary photoelectricity array detects is judged the direction of motion and position immediately by polynary logic array.