Accompanying transfer table on ground rail and robot comprising accompanying transfer table

Abstract

The invention provides an accompanying transfer table on a ground rail and a robot comprising the accompanying transfer table, relates to the technical field of robots, and solves the technical problem that parts with overturning and code scanning requirements are not provided with matched tool equipment. The accompanying transfer table on the ground rail comprises a base, a frame, a supporting and limiting device and a code scanning device. One end of the base is slidably connected with the ground rail, and the other end is connected with a base of the robot; the frame is fixed on the base; the supporting and limiting device is installed on the frame so as to support and fix a part to be turned over. The code scanning device is arranged on the frame so as to conduct code scanning on the placed parts to be overturned. The turning and code scanning requirements of parts can be met, workpieces are very convenient to transfer, transition and turn, manual code scanning is not needed, and time and labor are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a traveling transfer platform on a ground rail and a robot comprising the same. Background Art

[0002] With the continuous improvement of the level of automobile parts manufacturing and the development of new energy vehicles, the automobile parts industry has also developed rapidly, and the demand for automation in large-scale and large-volume manufacturing has become more urgent. Letting robots replace manual operations to automatically load and unload machine tools can not only improve work efficiency, but also effectively reduce the occurrence of safety accidents, so more and more industries are gradually investing in automated production. In automated production, to achieve automated loading and unloading of parts, it is necessary not only to consider the characteristics of the parts themselves, but also the processing procedures and characteristics of the parts. For example, for parts that require flipping and code scanning, there is currently no set of tooling that can cooperate with robots to simultaneously complete the flipping and code scanning detection functions. Summary of the invention

[0003] The purpose of the present invention is to provide a traveling transfer platform on a ground rail and a robot comprising the same, so as to solve the technical problem in the prior art that there are no supporting tooling equipment for parts requiring flipping and code scanning.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] The present invention provides a traveling transfer platform on a ground rail, wherein the transfer platform is installed on a robot base located on the ground rail so as to move along the ground rail with the robot; the transfer platform comprises a base, a frame, a support and limiting device, and a code scanning device; wherein:

[0006] One end of the base is slidably connected to the ground rail, and the other end is connected to the base of the robot;

[0007] The frame is fixed on the base;

[0008] The support and limit device is installed on the frame to support and fix the parts to be flipped;

[0009] The code scanning device is arranged on the frame to scan the code of the placed parts to be turned over.

[0010] The accompanying turntable on the ground rail provided by the present invention can meet the requirements of part flipping and code scanning. The workpiece transfer and flipping are very convenient, and there is no need for manual code scanning, which saves time and effort. The turntable solves the problem that the placement posture of the part on the tooling tray is inconsistent with the processing posture in the machine tool, and a 180° flip is required. The turntable of the present invention can realize a 180° flip of the part only by changing the clamping direction of the fixture. The turntable is provided with a code scanning mechanism for realizing code scanning detection when the part is loaded, which solves the problem of scanning code to enter information.

[0011] As a further improvement of the present invention, the base comprises a turntable mounting seat, an intermediate connecting weldment, a bottom plate and a connecting beam; wherein:

[0012] The transfer table mounting seat is slidably connected to the ground rail via a slider;

[0013] The intermediate connection welding piece is arranged in parallel and spaced apart from the turntable mounting seat, and is fixedly connected to the base of the robot;

[0014] The two ends of the connecting beam are respectively connected to the turntable mounting seat and the middle connecting weldment;

[0015] The bottom plate is fixed on the connecting beam and is arranged parallel to the transfer platform mounting seat.

[0016] As a further improvement of the present invention, the frame is an L-shaped structure, including a bottom beam and a vertical beam; wherein:

[0017] The bottom beam is fixed to the base through a column;

[0018] The support and limiting device is arranged on the bottom beam;

[0019] The code scanning device is fixed on the vertical beam.

[0020] The present invention provides a code scanning device for use in code scanning detection when parts are loaded.

[0021] As a further improvement of the present invention, the support limit device includes a first limit block, a second limit block, a first baffle, a second baffle, and a push cylinder; wherein:

[0022] The first limiting block and the second limiting block are staggered to form a concave shape, so as to support, limit and fix the flipping part in a contour-like manner;

[0023] The first baffle plate and the second baffle plate are arranged at intervals to limit different positions of the part to be flipped on one side;

[0024] The pushing cylinder is arranged beside the first limiting block to push and limit the other side of the part to be flipped.

[0025] As a further improvement of the present invention, the first baffle and the side of the first baffle facing the part to be flipped are further provided with cushion blocks, and / or the contact position between the push cylinder and the part to be flipped is also provided with a cushion block.

[0026] As a further improvement of the present invention, the base and the robot base are an integrated structure.

[0027] The turntable base of the present invention can be integrated with the mounting plate in the robot base, but this is too heavy, requires a higher bearing capacity of the slide rail slider, and wastes materials.

[0028] As a further improvement of the present invention, it also includes a chip receiving device installed on the base and located below the frame, which is used to receive aluminum chips and extend the service life.

[0029] As a further improvement of the present invention, the chip receiving device comprises a supporting welding frame, a support rod and a chip receiving tray; wherein

[0030] The support welding frame is connected to the base through the support rod;

[0031] The chip receiving tray is mounted on the supporting welding frame.

[0032] The transfer table of the present invention is also equipped with a chip tray sheet metal, which prolongs the service life and saves costs.

[0033] As a further improvement of the present invention, the chip tray is formed by splicing two chip tray sheet metals.

[0034] As a further improvement of the present invention, the frame is formed by welding square tubes; or, the frame is formed by overlapping section steels.

[0035] The turntable of the present invention adopts a welded frame as a whole, has a simple structure, and can realize 180-degree turning of parts only by changing the clamping direction of the clamp.

[0036] When the turntable of the present invention is constructed with profiles and locked on the base, the weight can be reduced to achieve the purpose of lightweighting. However, the profiles are not strong enough to be fixed with angle brackets, and are prone to shaking and are not stable enough.

[0037] As a further improvement of the present invention, the frame includes an outer frame; the support limit device includes a limit rod and a telescopic cylinder; wherein:

[0038] The number of the limiting rods is an even number, and they are arranged in pairs in parallel and at intervals on the top of the outer frame to form a limiting portion for fixing the component to be flipped between the two.

[0039] The telescopic cylinders are arranged at both ends of the limiting rod to push and limit the parts to be flipped at both ends.

[0040] As a further improvement of the present invention, it also includes a rotating cylinder and a bearing, wherein:

[0041] The rotating cylinder is arranged at the other end of the limiting rod and is connected to one of the telescopic cylinders and the limiting rod, and can drive the limiting rod and the telescopic cylinder on one side to flip;

[0042] The bearing is rotatably arranged at the other end of the limiting rod and is connected to another telescopic cylinder and the limiting rod.

[0043] The transfer table of the present invention is provided with a turning mechanism, uses a rotating cylinder to realize turning, and adopts a double-station mode, uses a chrome-plated limit rod for left and right limit, and a telescopic cylinder for front and rear limit, so that the parts can be turned on the transfer table. However, the overall size of the transfer table is increased, the ground rail load is heavier, and the cost is increased.

[0044] A robot provided by the present invention comprises a ground rail, a robot body mounted on the ground rail, and a transfer table detachably connected to the ground rail and the robot body.

[0045] In automated production, the robot of the present invention can determine whether to install a transfer table according to actual needs, and has the characteristic of easy disassembly.

[0046] As a further improvement of the present invention, the robot body comprises a base and a control arm mounted on the base, and a robot chip receiving device is also arranged on the base.

[0047] As a further improvement of the present invention, the chip receiving device comprises a robot chip receiving tray; wherein

[0048] The robot chip receiving tray is mounted on the base.

[0049] The transfer table of the present invention is also equipped with a chip tray sheet metal, which prolongs the service life and saves costs.

[0050] As a further improvement of the present invention, the chip tray is formed by splicing two chip tray sheet metals.

[0051] The robot of the present invention is equipped with a chip tray, which is composed of two chip tray sheet metals, which are spliced ​​together for use, and has the characteristics of easy disassembly and installation, solves the problem of debris accumulation, and prolongs the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 It is a schematic diagram of the structure of the robot of the present invention;

[0054] Figure 2 It is a structural schematic diagram of the accompanying transfer station of the present invention;

[0055] Figure 3 It is a structural schematic diagram of an embodiment of the present invention after the base and the chip receiving tray of the turntable are removed;

[0056] Figure 4 It is a schematic diagram of the structure of the robot gripper of the present invention placing parts from the right side;

[0057] Figure 5 It is a schematic diagram of the structure of the robot gripper of the present invention gripping a part from the left side;

[0058] Figure 6 It is a structural schematic diagram of another embodiment of the transfer table of the present invention after the base and the transfer table chip receiving tray are removed;

[0059] Figure 7 It is a schematic diagram of the structure of the robot of the present invention after the chip receiving tray of the transfer table is removed.

[0060] In the figure, 1 is the ground rail; 2 is the robot; 3 is the turntable; 4 is the middle connecting welding part; 5 is the turntable mounting base plate; 6 is the right welding part; 7 is the left welding part; 8 is the supporting welding frame; 9 is the turntable chip tray; 10 is the frame; 11 is the cylinder mounting plate; 12 is the push cylinder; 13 is the cylinder pad; 14 is the first supporting block; 15 is the first limiting block; 16 is the second supporting block; 17 is the second limiting block; 18 is the travel switch; 19 is the first baffle pad; 20 is the first baffle; 21 is the second baffle pad; 22 is the second baffle; 23 is the code reader; 24 is the robot gripper; 25 is the outer frame; 26 is the cylinder fixing plate; 27 is the bearing fixing plate; 28 is the rotating cylinder; 29 is the limiting rod; 30 is the telescopic cylinder; 31 is the bearing; 32 is the robot mounting plate; 33 is the robot chip tray. DETAILED DESCRIPTION

[0061] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0062] The present invention provides a traveling transfer table 3 on a ground rail 1 for parts that require flipping and code scanning, which is used to realize flipping of parts and code scanning detection when parts are loaded. It should be noted here that the part flipping of the transfer table 3 can be convenient for the robot 2 to grasp from different sides, or a flipping mechanism can be set on the transfer table 3 to realize the flipping of parts.

[0063] Embodiment 1:

[0064] like Figure 1-Figure 5 As shown, in this embodiment, the present invention provides a traveling transfer platform 3 on a ground rail 1. Specifically, the traveling transfer platform 3 is installed on a base of a robot 2 located on the ground rail 1 so as to be able to move along the ground rail 1 with the robot 2.

[0065] Furthermore, the transfer station 3 includes a base, a frame 10, a support and limit device, and a code scanning device; wherein:

[0066] One end of the base is slidably connected to the ground rail 1, and the other end is connected to the base of the robot 2;

[0067] The frame 10 is fixed on the base;

[0068] The support and limit device is installed on the frame 10 to support and fix the parts to be flipped;

[0069] The code scanning device is arranged on the frame 10 to scan the code of the placed parts to be turned over. Specifically, the code scanning device is a code reader 23.

[0070] The accompanying turntable 3 on the ground rail 1 provided by the present invention can meet the requirements of part flipping and code scanning. The workpiece transfer and flipping are very convenient, and there is no need for manual code scanning, which saves time and effort. The turntable 3 solves the problem that the placement posture of the part on the tooling tray is inconsistent with the processing posture in the machine tool, and a 180° flip is required. The turntable 3 of the present invention can realize a 180° flip of the part only by changing the clamping direction of the fixture. A code scanning mechanism is provided on the turntable 3 to realize code scanning detection when the part is loaded, which solves the problem of scanning code to enter information.

[0071] In this embodiment, the base includes a mounting base for a turntable 3, an intermediate connecting weldment 4, a bottom plate and a connecting beam; wherein:

[0072] The mounting base of the transfer table 3 is slidably connected to the ground rail 1 through a slider; specifically, in this embodiment, the mounting base of the transfer table 3 includes a transfer table mounting bottom plate 5, a left welding part 7, and a right welding part 6; the transfer table mounting bottom plate 5 is a flat plate structure, and both the left welding part 7 and the right welding part 6 are L-shaped structures, which are respectively fixed on both sides of the bottom of the transfer table mounting bottom plate 5; it should be noted that the base structure of the robot 2 is the same as that of the mounting base of the transfer table 3, only with different specifications.

[0073] The intermediate connecting welding part 4 is arranged parallel and spaced from the mounting base of the transfer table 3, and is fixedly connected to the base of the robot 2;

[0074] Both ends of the connecting beam are respectively connected to the mounting base of the transfer table 3 and the intermediate connecting welding part 4; further, the connecting beam is formed by a plurality of connecting rods arranged parallel and spaced. By setting such a structure, it can not only carry other components of the transfer table 3, but also has a small weight, reducing the pressure on the ground rail 1.

[0075] The bottom plate is fixed on the connecting beam and is arranged parallel to the mounting base of the transfer table 3.

[0076] The base of the present invention is shaped like a Chinese character 'tu'.

[0077] Furthermore, in order to reduce weight and simplify the structure, in this embodiment, the frame 10 is an L-shaped structure, including a bottom beam and a vertical beam; where:

[0078] The bottom beam is fixed on the base through columns;

[0079] The support and limit device is arranged on the bottom beam;

[0080] The code scanning device is fixed on the vertical beam.

[0081] Specifically, the extending direction of the bottom beam is the same as the length direction of the base. The bottom of the bottom beam has two columns, one of which is used for fixedly connecting with the mounting base of the transfer table 3, and the other column is used for connecting with the bottom plate. The vertical beam is located on the side close to the mounting base of the transfer table 3.

[0082] The present invention is provided with a code scanning device for code scanning detection during part feeding.

[0083] In this embodiment, the support and limit device includes a first limit block 15, a second limit block 17, a first baffle 20, a second baffle 22, a push cylinder 12, and a travel switch 18; where:

[0084] The first limit block 15 and the second limit block 17 are staggered to form a concave shape, and the flipping part is supported, limited and fixed in a profiling manner; specifically, the tops of the first limit block 15 and the second limit block 17 are both provided with a limit groove; and the number of the first limit block 15 and the second limit block 17 is two, wherein the two first limit blocks 15 are spaced apart on the beam and close to one end in the width direction of the beam; the two second limit blocks 17 are spaced apart on the beam and located between the two first limit blocks 15, and the two second limit blocks 17 are close to the other end in the width direction of the beam. The height of the two first limit blocks 15 is greater than the height of the two second limit blocks 17, and the flipping part is supported and limited in a profiling manner.

[0085] In this embodiment, the first limit block 15 is fixed to the cross beam through the first support block 14, and the second limit block 17 is fixed to the cross beam through the second support block 16. The height difference between the first limit block 15 and the second limit block 17 can be achieved by using the first support block 14 and the second support block 16 of different thicknesses, such as Figure 3 As shown, the thickness of the first support block 14 is greater than the thickness of the second support block 16 .

[0086] The first baffle 20 and the second baffle 22 are arranged at intervals to limit the different positions of the part to be flipped on one side; it should be noted that, in this embodiment, the first baffle 20 is arranged next to the first limit block 15 close to the side of the vertical beam, and the height of the first baffle 20 is lower than the height of the second baffle 22, and the second baffle 22 is arranged next to the vertical beam. This structural setting is also based on the edge shape of the part to be flipped, so as to achieve the effect of contour limiting.

[0087] The push cylinder 12 is arranged beside the first limit block 15 to push and limit the other side of the part to be turned over.

[0088] Specifically, the pushing cylinder 12 is arranged at the end of the beam through the cylinder mounting plate 11, and forms a structure respectively arranged at both ends of the beam between the cylinder mounting plate 11 and the second baffle plate 22; the pushing cylinder 12 is used to push and limit the other side of the part to be flipped, and the first baffle plate 20 and the second baffle plate 22 are used to push and limit one side of the part to be flipped, finally forming a limiting positioning structure at both ends to ensure the stable support and placement of the part to be flipped.

[0089] In order to prevent the surface of the part to be flipped from being crushed, damaged, or the like when the push limit is applied, the first baffle 20 and the side of the first baffle 20 facing the part to be flipped are also provided with a cushion block;

[0090] Of course, considering that the push cylinder 12 is also in contact with the part to be flipped, in order to prevent the cylinder from damaging the part, in this embodiment, a cushion block is also provided at the contact position between the push cylinder 12 and the part to be flipped.

[0091] like Figure 3 As shown, the gasket includes a first baffle block 19 , a second baffle block 21 and a cylinder gasket 13 , wherein the first baffle block 19 is arranged on the first baffle 20 , the second baffle block 21 is arranged on the second baffle 22 , and the cylinder gasket 13 is arranged on the push cylinder 12 .

[0092] The travel switch 18 is fixed to the edge of the beam and is located between the two second limit blocks 17 .

[0093] As an optional embodiment of the present invention, Figure 1 and Figure 2 As shown, in this embodiment, the base of the robot 2 and the base of the transfer table 3 are separate structures, and the two are independently arranged. This structure is the best embodiment of the present invention.

[0094] Of course, as another optional implementation of the present invention, it can also be arranged that the base and the base of the robot 2 are an integrated structure, that is, the base and the base are arranged as an integrated structure.

[0095] The base of the turntable 3 in the present invention can be made into an integrated structure with the mounting plate in the base of the robot 2, but this is too heavy, requires a higher bearing capacity of the slide rail slider, and wastes materials.

[0096] As an optional implementation of the present invention, the frame 10 is formed by welding square tubes.

[0097] The turntable 3 of the present invention adopts a welded frame 10 as a whole, has a simple structure, and can achieve 180° flipping of parts by only changing the clamping direction of the clamp.

[0098] As another optional embodiment of the present invention, the frame 10 is formed by overlapping steel sections.

[0099] When the transfer table 3 of the present invention is constructed with profiles and locked on the base, the weight can be reduced to achieve the purpose of lightweighting. However, the profiles are not strong enough to be fixed with angle brackets, and are prone to shaking and are not stable enough.

[0100] Embodiment 2:

[0101] The difference between the second embodiment and the first embodiment is that, in the second embodiment, the structure of the frame 10 is different from that in the first embodiment.

[0102] like Figure 6 As shown, in this embodiment, the frame 10 is not an L-shaped structure. Specifically, the frame 10 includes an outer frame 25; the support and limiting device includes a limiting rod 29 and a telescopic cylinder 30; wherein:

[0103] The number of the limiting rods 29 is an even number, and they are made of chrome-plated rods, and are arranged in pairs at intervals in parallel on the top of the outer frame 25 to form a limiting portion for fixing the part to be flipped between the two. It should be noted that in this embodiment, the number of the limiting rods 29 can be two, four or more, and the optimal embodiment is four to form a limiting portion for two stations;

[0104] The telescopic cylinders 30 are arranged at both ends of the limiting rod 29 to push and limit the parts to be flipped at both ends.

[0105] As a further improvement of the present invention, in order to realize the automatic turning of the part to be turned over, it also includes a rotating cylinder 28 and a bearing 31, wherein:

[0106] The rotating cylinder 28 is arranged at the other end of the limiting rod 29 and is connected to one of the telescopic cylinders 30 and the limiting rod 29, and can drive the limiting rod 29 and the telescopic cylinder 30 on one side to flip; specifically, the rotating cylinder 28 is fixed to the outer frame 25 through the cylinder fixing plate 26, and the limiting rod 29 and the telescopic cylinder 30 are installed on a vertical plate, and the vertical plate is connected to the rotating cylinder 28;

[0107] The bearing 31 is rotatably arranged at the other end of the limit rod 29 and is connected to another telescopic cylinder 30 and the limit rod 29. Specifically, the bearing 31 is connected to the outer frame 25 through the bearing fixing plate 27; the other end of the limit rod 29 and the telescopic cylinder 30 are installed on a vertical plate, and the vertical plate is connected to the bearing 31.

[0108] The transfer table 3 of the present invention is provided with a turning mechanism, uses a rotating cylinder 28 to realize turning, and adopts a double-station mode, uses a chrome-plated limit rod 29 for left and right limit, and a telescopic cylinder 30 for front and rear limit, so that parts can be turned on the transfer table 3. However, the overall size of the transfer table 3 is increased, the load of the ground rail 1 is heavier, and the cost is increased.

[0109] Embodiment 3:

[0110] like Figure 1-5 and Figure 7 As shown, the only difference between this embodiment 3 and embodiment 1 or embodiment 2 is that it also includes a chip receiving device installed on the base and located below the frame 10 to receive aluminum chips and extend the service life.

[0111] Specifically, in this embodiment, the chip receiving device includes a support welding frame 8, a support rod and a chip receiving tray;

[0112] The support welding frame 8 is connected to the base through a support rod; in this embodiment, there are two support welding frames 8, and the number of support rods at the bottom of each support welding frame 8 is two groups, one of the support welding frames 8 is fixed to the turntable installation base plate 5 through two groups of support rods, and the two groups of support rods are respectively located on both sides of the column; in order to avoid, the support welding frame 8 is a disconnected structure at the column position. The other support welding frame 8 is fixed to the base plate through two groups of support rods, and the support rod structure and the support welding frame 8 structure are the same as the other group structure.

[0113] Considering the collection of chips after receiving, in this embodiment, the chip tray can have an inclined surface. Of course, the corresponding support welding frame 8 also has an arc, so as to provide good support and contact with the chip tray.

[0114] The chip receiving tray is mounted on the supporting welding frame 8. Specifically, the chip receiving tray is a transfer table chip receiving tray 9.

[0115] In this embodiment, the chip tray is formed by splicing two chip tray sheet metals, which are respectively located on the left and right sides of the column, which not only avoids the column well but also facilitates disassembly and assembly.

[0116] The transfer table 3 of the present invention is also equipped with a chip tray sheet metal, which prolongs the service life and saves costs.

[0117] Embodiment 4:

[0118] like Figure 1-Figure 7 As shown, in this embodiment, the present invention provides a robot 2, which includes a ground rail 1, a robot 2 body installed on the ground rail 1, and a transfer table 3 detachably connected to the ground rail 1 and the robot 2 body.

[0119] The robot 2 body includes a base and a control arm mounted on the base, and a chip receiving device of the robot 2 is also provided on the base; a robot gripper is installed at the end of the control arm for grabbing parts. The base includes a robot mounting plate 32, and one end of the transfer table 3 is mounted on the robot mounting plate 32.

[0120] In automated production, the robot 2 of the present invention can be installed with a transfer table 3 according to actual needs, and has the characteristic of being easy to disassemble.

[0121] As a further improvement of the present invention, the chip receiving device of the robot 2 includes a robot chip receiving tray 33; wherein:

[0122] The robot chip tray 33 is mounted on the base. Furthermore, the robot chip tray 33 is formed by splicing two chip tray sheet metals, and the two chip tray sheet metals are mounted on the robot mounting plate 32 .

[0123] The transfer table 3 of the present invention is also equipped with a chip tray sheet metal, which prolongs the service life and saves costs.

[0124] The robot 2 of the present invention is equipped with a chip tray, which is composed of two chip tray sheet metals, which are spliced ​​together for use. It has the characteristics of easy disassembly and installation, solves the problem of debris accumulation, and prolongs the service life.

[0125] Specifically, in this embodiment, the transfer table 3 is connected to the base of the robot and moves on the ground rail 1 together with the robot 2. Both the robot 2 and the transfer table 3 are designed with chip trays to receive aluminum chips to prevent aluminum chips from splashing.

[0126] like Figure 2 As shown, the turntable 3 is connected to the robot mounting plate 32 through the middle connecting weldment 4. The base of the turntable 3 has the same structure as the base of the robot (both are composed of a mounting plate and two L-shaped plates, but the length dimensions are different). The turntable mounting base plate 5 is fastened with the right welding piece 6 and the left welding piece 7 by screws. The left welding piece 7 and the right welding piece 6 are installed together with the slider. During the movement of the slider, the entire turntable 3 is driven to move together. The two turntable chip trays 9 are supported by the supporting welding frame 8 and fixed on the bottom plate and the turntable mounting base plate 5. They can collect aluminum chips. At the same time, considering the needs of the operator, the turntable chip tray 9 is made of 5mm thick sheet metal welding to improve the strength, which is enough to bear the weight of a person.

[0127] like Figure 3 As shown, the frame 10 welded by the turntable is welded by square tubes, which has improved strength, simple structure and cost saving. One end is fixed on the bottom plate, and the other end is fixed on the turntable mounting bottom plate 5, which can greatly shorten the size of the mounting bottom plate, reduce weight and reduce costs. The part to be flipped is placed vertically on the turntable 3, and four points are selected according to its surface characteristics. Two first limit blocks 15 and two second limit blocks 17 are used to support and limit the part to the left and right (such as Figure 3 As shown, the first limit block 15 and the second limit block 17 are both designed as a "concave" shape, and the part to be flipped is clamped in the middle to achieve limit.) The first support block 14 and the second support block 16 lift the part to be flipped as a whole to facilitate clamping. The end of the part to be flipped is limited forward and backward by the first baffle 20 and the second baffle 22 (as shown in FIG. Figure 3As shown, the first baffle 20 and the second baffle 22 are locked on the frame 10 by screws. After the part to be flipped is placed on the transfer table 3, the push cylinder 12 pushes the part to be flipped from the left end, and the right side of the part to be flipped will contact the first baffle 20 and the second baffle 22, clamping the part to be flipped, achieving the purpose of limiting). The first baffle pad 19 and the second baffle pad 21 are designed to imitate the characteristics of the parts, and the positioning is accurate; a push cylinder 12 is installed at the head end of the beam. When the robot clamps the part to be flipped and places it on the first limit block 15 and the second limit block 17, the push cylinder 12 extends outward to clamp the part to be flipped. At the same time, a cylinder pad 13 is installed on the push cylinder 12, which is the same as the first baffle pad 19 and the second baffle pad 21. They are all made of nylon to prevent damage to the parts during clamping. The code reader 23 is installed on the welding frame 10 by installing sheet metal, which is used to achieve the part scanning requirements.

[0128] Since the posture of the part to be flipped on the tooling pallet is different from that when it is processed in the machine tool, side A faces up when it is on the tooling pallet and side B faces up when it is processed in the machine tool, a 180° flip is required in the middle. Therefore, the transfer table 3 plays an extremely important role here to meet the part flipping requirements.

[0129] like Figure 4 As shown, when the robot gripper 24 grabs the part to be flipped from top to bottom on the tooling tray, it is placed on the transfer table 3 from the right side, and at this time, the A surface is on the inner side of the gripper and the B surface is on the outer side of the gripper.

[0130] like Figure 5 As shown, the robot 2 then turns to the other side, that is, it clamps the part to be flipped from the left side. At this time, the B side is on the inside of the gripper, and the A side is on the outside of the gripper. After the part to be flipped is clamped from the turntable 3, it is placed in the machine tool from top to bottom. At this time, the posture of the part in the machine tool is that the B side faces up and the A side faces down, thus achieving the purpose of flipping the part 180°. The entire workflow can be achieved by simply changing the action of the robot 2, and there is no need to design a special flipping table, which reduces processing costs. At the same time, the existence of the code scanning mechanism can directly realize automatic code scanning, without the need for manual code scanning, saving manpower and material resources.

[0131] First of all, it should be explained here that “inward” refers to the direction toward the center of the accommodating space, and “outward” refers to the direction away from the center of the accommodating space.

[0132] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positional relationships based on the attached Figure 1The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0133] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0134] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0135] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0136] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0137] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A traveling transfer station on a ground rail, characterized in that: The transfer platform is installed on the robot base located on the ground rail so as to move along the ground rail with the robot; the transfer platform includes a base, a frame, a support and limit device, and a code scanning device; wherein: One end of the base is slidably connected to the ground rail, and the other end is connected to the base of the robot; The frame is fixed on the base; The support and limit device is installed on the frame to support and fix the parts to be flipped; The code scanning device is arranged on the frame to scan the code of the placed parts to be turned over.

2. The accompanying transfer platform on the ground rail according to claim 1, characterized in that: The base comprises a turntable mounting seat, an intermediate connecting weldment, a bottom plate and a connecting beam; wherein: The transfer table mounting seat is slidably connected to the ground rail via a slider; The intermediate connection welding piece is arranged in parallel and spaced apart from the turntable mounting seat, and is fixedly connected to the base of the robot; The two ends of the connecting beam are respectively connected to the turntable mounting seat and the middle connecting weldment; The bottom plate is fixed on the connecting beam and is arranged parallel to the transfer platform mounting seat.

3. The traveling transfer platform on the ground rail according to claim 1, characterized in that: The frame is an L-shaped structure, including a bottom beam and a vertical beam; wherein: The bottom beam is fixed to the base through a column; The support and limiting device is arranged on the bottom beam; The code scanning device is fixed on the vertical beam.

4. The accompanying transfer platform on the ground rail according to claim 3, characterized in that: The support limit device includes a first limit block, a second limit block, a first baffle, a second baffle, and a push cylinder; wherein: The first limiting block and the second limiting block are staggered to form a concave shape, so as to support, limit and fix the flipping part in a contour-like manner; The first baffle plate and the second baffle plate are arranged at intervals to limit different positions of the part to be flipped on one side; The pushing cylinder is arranged beside the first limiting block to push and limit the other side of the part to be flipped.

5. The accompanying transfer platform on the ground rail according to claim 4, characterized in that: The first baffle plate and the side of the first baffle plate facing the part to be flipped are also provided with cushion blocks, and / or the contact position between the push cylinder and the part to be flipped is also provided with a cushion block.

6. The traveling transfer platform on the ground rail according to claim 1, characterized in that: It also includes a chip receiving device which is installed on the base and located below the frame.

7. The accompanying transfer platform on the ground rail according to claim 6, characterized in that: The chip receiving device comprises a supporting welding frame, a support rod and a chip receiving tray; wherein The support welding frame is connected to the base through the support rod; The chip receiving tray is mounted on the supporting welding frame.

8. The traveling transfer platform on the ground rail according to claim 1, characterized in that: The frame includes an outer frame; the support and limiting device includes a limiting rod and a telescopic cylinder; wherein: The number of the limiting rods is an even number, and they are arranged in pairs in parallel and at intervals on the top of the outer frame to form a limiting portion for fixing the component to be flipped between the two. The telescopic cylinders are arranged at both ends of the limiting rod to push and limit the parts to be flipped at both ends.

9. The traveling transfer platform on the ground rail according to claim 8, characterized in that: It also includes a rotating cylinder and a bearing, wherein: The rotating cylinder is arranged at the other end of the limiting rod and is connected to one of the telescopic cylinders and the limiting rod, and can drive the limiting rod and the telescopic cylinder on one side to flip; The bearing is rotatably arranged at the other end of the limiting rod and is connected to another telescopic cylinder and the limiting rod.

10. A robot, characterized in that: The invention comprises a ground rail, a robot body mounted on the ground rail, and a transfer platform as described in any one of claims 1 to 9 which is detachably connected to the ground rail and the robot body.

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