Robot carrier structure

A robot carrier structure for linear movement along a predetermined working area, supporting at least one industrial robot with several axes of movement said structure comprising:

• a. a portal wagon consisting of a robot carrier platform and lateral standards;
• b. a plurality of carriages supporting said lateral standards of said portal wagon, each of said carriages being mounted on two wheels adapted to run on rails accommodated in underground runways with rolling surfaces located substantially level with the ground and a movable closure surface being provided for said underground runways;
• c. motor means mounted in each of said carriages, connected to each other so as to constitute a perfectly synchronized means of operation of said wheels of said carriages;
• d. motion transmission means for said two wheels of each carriage, driven by said motor means comprising a pair of shafts carrying at their opposed ends a pair of control pinions each meshing with a toothed wheel secured to each of said two wheels of said carriages, whereby the rotation of said wheels is perfectly synchronized and the linear movement of said structure is perfectly controlled to obtain a high degree of accuracy in positioning said carrier structure;
• wherein each of said wheels of said carriages comprises a pair of rims defining a groove with a central wheel body with a convex profile, the inner portions of said rims intended to engage the flanks of said rail and being coated with self lubricating metallic material, and pair of rings of elastomeric material located between said rims and said wheel body to project from the profile of said wheel body to increase the adherence of said wheel to said rail.