Robot carrier structure

Claim 1

A robot carrier structure for linear movement along a predetermined working area, supporting an industrial robot with several axes of movement, said structure consisting essentially of a carriage comprising: a. a platform for mounting a rotatable base of said robot; b. four wheels of the railway type, adapted to run on a pair of rails accommodated in underground runways with rolling surfaces located substantially level with the ground with the outer side of each of said rails being provided a continuous straight groove; c. drive means coupled with two wheels transversely opposed through toothed wheels and pinions, said drive means being equidistant from said two transversely opposed wheels, and the other two of said four wheels being idling wheels; d. pressure member means rigidly connected to said carriage in correspondence with each of said wheels and received in said grooves of said rails, said pressure member, being operative when the carriage is stationary and when said robot produces unbalanced loads, for contacting said rails whereby said structure is stabilized; wherein each of said wheels coupled with said drive means comprises a pair of rims defining a groove with a central wheel body of transverse convex profile, the inner portions of said rims intended to engage the flanks of said rail being coated with a self-lubricating metallic material and a pair of rings of elastomeric material being located between said rims and said wheel body to project from the profile of said wheel body, whereby the adhesion of said wheel to said rail is increased.