CN112914436A - Intelligent industrial robot positioning system - Google Patents
Intelligent industrial robot positioning system Download PDFInfo
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- CN112914436A CN112914436A CN202110096557.XA CN202110096557A CN112914436A CN 112914436 A CN112914436 A CN 112914436A CN 202110096557 A CN202110096557 A CN 202110096557A CN 112914436 A CN112914436 A CN 112914436A
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- industrial robot
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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Abstract
The invention belongs to the technical field of industrial robots, and particularly relates to an intelligent industrial robot positioning system which comprises a movable chassis; the top of the movable chassis is provided with an electric pushing cylinder; the electric push cylinder is fixedly connected to the inner side wall of the movable chassis; the bottom end of the electric pushing cylinder is provided with an anti-deviation positioning sucker; the anti-deviation positioning sucker is fixedly connected to the bottom of the electric pushing cylinder; a negative pressure device is arranged on the inner side wall of the bottom of the movable chassis; a first air duct is arranged between the anti-deviation positioning sucker and the negative pressure device; the first air duct is communicated between the anti-deviation positioning sucker and the negative pressure device; through increasing the skid-proof anti-migration location sucking disc of location and cooperating with vacuum device in intelligent industrial robot's bottom, when the arm on the robot was used, tightly absorb the mobile device of bottom on ground, avoided intelligent industrial robot when using, the problem of skew can appear in bottom mobile device, increased the location degree of accuracy of processing robot arm.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to an intelligent industrial robot positioning system.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.
Some technical scheme about industrial robot have also appeared among the prior art, have disclosed an intelligent industrial robot high-efficient positioning system like chinese patent with application number 2020110233785, including industrial robot, industrial robot's below is equipped with the casing, the right-hand member of motor is fixed continuous with the top left end of casing, the output shaft of motor links to each other with the right-hand member centre of first gear is fixed.
Some technical schemes related to intelligent robots also appear in the prior art, for example, a chinese patent with application number 2017109591481 discloses an intelligent industrial floor washing robot, which comprises a robot main body, a mechanical washing part, a control system part, and a power module, wherein a table is arranged at the upper end of the robot main body; the robot is characterized in that driving wheels are arranged on two sides of the bottom end of the robot main body, and a connecting frame is arranged between the driving wheels.
Among the prior art at present, intelligent industrial robot all moves about through the wheel of bottom when removing, and we have found in long-time practical observation, when intelligent industrial robot did not remove, the arm of robot is at the in-process of work, and bottom mobile device does not have good antiskid, and then when the robot arm was using, the problem of offset can appear in intelligent industrial robot.
Disclosure of Invention
In order to make up for the defects of the prior art, the problem that when an intelligent industrial robot moves, the intelligent industrial robot moves through a wheel at the bottom is solved, and in long-time practical observation, the problem that when the intelligent industrial robot does not move, a bottom moving device does not have a good anti-skidding device in the working process of a mechanical arm of the robot, and further when the mechanical arm of the robot is used, the intelligent industrial robot can deviate in position is solved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an intelligent industrial robot positioning system, which comprises a movable chassis; the top of the movable chassis is provided with an electric pushing cylinder; the electric push cylinder is fixedly connected to the inner side wall of the movable chassis; the bottom end of the electric pushing cylinder is provided with an anti-deviation positioning sucker; the anti-deviation positioning sucker is fixedly connected to the bottom of the electric pushing cylinder; a negative pressure device is arranged on the inner side wall of the bottom of the movable chassis; a first air duct is arranged between the anti-deviation positioning sucker and the negative pressure device; the first air duct is communicated between the anti-deviation positioning sucker and the negative pressure device; when the intelligent industrial robot is used, the environment of the movable chassis, which needs to work, is cleaned, the problem of slippage during movement caused by dust remaining on the ground when the intelligent industrial robot moves in the working environment is avoided, after the environment is cleaned, the movable chassis is moved to the place where the intelligent industrial robot needs to operate, and then an electric push cylinder and a negative pressure device in the movable chassis are opened; at the in-process of giving the robot location, electronic push cylinder can will prevent that the excursion location sucking disc moves to ground pressure, will prevent that the excursion location sucking disc presses subaerial, and negative pressure device can be taken out through the inside gas of first air duct will prevent the excursion location sucking disc simultaneously, makes and prevents the excursion location sucking disc and tightly inhales on ground, and the position skew problem that intelligent industrial robot appears when using is avoided in this operation, increases the stability after its location is accomplished.
Furthermore, an air leakage preventing gasket ring is arranged on the inner side wall of the anti-deviation positioning sucker; the air leakage preventing cushion ring is fixedly connected to the inner side wall of the anti-deviation positioning sucker; a spring piece is arranged between the air leakage preventing cushion ring and the anti-deviation positioning sucker; one end of the spring piece is fixedly connected to the side wall of the air leakage preventing gasket, and the other end of the spring piece is fixedly connected to the inner side wall of the anti-deviation positioning sucker; a plurality of groups of spring pieces are arranged between the air leakage preventing gaskets and the anti-deviation positioning suckers; when the anti-deviation positioning sucker is pressed to the ground by the electric pushing cylinder, the bottom boundary of the anti-deviation positioning sucker deforms, the anti-leakage gasket in the anti-deviation positioning sucker is simultaneously pressed by the ground, at the same time, the anti-leakage gasket deviates towards the bottom center of the anti-deviation positioning sucker, part of residual dust and impurities on the ground are pushed away for secondary sealing, the anti-leakage gasket can be tightly pressed on the ground when the anti-leakage gasket is pressed and deformed by the ground through the spring piece, the phenomenon that the boundary of the anti-leakage gasket is tilted is avoided, the adsorption effect of the anti-deviation positioning sucker on the ground is further increased, meanwhile, gas at the bottoms of the anti-leakage gasket and the anti-deviation positioning sucker can leak out from the bottoms of the anti-leakage gasket and the anti-deviation positioning sucker, and the anti-deviation positioning sucker sucks and fixes the moving chassis when the intelligent industrial robot gripper grabs, the problem of position offset can be avoided appearing in removal chassis and intelligent industrial robot.
Further, an arc-shaped groove is formed in the side wall of the bottom of the air leakage preventing gasket; the arc-shaped grooves are provided with a plurality of groups at the bottom of the air leakage preventing gasket; a sealing ring is fixedly connected to the inner side wall of the arc-shaped groove; the sealing ring inclines towards the direction far away from the end part of the air leakage prevention gasket; meanwhile, the arc-shaped groove and the sealing ring are arranged at the bottom of the air leakage preventing gasket ring, when the air in the anti-deviation positioning sucker is sucked out by the negative pressure device gradually, the sealing ring can be tightly pressed on the ground by the air pressure between the air leakage preventing gasket and the anti-deviation positioning sucker, the arrangement avoids the situation that the air in the anti-deviation positioning sucker is sucked in the anti-deviation positioning sucker from the space between the air leakage preventing gasket and the ground when the negative pressure device is used for sucking the air in the anti-deviation positioning sucker, and the stability of the air leakage preventing gasket during secondary sealing is improved.
Furthermore, an elastic air bag is arranged on the inner side wall of the air leakage preventing cushion ring; the elastic air bag is fixedly connected with the inner side wall of the air leakage preventing cushion ring; the inner side wall of the elastic air bag is provided with an arc-shaped pulling plate; the arc-shaped pulling plate is fixedly connected inside the elastic air bag; an extrusion ball is arranged between the sealing ring and the arc-shaped groove; a pull rope is connected between the extrusion ball and the inner side wall of the elastic air bag and penetrates through the air leakage preventing gasket; at the in-process that prevents the inside atmospheric pressure of excursion location sucking disc and at the reduction, elastic airbag will begin to expand, then will extrude the ball through arc arm-tie and stay cord to the direction pulling that is close to the arc wall inside wall, and the ball will be extruded the sealing washer to ground in the arc wall inside this moment, makes more inseparabler of sealing washer and ground laminating, further promotes the sealing washer to preventing the inside sealed effect of excursion location sucking disc.
Furthermore, a first extrusion plate is arranged on the side wall of the arc-shaped groove at a position corresponding to the extrusion ball; the first extrusion plate is fixedly connected to the side wall of the arc-shaped groove; a second extrusion plate is arranged on the side wall of the sealing ring and corresponds to the extrusion ball; the second extrusion plate is fixedly connected to the side wall of the sealing ring; the first extrusion plate and the second extrusion plate are arranged to support the extrusion balls, so that the extrusion force of the extrusion balls can be uniformly dispersed on the sealing ring while the extrusion balls are pulled to the side wall of the arc-shaped groove to extrude the sealing ring, the contact area of the sealing ring and the ground is greatly increased, and the problem that the sealing ring is not tightly sealed due to the fact that residual dust exists on the ground and remains between the sealing ring and the ground is solved; when being pulled by arc-shaped pulling plate and pull rope through the extrusion ball, the in-process of extrusion second stripper plate and sealing washer is through tightly pressing the sealing washer subaerial, if when meeting impurity such as dust, can deform, avoids having the problem that gas flowed through from the bottom of leak protection gas packing ring.
Further, a piston cylinder is arranged on the inner side wall of the top of the electric pushing cylinder; the piston cylinder is fixedly connected inside the electric push cylinder; a piston rod is arranged in the piston cylinder; the piston rod is connected with the inside of the piston cylinder in a sliding manner; a second air duct is arranged between the piston cylinder and the negative pressure device; the second air duct is communicated between a rod cavity of the piston cylinder and the negative pressure device; the bottom of the piston rod is provided with a friction plate; the friction plate is fixedly connected to the bottom end of the piston rod; it has good anti skew nature to be equipped with when leak protection air cushion ring adsorbs ground, but flexible material makes when the leak protection air cushion ring, its stability that leads to is not strong, through being equipped with the piston cylinder, piston rod and friction plate, can be at the inspiratory in-process of negative pressure device, also can have the gas of pole intracavity portion to take out the piston cylinder, then press piston rod and friction plate subaerial, it just makes the mobile chassis possess good stability to be equipped with the multiunit piston cylinder and support simultaneously, make the mobile chassis can not appear the problem of rocking easily, promote the accuracy of intelligent industrial robot location.
Furthermore, the bottom of the friction plate is provided with an anti-skid guide sheet; a torsional spring is arranged at the hinged position of the anti-skid guide sheet and the friction plate; the anti-skid guide vanes are provided with a plurality of groups at the bottom of the friction plate; the two opposite anti-skid guide vanes are symmetrically arranged at the bottom of the friction plate; when the friction plate is pressed to the ground, the pair of anti-skidding guide blades at the bottom of the friction plate can obliquely rotate towards two sides to scrape the ground once, so that the friction force between the friction plate and the anti-skidding guide blades and the ground is increased, and the risk that the friction plate and the anti-skidding guide blades can slide on the ground is reduced.
Furthermore, the bottom of the anti-skid guide vane is provided with a groove; the grooves are provided with a plurality of groups at the bottom of the anti-skid guide sheet; a bump rubber strip is arranged inside the groove; the lug rubber strip is fixedly connected inside the groove; the anti-slip guide sheet is characterized in that a convex block rubber strip is additionally arranged at the bottom of the anti-slip guide sheet, so that the friction force between the anti-slip guide sheet and the ground is increased, the problem of slip caused by the fact that the bottom of the anti-slip guide sheet is too smooth is avoided, meanwhile, the convex block rubber strip is additionally arranged in the groove, the anti-slip guide sheet can be inclined when contacting with the ground and is isolated between the anti-slip guide sheet and the ground, if a depression exists on the ground, the convex block rubber strip can be in filling contact with the depression, and the problem of slip deviation caused by the fact that the contact area is smaller when the anti-slip guide; when meetting comparatively smooth ground, the antiskid guide piece is in subaerial gliding, inside the lug rubber strip can be absorbed in the recess, then the bellied benefit position of lug rubber strip can block the dust in one side of lug rubber strip when lasting with ground friction, avoid dust and impurity to have the bottom of antiskid guide piece, the problem that the antiskid guide piece that can lead to skidded, stability when having guaranteed intelligent industrial robot operation simultaneously and the problem that the skew can not appear.
Further, a cavity is formed inside the bump rubber strip; the inner side wall of the cavity is fixedly connected with a flexible supporting pad; bristles are fixedly connected to one side, close to the end part of the cavity, of the flexible supporting pad; the side wall of the lug rubber strip is fixedly connected with a gas collection air bag; a third air duct is communicated between the air collection air bag and the cavity; one end of the third air duct is communicated with the air collecting air bag, and the other end of the third air duct is communicated with the inner side wall, far away from the bristles, in the cavity; when the convex block rubber strip is extruded and deformed in the process that the convex block rubber strip is pressed to the ground by the anti-skidding guide sheet due to the downward movement of the piston rod and the friction plate, the brush hair extending out of the cavity can contact the ground to sweep away dust and impurities on the ground, so that the problem that the intelligent industrial robot is easy to slide when the anti-skid guide sheet and the convex block rubber strip contact the ground to support and fix the intelligent industrial robot is avoided, and the gas-collecting air bag is fixedly connected with the side wall of the convex block rubber strip, when the convex block rubber strip is contacted with the ground, the gas-collecting air bag is extruded, the gas in the gas-collecting air bag is extruded into the cavity through the third gas-guide tube, the flexible supporting pad is pushed to the port of the cavity, the length of the bristles extending out of the cavity is increased, the quantity and the force of the bristles for cleaning dust are improved, the ground at the bottom of the anti-skid guide sheet is cleaner, and the intelligent industrial robot is not easy to shift during working.
The invention has the beneficial effects that:
1. the invention provides an intelligent industrial robot positioning system, which is characterized in that an anti-deviation positioning sucker for preventing positioning and skid is additionally arranged at the bottom of an intelligent industrial robot to be matched with a negative pressure device, when a mechanical arm on the robot is used, a moving device at the bottom is tightly sucked on the ground, the problem that the moving device at the bottom can deviate when the intelligent industrial robot is used is avoided, and the positioning accuracy of the mechanical arm of the processing robot is improved.
2. According to the anti-deviation positioning sucker, the air leakage preventing gasket is additionally arranged inside the anti-deviation positioning sucker, so that the air leakage preventing gasket is pressed towards the center of the anti-deviation positioning sucker through the pressing of the anti-deviation positioning sucker and the ground in the process that the anti-deviation positioning sucker is adsorbed on the ground, the anti-deviation positioning sucker can be sealed for the second time, the adsorption force of the anti-deviation positioning sucker when the anti-deviation positioning sucker adsorbs the ground is further improved, and the problem of air leakage of the anti-deviation positioning sucker caused by dust impurities existing between the anti-deviation positioning sucker and the ground is avoided.
3. According to the invention, the problem that the mechanical arm shakes when the industrial robot is in use can be avoided by additionally arranging the plurality of groups of fixed anti-skidding devices at the bottom of the mobile device, and the operation stability of the intelligent industrial robot is improved under the condition that the anti-deviation positioning sucker has strong adsorption force.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a cross-sectional view of the mobile chassis of the present invention;
FIG. 3 is a partial cross-sectional view of an air leakage preventing gasket ring;
FIG. 4 is a partial cross-sectional view of a stabilizing leg;
FIG. 5 is a partial cross-sectional view of the anti-skid guide;
FIG. 6 is a partial cross-sectional view of a sweeping brush on the anti-slip guide;
illustration of the drawings:
1. moving the chassis; 2. an electric pushing cylinder; 3. anti-offset positioning suckers; 4. a negative pressure device; 41. a first air duct; 5. an air leakage prevention gasket ring; 51. a spring plate; 6. a seal ring; 61. an elastic air bag; 62. an arc-shaped pulling plate; 63. extruding the ball; 64. pulling a rope; 65. a first squeeze plate; 66. a second compression plate; 67. an arc-shaped slot; 7. a piston cylinder; 71. a piston rod; 72. a friction plate; 73. a second air duct; 8. an anti-slip guide sheet; 81. a groove; 82. a bump rubber strip; 821. a cavity; 822. a flexible support pad; 823. brushing; 824. a gas collecting air bag; 825. and a third air duct.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Specific examples are given below.
Referring to fig. 1-6, the present invention provides an intelligent industrial robot positioning system, which comprises a mobile chassis 1; the top of the movable chassis 1 is provided with an electric pushing cylinder 2; the electric push cylinder 2 is fixedly connected to the inner side wall of the movable chassis 1; the bottom end of the electric pushing cylinder 2 is provided with an anti-deviation positioning sucker 3; the anti-deviation positioning sucker 3 is fixedly connected to the bottom of the electric pushing cylinder 2; a negative pressure device 4 is arranged on the inner side wall of the bottom of the movable chassis 1; a first air duct 41 is arranged between the anti-deviation positioning sucker 3 and the negative pressure device 4; the first air duct 41 is communicated between the anti-deviation positioning sucker 3 and the negative pressure device 4; when the intelligent industrial robot is used, the environment of the movable chassis 1 needing to work is cleaned, the problem that when the intelligent industrial robot moves in the working environment, dust remains on the ground and the intelligent industrial robot slips during movement is avoided, after the environment is cleaned, the movable chassis 1 is moved to the place where the intelligent industrial robot needs to work, and then the electric push cylinder 2 and the negative pressure device 4 in the movable chassis 1 are opened; in the process of positioning the robot, the electric pushing cylinder 2 can press the anti-deviation positioning sucker 3 to the ground, the anti-deviation positioning sucker 3 is pressed on the ground, meanwhile, the negative pressure device 4 can extract the gas in the anti-deviation positioning sucker 3 through the first air duct 41, so that the anti-deviation positioning sucker 3 is tightly sucked on the ground, the position deviation problem of the intelligent industrial robot in use is avoided in the operation, and the stability of the robot after positioning is improved.
As an embodiment of the invention, the inner side wall of the anti-deviation positioning sucker 3 is provided with an air leakage preventing gasket 5; the air leakage preventing gasket 5 is fixedly connected to the inner side wall of the anti-deviation positioning sucker 3; a spring piece 51 is arranged between the air leakage preventing gasket 5 and the anti-deviation positioning sucker 3; one end of the spring leaf 51 is fixedly connected with the side wall of the air leakage preventing gasket 5, and the other end is fixedly connected with the inner side wall of the anti-deviation positioning sucker 3; a plurality of groups of spring pieces 51 are arranged between the air leakage preventing gasket 5 and the anti-deviation positioning sucker 3; when the anti-deviation positioning sucker 3 is pressed to the ground by the electric pushing cylinder 2, the bottom boundary of the anti-deviation positioning sucker 3 deforms, the anti-leakage gasket 5 inside the anti-deviation positioning sucker 3 is simultaneously pressed by the ground, at the same time, the anti-leakage gasket 5 deflects towards the bottom center of the anti-deviation positioning sucker 3, part of residual dust and impurities on the ground are pushed away for secondary sealing, the anti-leakage gasket 5 can be tightly pressed on the ground when the anti-leakage gasket 5 is pressed and deformed by the ground through the spring piece 51, the phenomenon that the boundary of the anti-leakage gasket 5 is tilted is avoided, the adsorption effect of the anti-deviation positioning sucker 3 on the ground is further increased, meanwhile, gas at the bottoms of the anti-leakage gasket 5 and the anti-deviation positioning sucker 3 leaks out from the bottoms of the anti-leakage gasket 5 and the anti-deviation positioning sucker 3, when the intelligent industrial robot gripper grabs, leak protection gas packing ring 5 absorbs fixedly with prevent excursion location sucking disc 3 to removing chassis 1, can avoid removing chassis 1 and intelligent industrial robot the problem of offset to appear.
As an embodiment of the present invention, an arc-shaped groove 67 is formed on the bottom side wall of the air leakage preventing gasket 5; a plurality of groups of arc-shaped grooves 67 are formed at the bottom of the air leakage preventing gasket 5; a sealing ring 6 is fixedly connected to the inner side wall of the arc-shaped groove 67; the sealing ring 6 inclines towards the direction far away from the end part of the air leakage prevention gasket 5; meanwhile, the arc-shaped groove 67 and the sealing ring 6 are arranged at the bottom of the air leakage prevention gasket 5, when the air in the anti-deviation positioning sucker 3 is sucked out by the negative pressure device 4 gradually, the sealing ring 6 can be tightly pressed on the ground by the air pressure between the air leakage prevention gasket 5 and the anti-deviation positioning sucker 3, the arrangement avoids the situation that the air in the anti-deviation positioning sucker 3 is sucked in from the space between the air leakage prevention gasket 5 and the ground by the negative pressure device 4 in the process of taking out the air in the anti-deviation positioning sucker 3, and the stability of the air leakage prevention gasket 5 during secondary sealing is improved.
As an embodiment of the present invention, an elastic air bag 61 is provided on the inner side wall of the air leakage preventing gasket 5; the elastic air bag 61 is fixedly connected with the inner side wall of the air leakage prevention gasket 5; an arc-shaped pulling plate 62 is arranged on the inner side wall of the elastic air bag 61; the arc-shaped pulling plate 62 is fixedly connected inside the elastic air bag 61; an extrusion ball 63 is arranged between the sealing ring 6 and the arc-shaped groove 67; a pull rope 64 is connected between the extrusion ball 63 and the inner side wall of the elastic air bag 61, and the pull rope 64 penetrates through the air leakage preventing gasket 5; at the in-process that prevents the inside atmospheric pressure of excursion location sucking disc 3 and at the reduction, elasticity gasbag 61 will begin to expand, then will extrude ball 63 through arc arm-tie 62 and stay cord 64 to the direction pulling of being close to the 67 inside walls of arc wall, and extrusion ball 63 will extrude sealing washer 6 to ground in the arc wall 67 is inside this moment, makes sealing washer 6 inseparabler with the laminating of ground, further promotes the sealing effect of sealing washer 6 to preventing the inside of excursion location sucking disc 3.
A first extrusion plate 65 is arranged on the side wall of the arc-shaped groove 67 corresponding to the extrusion ball 63; the first extrusion plate 65 is fixedly connected to the side wall of the arc-shaped groove 67; a second extrusion plate 66 is arranged on the side wall of the sealing ring 6 corresponding to the extrusion ball 63; the second extrusion plate 66 is fixedly connected to the side wall of the sealing ring 6; the first extrusion plate 65 and the second extrusion plate 66 are arranged to support the extrusion ball 63, so that the extrusion force of the extrusion ball 63 can be uniformly dispersed on the sealing ring 6 while the extrusion ball 63 is pulled to the side wall of the arc-shaped groove 67 to extrude the sealing ring 6, the contact area of the sealing ring 6 and the ground is greatly increased, and the problem that the sealing ring 6 is not tightly sealed due to the fact that residual dust exists on the ground and remains between the sealing ring 6 and the ground is solved; when being pulled by arc-shaped pulling plate 62 and pull rope 64 through extrusion ball 63, the in-process of extrusion second stripper plate 66 and sealing washer 6, through tightly pressing sealing washer 6 subaerial, if when meeting impurity such as dust, can deform, avoid having the problem that gas flows through from the bottom of leak protection gas packing ring 5.
As an embodiment of the invention, the inner side wall of the top of the electric push cylinder 2 is provided with a piston cylinder 7; the piston cylinder 7 is fixedly connected inside the electric push cylinder 2; a piston rod 71 is arranged in the piston cylinder 7; the piston rod 71 is connected with the inside of the piston cylinder 7 in a sliding manner; a second air duct 73 is arranged between the piston cylinder 7 and the negative pressure device 4; the second air duct 73 is communicated between a rod cavity of the piston cylinder 7 and the negative pressure device 4; the bottom of the piston rod 71 is provided with a friction plate 72; the friction plate 72 is fixedly connected to the bottom end of the piston rod 71; be equipped with leak protection air ring 5 and have good anti skew nature when adsorbing ground, but flexible material makes when the leak protection air ring 5, its stability that leads to is not strong, through being equipped with piston cylinder 7, piston rod 71 and friction plate 72, can be at the inspiratory in-process of vacuum device 4, also can take out the gas that has the pole intracavity portion with piston cylinder 7, then press piston rod 71 and friction plate 72 subaerial, it just makes moving chassis 1 have good stability to be equipped with multiunit piston cylinder 7 to support simultaneously, make moving chassis 1 can not appear rocking problem easily, promote the accuracy of intelligent industrial robot location.
As an embodiment of the present invention, the bottom of the friction plate 72 is provided with an anti-skid guide vane 8; a torsion spring is arranged at the hinged part of the anti-skid guide sheet 8 and the friction plate 72; a plurality of groups of anti-skid guide vanes 8 are arranged at the bottom of the friction plate 72; the two opposite anti-skid guide vanes 8 are symmetrically arranged at the bottom of the friction plate 72; when the friction plate 72 is pressed to the ground, the pair of anti-skid guide blades 8 at the bottom of the friction plate 72 can obliquely rotate towards two sides to sweep the ground once, so that the friction force between the friction plate 72 and the anti-skid guide blades 8 and the ground is increased, and the risk that the friction plate 72 and the anti-skid guide blades 8 can slide on the ground is reduced.
As an embodiment of the present invention, the bottom of the anti-skid guide vane 8 is provided with a groove 81; a plurality of groups of grooves 81 are arranged at the bottom of the anti-skid guide sheet 8; a bump rubber strip 82 is arranged inside the groove 81; the bump rubber strip 82 is fixedly connected inside the groove 81; the convex block rubber strip 82 is additionally arranged at the bottom of the anti-skid guide sheet 8, so that the friction force between the anti-skid guide sheet 8 and the ground is increased, and the sliding problem caused by the fact that the bottom of the anti-skid guide sheet 8 is too smooth is avoided; when meetting comparatively level and smooth ground, anti-skidding guide vane 8 is in subaerial gliding while, inside lug rubber strip 82 can be absorbed in recess 81, then lug rubber strip 82 bellied benefit position can block the dust in one side of lug rubber strip 82 when lasting with ground friction, avoid dust and impurity to have anti-skidding guide vane 8's bottom, the problem that anti-skidding guide vane 8 that can lead to skidded, stability when having guaranteed intelligent industrial robot operation simultaneously and the problem that the skew can not appear.
As an embodiment of the present invention; a cavity 821 is formed inside the bump rubber strip 82; a flexible supporting pad 822 is fixedly connected to the inner side wall of the cavity 821; bristles 823 are fixedly connected to one side, close to the end part of the cavity 821, of the flexible supporting pad 822; a gas collecting air bag 824 is fixedly connected to the side wall of the bump rubber strip 82; a third air duct 825 is communicated between the air collection air bag 824 and the cavity 821; one end of the third air duct 825 is communicated with the air collecting air bag 824, and the other end is communicated with the inner side wall far away from the bristles 823 in the cavity 821; in the process that the convex block rubber strip 82 is pressed to the ground by the anti-skid guide sheet 8 due to the downward movement of the piston rod 71 and the friction plate 72, when the convex block rubber strip 82 is extruded and deformed, the bristles 823 extending out of the cavity 821 can contact the ground to sweep away dust and impurities on the ground, so that the problem that the anti-skid guide sheet 8 and the convex block rubber strip 82 are easy to slide when contacting the ground to support and fix the intelligent industrial robot is solved, and the gas collection air bags 824 are fixedly connected to the side walls of the convex block rubber strip 82, so that when the convex block rubber strip 82 contacts the ground, the gas collection air bags 824 are extruded, gas in the ports of the gas collection air bags 824 is extruded into the cavity 821 through the third gas guide pipes 825 to push the flexible support pads 822 to the cavity 821 823, the length of the bristles 823 extending out of the cavity is increased, the number and the force of dust which can be swept by the bristles 821 are increased, so that the ground at, the problem that the intelligent industrial robot just is more difficult for appearing shifting at the during operation this moment.
The working principle is as follows: when the intelligent industrial robot is used, the environment of the movable chassis 1 needing to work is cleaned, the problem that when the intelligent industrial robot moves in the working environment, dust remains on the ground and the intelligent industrial robot slips during movement is avoided, after the environment is cleaned, the movable chassis 1 is moved to the place where the intelligent industrial robot needs to work, and then the electric push cylinder 2 and the negative pressure device 4 in the movable chassis 1 are opened; in the process of positioning the robot, the electric push cylinder 2 can press the anti-deviation positioning sucker 3 to the ground, the anti-deviation positioning sucker 3 is pressed on the ground, meanwhile, the negative pressure device 4 can pump out air in the anti-deviation positioning sucker 3 through the first air duct 41, so that the anti-deviation positioning sucker 3 is tightly sucked on the ground, the position deviation problem of the intelligent industrial robot during use is avoided, and the stability of the intelligent industrial robot after positioning is improved; in the process that the anti-deviation positioning sucker 3 is pressed to the ground by the electric pushing cylinder 2, the bottom boundary of the anti-deviation positioning sucker 3 deforms, meanwhile, the anti-gas leakage gasket 5 inside the anti-deviation positioning sucker 3 is simultaneously pressed by the ground, at the moment, the anti-gas leakage gasket 5 can deviate towards the bottom center of the anti-deviation positioning sucker 3, part of residual dust and impurities on the ground are pushed away for secondary sealing, and the anti-gas leakage gasket 5 can be tightly pressed on the ground by the spring piece 51 when the anti-gas leakage gasket 5 is pressed and deformed by the ground, so that the phenomenon that the boundary of the anti-gas leakage gasket 5 is tilted is avoided, and the adsorption effect of the anti-deviation positioning sucker 3 on the ground is further improved; meanwhile, gas at the bottoms of the air leakage preventing gasket 5 and the anti-deviation positioning sucker 3 can leak out from the bottoms of the air leakage preventing gasket 5 and the anti-deviation positioning sucker 3, when the intelligent industrial robot gripper grips, the air leakage preventing gasket 5 and the anti-deviation positioning sucker 3 absorb and fix the moving chassis 1, and the problem of position deviation of the moving chassis 1 and the intelligent industrial robot can be avoided; meanwhile, the arc-shaped groove 67 and the sealing ring 6 are arranged at the bottom of the air leakage prevention gasket 5, so that when the air in the anti-deviation positioning sucker 3 is gradually sucked out by the negative pressure device 4, the sealing ring 6 can be tightly pressed on the ground by the air pressure between the air leakage prevention gasket 5 and the anti-deviation positioning sucker 3, the arrangement avoids the situation that the air can be sucked into the anti-deviation positioning sucker 3 from the space between the air leakage prevention gasket 5 and the ground in the process of sucking the air in the anti-deviation positioning sucker 3 by the negative pressure device 4, and the stability of the air leakage prevention gasket 5 during secondary sealing is improved; in the process that the air pressure in the anti-deviation positioning sucker 3 is reduced, the elastic air bag 61 starts to expand, then the extrusion ball 63 is pulled towards the direction close to the inner side wall of the arc-shaped groove 67 through the arc-shaped pull plate 62 and the pull rope 64, at the moment, the extrusion ball 63 extrudes the sealing ring 6 towards the ground in the arc-shaped groove 67, so that the sealing ring 6 is more tightly attached to the ground, and the sealing effect of the sealing ring 6 on the interior of the anti-deviation positioning sucker 3 is further improved; the first extrusion plate 65 and the second extrusion plate 66 are arranged to support the extrusion ball 63, so that the extrusion force of the extrusion ball 63 can be uniformly dispersed on the sealing ring 6 while the extrusion ball 63 is pulled to the side wall of the arc-shaped groove 67 to extrude the sealing ring 6, the contact area of the sealing ring 6 and the ground is greatly increased, and the problem that the sealing ring 6 is not tightly sealed due to the fact that residual dust exists on the ground and remains between the sealing ring 6 and the ground is solved; when the extrusion ball 63 is pulled by the arc-shaped pulling plate 62 and the pulling rope 64, the sealing ring 6 is tightly pressed on the ground, and if impurities such as dust and the like are encountered, the deformation is carried out in the process of extruding the second extrusion plate 66 and the sealing ring 6, so that the problem that gas flows through the bottom of the gas leakage prevention gasket 5 is avoided; the anti-shifting air cushion ring 5 has good anti-shifting performance when being used for adsorbing the ground, but the anti-shifting air cushion ring 5 is not strong in stability due to the fact that the anti-shifting air cushion ring is made of flexible materials, the piston cylinder 7, the piston rod 71 and the friction plate 72 are arranged, gas in a rod cavity of the piston cylinder 7 can be pumped out in the air suction process of the negative pressure device 4, then the piston rod 71 and the friction plate 72 are pressed on the ground, the mobile chassis 1 has good stability due to the fact that multiple groups of piston cylinders 7 are arranged for supporting at the same time, the mobile chassis 1 cannot shake easily, and the positioning accuracy of the intelligent industrial robot is improved; when the friction plate 72 is pressed to the ground, the pair of anti-skid guide blades 8 at the bottom of the friction plate 72 can obliquely rotate towards two sides to sweep the ground once, so that the friction force between the friction plate 72 and the anti-skid guide blades 8 and the ground is increased, and the risk that the friction plate 72 and the anti-skid guide blades 8 can slide on the ground is reduced; the convex block rubber strip 82 is additionally arranged at the bottom of the anti-skid guide sheet 8, so that the friction force between the anti-skid guide sheet 8 and the ground is increased, and the sliding problem caused by the fact that the bottom of the anti-skid guide sheet 8 is too smooth is avoided; when a smooth ground is met, the anti-skid guide sheet 8 slides on the ground, the convex block rubber strip 82 can sink into the groove 81, then, when the anti-skid guide sheet continuously rubs with the ground, the convex compensation position of the convex block rubber strip 82 can block dust on one side of the convex block rubber strip 82, the problem that the anti-skid guide sheet 8 slips due to the fact that dust and impurities exist at the bottom of the anti-skid guide sheet 8 is avoided, and meanwhile, the problems of stability and no deviation of the intelligent industrial robot during operation are guaranteed; in the process that the convex block rubber strip 82 is pressed to the ground by the anti-skid guide sheet 8 due to the downward movement of the piston rod 71 and the friction plate 72, when the convex block rubber strip 82 is extruded and deformed, the bristles 823 extending out of the cavity 821 can contact the ground to sweep away dust and impurities on the ground, so that the problem that the anti-skid guide sheet 8 and the convex block rubber strip 82 are easy to slide when contacting the ground to support and fix the intelligent industrial robot is solved, and the gas collection air bags 824 are fixedly connected to the side walls of the convex block rubber strip 82, so that when the convex block rubber strip 82 contacts the ground, the gas collection air bags 824 are extruded, gas in the ports of the gas collection air bags 824 is extruded into the cavity 821 through the third gas guide pipes 825 to push the flexible support pads 822 to the cavity 821 823, the length of the bristles 823 extending out of the cavity is increased, the number and the force of dust which can be swept by the bristles 821 are increased, so that the ground at, the problem that the intelligent industrial robot just is more difficult for appearing shifting at the during operation this moment.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (9)
1. An intelligent industrial robot positioning system, its characterized in that: comprises a mobile chassis (1); the top of the movable chassis (1) is provided with an electric push cylinder (2); the electric push cylinder (2) is fixedly connected with the inner side wall of the movable chassis (1); the bottom end of the electric pushing cylinder (2) is provided with an anti-deviation positioning sucker (3); the anti-deviation positioning sucker (3) is fixedly connected to the bottom of the electric pushing cylinder (2); a negative pressure device (4) is arranged on the inner side wall of the bottom of the movable chassis (1); a first air duct (41) is arranged between the anti-deviation positioning sucker (3) and the negative pressure device (4); the first air duct (41) is communicated between the anti-deviation positioning sucker (3) and the negative pressure device (4).
2. An intelligent industrial robot positioning system according to claim 1, characterized in that: an air leakage preventing gasket ring (5) is arranged on the inner side wall of the anti-deviation positioning sucker (3); the air leakage preventing gasket (5) is fixedly connected to the inner side wall of the anti-deviation positioning sucker (3); a spring piece (51) is arranged between the air leakage preventing gasket (5) and the anti-deviation positioning sucker (3); one end of the spring piece (51) is fixedly connected to the side wall of the air leakage preventing gasket (5), and the other end of the spring piece is fixedly connected to the inner side wall of the anti-deviation positioning sucker (3); the spring piece (51) is provided with a plurality of groups between the air leakage preventing gasket (5) and the anti-deviation positioning sucker (3).
3. An intelligent industrial robot positioning system according to claim 2, characterized in that: an arc-shaped groove (67) is formed in the side wall of the bottom of the air leakage preventing gasket (5); the arc-shaped grooves (67) are provided with a plurality of groups at the bottom of the air leakage preventing gasket (5); a sealing ring (6) is fixedly connected to the inner side wall of the arc-shaped groove (67); the sealing ring (6) inclines towards the direction far away from the end part of the air leakage preventing gasket ring (5).
4. An intelligent industrial robot positioning system according to claim 3, characterized in that: an elastic air bag (61) is arranged on the inner side wall of the air leakage preventing cushion ring (5); the elastic air bag (61) is fixedly connected with the inner side wall of the air leakage prevention gasket (5); an arc-shaped pulling plate (62) is arranged on the inner side wall of the elastic air bag (61); the arc-shaped pulling plate (62) is fixedly connected inside the elastic air bag (61); an extrusion ball (63) is arranged between the sealing ring (6) and the arc-shaped groove (67); a pull rope (64) is connected between the extrusion ball (63) and the inner side wall of the elastic air bag (61), and the pull rope (64) penetrates through the air leakage prevention gasket (5).
5. An intelligent industrial robot positioning system according to claim 4, characterized in that: a first extrusion plate (65) is arranged on the side wall of the arc-shaped groove (67) at a position corresponding to the extrusion ball (63); the first extrusion plate (65) is fixedly connected to the side wall of the arc-shaped groove (67); a second extrusion plate (66) is arranged at the position, corresponding to the extrusion ball (63), of the side wall of the sealing ring (6); and the second extrusion plate (66) is fixedly connected to the side wall of the sealing ring (6).
6. An intelligent industrial robot positioning system according to claim 5, characterized in that: a piston cylinder (7) is arranged on the inner side wall of the top of the electric push cylinder (2); the piston cylinder (7) is fixedly connected inside the electric push cylinder (2); a piston rod (71) is arranged in the piston cylinder (7); the piston rod (71) is connected with the inside of the piston cylinder (7) in a sliding manner; a second air duct (73) is arranged between the piston cylinder (7) and the negative pressure device (4); the second air duct (73) is communicated between a rod cavity of the piston cylinder (7) and the negative pressure device (4); the bottom of the piston rod (71) is provided with a friction plate (72); the friction plate (72) is fixedly connected to the bottom end of the piston rod (71).
7. An intelligent industrial robot positioning system according to claim 6, characterized in that: the bottom of the friction plate (72) is provided with an anti-skid guide vane (8); a torsion spring is arranged at the hinged position of the anti-skid guide sheet (8) and the friction plate (72); a plurality of groups of anti-skid guide vanes (8) are arranged at the bottom of the friction plate (72); the two opposite anti-skid guide vanes (8) are symmetrically arranged at the bottom of the friction plate (72).
8. An intelligent industrial robot positioning system according to claim 7, characterized in that: the bottom of the anti-skid guide vane (8) is provided with a groove (81); a plurality of groups of grooves (81) are arranged at the bottom of the anti-skid guide sheet (8); a bump rubber strip (82) is arranged in the groove (81); the bump rubber strip (82) is fixedly connected inside the groove (81).
9. An intelligent industrial robot positioning system according to claim 8, characterized in that: a cavity (821) is formed in the bump rubber strip (82); a flexible supporting pad (822) is fixedly connected to the inner side wall of the cavity (821); bristles (823) are fixedly connected to one side, close to the end part of the cavity (821), of the flexible supporting pad (822); the side wall of the bump rubber strip (82) is fixedly connected with a gas collecting air bag (824); a third air duct (825) is communicated between the air collection air bag (824) and the cavity (821); one end of the third air duct (825) is communicated with the air collecting air bag (824), and the other end of the third air duct is communicated with the inner side wall, far away from the bristles (823), in the cavity (821).
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