CN219235285U

CN219235285U - Ground rail robot system for processing production line

Info

Publication number: CN219235285U
Application number: CN202223078682.7U
Authority: CN
Inventors: 杨延昌; 韩兆英; 李文; 牛辉; 周永哲
Original assignee: Qinchuan Machine Tool Group Co ltd
Current assignee: Qinchuan Machine Tool Group Co ltd
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2023-06-23
Anticipated expiration: 2032-11-18

Abstract

The utility model discloses a ground rail robot system for a processing production line, which mainly comprises a ground rail main body, a sliding carriage, a lubrication system, a drag chain mechanism, a transmission system, a six-axis robot and a grabbing mechanism, wherein the ground rail main body is provided with a plurality of sliding carriages; the ground rail main body is connected with the sliding carriage through a guide rail sliding block mechanism; the lubrication system is fixed on the sliding carriage; the two ends of the drag chain mechanism are respectively connected with the ground rail main body and the sliding supporting plate; the transmission system is fixed on the sliding carriage and realizes the mutual movement of the sliding carriage and the ground rail main body through a gear rack mechanism; the six-axis robot is fixed on the sliding carriage; the grabbing mechanism is fixed on the six-axis robot. The utility model aims to solve the problem that an efficient and rapid automatic mechanical mechanism replaces manual repeated work, improve the labor efficiency and reduce the manual labor intensity.

Description

Ground rail robot system for processing production line

Technical Field

The utility model relates to the technical field of production and processing devices, in particular to a ground rail robot system for a processing production line.

Background

At present, on an automatic processing production line, workpieces need to be carried back and forth in the whole processing technology process, and the traditional manual carrying often consumes a large amount of time and labor, and hidden dangers such as falling and collision exist in the carrying process, so that increasingly tense working environment and continuously rising worker wages are faced, and an efficient and rapid automatic product is needed to replace manual operation.

Disclosure of Invention

In view of the above-mentioned drawbacks or shortcomings, an object of the present utility model is to provide a ground rail robot system for a machining line.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

a ground rail robotic system for a machining line, comprising: the ground rail comprises a ground rail main body, wherein a movable sliding carriage is arranged on the ground rail main body, and a robot mechanism is arranged on the sliding carriage; the tail end of the ground rail main body is provided with a power mechanism connected with the sliding carriage.

The power mechanism includes: the two ends of the drag chain mechanism are respectively connected with the ground rail main body and the sliding drag plate, and the sliding drag plate is provided with a lubrication system; the transmission system is fixed on the sliding carriage and drives the sliding carriage to linearly move; one end of the drag chain mechanism is fixed on the ground rail main body, the other end of the drag chain mechanism is fixed on the sliding drag plate, and the drag chain mechanism is driven to move by the movement of the sliding drag plate.

The ground rail body includes: the ground rail base is paved with guide rails, the upper end of the ground rail base is provided with a transmission rack, and the transmission rack is connected with the sliding carriage; limiting blocks are arranged at two ends of the ground rail base; and a drag chain groove is formed in the ground rail base.

The limiting block is provided with a hydraulic buffer; a sliding block is arranged on the transmission rack and connected with the bottom of the sliding carriage; and a sizing block and a connecting block for connecting the two sections of ground rail main bodies together are arranged below the ground rail base.

The safety protection device is characterized in that the sliding carriage is provided with a safety protection, and a drag chain mounting plate is arranged on one side of the safety protection.

The safety protection is provided with a maintenance door, a heat dissipation window and an oil filler.

The lubrication system includes: the oil filter is characterized by comprising a metering piece, an oil filter and a rack lubrication joint which are arranged on a sliding carriage, wherein a lubrication system support is arranged on the sliding carriage, and a time controller, a pressure switch, a grease lubrication pump and a pressure gauge are arranged on the lubrication system support.

The transmission system comprises a mounting flange which is arranged on the sliding carriage, and a speed reducer and a servo motor are arranged on the mounting flange; the output shaft of the speed reducer is provided with a transmission gear which is meshed with the transmission rack.

The robot mechanism comprises a six-axis robot arranged on the sliding carriage, and a grabbing mechanism for grabbing parts is arranged on the six-axis robot.

The grabbing mechanism comprises: install in six robot tip's paw flange, install parallel gas claw on the paw flange, install finger base member and finger on the parallel gas claw, wherein, the finger through insert the pin soon with the finger base member is fixed, install the buffering copper sheet on the finger.

Compared with the prior art, the utility model has the beneficial effects that:

the utility model provides a ground rail robot system for a processing production line, which can move in the horizontal direction by arranging a movable ground rail robot, can realize feeding and discharging of operations on different flow lines at one time by flexible operation of a six-axis robot, meets the requirement of up-and-down operation of materials on an automatic production line, replaces manual operation, and improves the operation efficiency of the automatic production line.

Furthermore, the ground rail is installed by adopting the adjusting sizing block to support the whole mechanism, and the whole mechanism can be in a horizontal state by adjusting different heights of the sizing block in an environment with uneven ground. Thereby ensuring the installation accuracy of the ground rail robot system, further improving the operation accuracy of the automatic production line and prolonging the service life.

According to the utility model, the hydraulic buffering is added to the mechanical limiting blocks at the two ends of the ground rail base, when the travel of the sliding plate exceeds the limit in abnormal conditions and the sliding plate pile foundation limiting block is operated, the influence on the mechanical precision is reduced to the minimum, the maintenance and recovery efficiency of the whole structure is effectively improved after the abnormal conditions.

The drag chain mechanism is arranged in the middle of the ground rail, so that the interference of a circuit to the transmission mechanism is avoided, and the occupied space of the whole mechanism is effectively reduced.

Drawings

FIG. 1 is a schematic diagram of a ground track robot system for a processing line according to the present utility model;

FIG. 2 is a schematic view of a ground rail main body of a ground rail robot system for a processing line according to the present utility model;

FIG. 3 is a schematic view of a skid robotic system for a processing line of the present utility model;

FIG. 4 is a schematic diagram of a lubrication system of a rail robot system for a machining line according to the present utility model;

FIG. 5 is a schematic diagram of a ground track robot system drive system for a processing line in accordance with the present utility model;

fig. 6 is a schematic view of a gripping mechanism of the ground rail robot system for a processing line according to the present utility model.

Reference numerals illustrate:

in fig. 1, 1-ground rail body; 2-a sliding carriage; 3-a lubrication system; 4-drag chain mechanism; 5-transmission system; 6-six-axis robot; 7-a grabbing mechanism.

In fig. 2, 101-ground rail mounts; 102-a guide rail; 103-a slider; 104-limiting blocks; 105-hydraulic buffering; 106-a drag chain groove; 107-a drive rack; 108-connecting blocks; 109-sizing block.

In FIG. 3, 202-the tow chain mounting plate; 203-safety protection; 204-a heat dissipation window; 205-maintenance of the door; 206-oil filler.

In fig. 4, 301-lubrication system stand; 302-time controller; 303-a metering element; 304-an oil filter; 305-grease lubrication pump; 306-a pressure gauge; 307-pressure switch; 308-rack lubrication joint.

In fig. 5, 401-servo motor; 402-a decelerator; 403-mounting flanges; 404-a transmission gear.

In FIG. 6, 501-a gripper flange; 502-parallel air pawls; 503-quick pin insertion; 504-finger base; 505-finger; 506-buffering copper sheets; 507-locating pins.

Detailed Description

The present utility model now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to fall within the scope of the utility model.

As shown in fig. 1-6, the present utility model provides a ground track robot system for a processing line, comprising: the ground rail comprises a ground rail main body 1, wherein a movable sliding carriage 2 is arranged on the ground rail main body 1, and a robot mechanism is arranged on the sliding carriage 2; the tail end of the ground rail main body 1 is provided with a power mechanism connected with the sliding carriage 2. The sliding carriage 2 moves to drive the robot system 6 to move in the whole travel range of the ground rail main body 1, so that the end grabbing mechanism 7 of the robot system 6 can grab machined parts at any position in the design range, and automatic loading and unloading of the parts of the production line are completed.

Specifically, the power mechanism includes: the two ends of the drag chain mechanism 4 are respectively connected with the ground rail main body 1 and the sliding drag plate 2, and the sliding drag plate 2 is provided with a lubrication system 3; the transmission system 5 is fixed on the sliding carriage 2, and the transmission system 5 drives the sliding carriage 2 to linearly move; one end of the drag chain mechanism 4 is fixed on the ground rail main body 1, the other end is fixed on the sliding drag plate 2, and the drag chain mechanism 4 is driven to move by the movement of the sliding drag plate 2.

The ground rail body 1 includes: the ground rail base 101, a guide rail 102 is paved on the ground rail base 101, a transmission rack 107 is arranged at the upper end of the ground rail base 101, and the transmission rack 107 is connected with the sliding carriage 2; limiting blocks 104 are arranged at two ends of the ground rail base 101; a drag chain protection groove 106 is arranged in the ground rail base 101;

preferably, in the present utility model, a hydraulic buffer 105 is installed on the limiting block 104; a sliding block 103 is arranged on the transmission rack 107, and the sliding block 103 is connected with the bottom of the sliding carriage 2; the sizing block 109 and the connecting block 108 for connecting the two sections of ground rail main bodies together are arranged below the ground rail base 101, so that the robot can be stable and safe in the working process.

Preferably, the sliding carriage 2 is provided with a safety guard 203, and one side of the safety guard 203 is provided with a drag chain mounting plate 202. The safety protection 203 is provided with a maintenance door 205, a heat radiation window 204 and an oil filler 206, so that maintenance of the parts can be facilitated.

Preferably, the lubrication system 3 comprises: the metering device 303, the oil filter 304 and the rack lubrication joint 308 are mounted on the sliding carriage 2, the lubrication system bracket 301 is mounted on the sliding carriage 2, and the time controller 302, the pressure switch 307, the grease lubrication pump 305 and the pressure gauge 306 are mounted on the lubrication system bracket 301.

The transmission system 5 comprises a mounting flange 403 arranged on the sliding carriage 2, and a speed reducer 402 and a servo motor 401 are arranged on the mounting flange 403; the output shaft of the speed reducer 402 is provided with a transmission gear 404, and the transmission gear 404 is meshed with the transmission rack 107.

The robot mechanism 6 comprises a six-axis robot 6 arranged on the sliding carriage 2, and a grabbing mechanism 7 for grabbing parts is arranged on the six-axis robot 6. Preferably, the gripping mechanism 7 comprises: the hand claw flange 501 is arranged at the end part of the six-axis robot 6, the parallel air claw 502 is arranged on the hand claw flange 501, the finger base 504 and the finger 505 are arranged on the parallel air claw 502, the finger 505 is fixed with the finger base 504 through the quick-inserting pin 503, and the buffer copper sheet 506 is arranged on the finger 505. In addition, the gripper flange 501 is provided with positioning pins 507, so that the grabbing mechanism 7 is convenient to install and position at the end part of the six-axis robot 6.

It will be apparent to those skilled in the art that the foregoing is merely illustrative of the preferred embodiments of this utility model, and that certain modifications and variations may be made in part of this utility model by those skilled in the art, all of which are shown and described with the understanding that they are considered to be within the scope of this utility model.

Claims

1. A ground rail robot system for a machining line, comprising: the ground rail comprises a ground rail main body (1), wherein a movable sliding carriage (2) is arranged on the ground rail main body (1), and a robot mechanism is arranged on the sliding carriage (2); the tail end of the ground rail main body (1) is provided with a power mechanism connected with the sliding carriage (2).

2. The ground rail robot system for a processing line of claim 1, wherein the power mechanism comprises: the device comprises a drag chain mechanism (4) and a transmission system (5), wherein two ends of the drag chain mechanism (4) are respectively connected with a ground rail main body (1) and a sliding drag plate (2), and a lubrication system (3) is arranged on the sliding drag plate (2); the transmission system (5) is fixed on the sliding carriage (2), and the sliding carriage (2) is driven to linearly move through the transmission system (5); one end of the drag chain mechanism (4) is fixed on the ground rail main body (1), the other end of the drag chain mechanism is fixed on the sliding drag plate (2), and the drag chain mechanism (4) is driven to move by the movement of the sliding drag plate (2).

3. Ground rail robot system for a machining line according to claim 1 or 2, characterized in that the ground rail body (1) comprises: the ground rail base (101), a guide rail (102) is paved on the ground rail base (101), a transmission rack (107) is installed at the upper end of the ground rail base (101), and the transmission rack (107) is connected with the sliding carriage (2); limiting blocks (104) are arranged at two ends of the ground rail base (101); a drag chain groove (106) is formed in the ground rail base (101).

4. A ground rail robot system for a machining line according to claim 3, characterized in that the stopper (104) is mounted with a hydraulic buffer (105); a sliding block (103) is arranged on the transmission rack (107), and the sliding block (103) is connected with the bottom of the sliding carriage (2); and a sizing block (109) and a connecting block (108) for connecting the two sections of ground rail main bodies together are arranged below the ground rail base (101).

5. The ground rail robot system for a processing line according to claim 2, wherein a safety guard (203) is mounted on the sliding carriage (2), and a drag chain mounting plate (202) is mounted on one side of the safety guard (203).

6. The ground rail robot system for a processing line according to claim 5, wherein a maintenance door (205), a heat radiation window (204) and a fuel filler (206) are provided on the safety shield (203).

7. Ground rail robot system for a machining line according to claim 2, characterized in that the lubrication system (3) comprises: the oil filter is characterized by comprising a metering piece (303), an oil filter (304) and a rack lubrication joint (308) which are arranged on a sliding carriage (2), wherein a lubrication system support (301) is arranged on the sliding carriage (2), and a time controller (302), a pressure switch (307), a grease lubrication pump (305) and a pressure gauge (306) are arranged on the lubrication system support (301).

8. The ground rail robot system for a machining line according to claim 2, characterized in that the transmission system (5) comprises a mounting flange (403) mounted on a sliding carriage (2), the mounting flange (403) being mounted with a decelerator (402) and a servo motor (401); the output shaft of the speed reducer (402) is provided with a transmission gear (404), and the transmission gear (404) is meshed with the transmission rack (107).

9. Ground rail robot system for a machining line according to claim 1, characterized in that the robot mechanism comprises a six-axis robot (6) mounted on a sliding carriage (2), on which six-axis robot (6) a gripping mechanism (7) for gripping parts is mounted.

10. Ground rail robot system for a processing line according to claim 9, characterized in that the gripping mechanism (7) comprises: install in paw flange (501) of six robot (6) tip, install parallel gas claw (502) on paw flange (501), install finger base member (504) and finger (505) on parallel gas claw (502), wherein, finger (505) through quick pin (503) with finger base member (504) is fixed, install buffering copper sheet (506) on finger (505).