A ground rail upper following transfer station and a robot comprising the same

Abstract

The application provides a ground rail following transfer table and a robot comprising the same, relates to the technical field of robots, and solves the technical problem of parts with turnover and code scanning requirements without supporting tool equipment. The ground rail following transfer table comprises a base, a frame, a supporting and limiting device and a code scanning device. One end of the base is slidably connected with a ground rail, and the other end is connected with a base of a robot. The frame is fixed on the base. The supporting and limiting device is installed on the frame to support and fix a part to be turned over. The code scanning device is arranged on the frame to scan the placed part to be turned over. The application can meet the turnover and code scanning requirements of parts, and the workpiece transfer transition and turnover are very convenient, and manual code scanning is not needed, which saves time and effort.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a ground rail following transfer platform and a robot comprising the same. BACKGROUND

[0002] With the continuous improvement of automobile parts manufacturing level and the development of new energy vehicles, the automobile parts industry has also developed rapidly, and the demand for automation of large-scale and mass production is increasingly urgent. Replacing human work with robots to automate feeding and discharging of machine tools not only improves work efficiency, but also effectively reduces the occurrence of safety accidents, so more and more industries are gradually investing in automated production. In automated production, to achieve automatic feeding and discharging of parts, not only the characteristics of the parts themselves need to be considered, but also the processing procedures and features of the parts, etc. For example, parts with turnover and code scanning requirements, there is currently no set of tooling that can simultaneously complete the turnover and code scanning detection functions with robots. SUMMARY

[0003] The present application relates to the technical field of robots, in particular to a ground rail following transfer platform and a robot comprising the same.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

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

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

[0007] The frame is fixed to the base;

[0008] The support limiting device is installed on the frame to support and fix the part to be turned over;

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

[0010] The transfer station on the ground rail can meet the requirements of part overturning and code scanning, and the workpiece transfer transition and overturning are very convenient, and manual code scanning is not needed, time and labor are saved, the transfer station solves the problem that the placing posture of parts on a tool tray and the machining posture in a machine tool are inconsistent and need to be overturned by 180 DEG, the transfer station can realize 180 DEG overturning of parts only by changing the clamping direction of a clamp, and the transfer station is provided with a code scanning mechanism for realizing code scanning detection during part feeding, and the problem of code scanning and information input is solved.

[0011] As a further improvement of the application, the base comprises a transfer station mounting seat, an intermediate connecting welded part, a bottom plate and a connecting beam; wherein:

[0012] The transfer station mounting seat is slidingly connected with the ground rail through a sliding block;

[0013] The intermediate connecting welded part is arranged in parallel and spaced apart from the transfer station mounting seat and is fixedly connected with the base of the robot;

[0014] The connecting beam is connected with the transfer station mounting seat and the intermediate connecting welded part at two ends respectively;

[0015] The bottom plate is fixed on the connecting beam and is arranged in parallel with the transfer station mounting seat.

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

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

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

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

[0020] The code scanning device is arranged on the vertical beam.

[0021] As a further improvement of the application, the supporting and limiting device comprises a first limiting block, a second limiting block, a first baffle, a second baffle and a push cylinder; wherein:

[0022] The first limiting block and the second limiting block are arranged in staggered positions to form a concave shape, and the to-be-overturned parts are supported, limited and fixed in a profiling mode;

[0023] The first baffle and the second baffle are arranged in spaced apart mode to limit one side of the to-be-overturned parts at different positions;

[0024] The push cylinder is arranged beside the first limiting block to push and limit the other side of the to-be-overturned parts.

[0025] As a further improvement of the present application, the first baffle and the side of the first baffle facing the part to be turned are further provided with a cushion block, and / or the position where the pushing cylinder contacts the part to be turned is also provided with a cushion block.

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

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

[0028] As a further improvement of the present application, it further comprises a scrap receiving device mounted on the base and located below the frame for receiving aluminum scraps and prolonging the service life.

[0029] As a further improvement of the present application, the scrap receiving device comprises a support welding frame, a support rod and a scrap receiving disc.

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

[0031] The scrap receiving disc is arranged on the support welding frame.

[0032] The turntable of the present application is provided with a scrap receiving disc sheet metal, prolonging the service life and saving costs.

[0033] As a further improvement of the present application, the scrap receiving disc is spliced by two scrap receiving disc sheet metals.

[0034] As a further improvement of the present application, the frame is welded by square tubes, or the frame is connected by section steel.

[0035] The turntable of the present application adopts a welded frame, which is simple in structure and only needs to change the clamping direction of the clamp to realize 180° turning of the part.

[0036] When the turntable of the present application is built by section steel and locked on the base, the weight can be reduced to achieve the purpose of light weight, but the fixing strength of the section steel by using angle code is not enough and it is easy to shake, which is not stable enough.

[0037] As a further improvement of the present application, the frame comprises an outer frame; the support limiting device comprises a limiting rod and a telescopic cylinder.

[0038] The number of limiting rods is even, and two limiting rods are arranged in parallel and at intervals on the top of the outer frame to form a limiting part between them for fixing the part to be turned.

[0039] The telescopic cylinder is arranged at both ends of the limiting rod to limit the part to be turned at both ends.

[0040] As a further improvement of the present application, the rotating cylinder, bearing are further included, wherein:

[0041] The rotating cylinder is arranged at the other end of the limiting rod and connected with one of the telescopic cylinders and the limiting rod, so as to drive the limiting rod and the telescopic cylinder on one side to overturn.

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

[0043] The transfer station of the present application is provided with a turnover mechanism, which adopts a rotating cylinder to realize turnover and adopts a double-station mode, uses a chrome-plated limiting rod to limit left and right, and uses a telescopic cylinder to limit front and back, so that the turnover of parts can be realized on the transfer station.

[0044] The present application provides a robot, which comprises a ground rail, a robot body mounted on the ground rail, and a transfer station detachably connected with the ground rail and the robot body.

[0045] The robot of the present application can be provided with or without a transfer station according to actual needs in automatic production, and has the characteristic of convenient disassembly.

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

[0047] As a further improvement of the present application, the chip receiving device comprises a robot chip receiving disc, wherein

[0048] The robot chip receiving disc is arranged on the base.

[0049] The transfer station of the present application is provided with a chip receiving disc plate, which prolongs the service life and saves cost.

[0050] As a further improvement of the present application, the chip receiving disc is composed of two chip receiving disc plates.

[0051] The robot of the present application is provided with a chip receiving disc, which is composed of two chip receiving disc plates and is used by being spliced together, has the characteristic of convenient disassembly and installation, solves the problem of chip accumulation, and prolongs the service life. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to make the technical solutions of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0053] Figure 1 is a structural schematic diagram of a robot of the present application;

[0054] Figure 2 is a structural schematic diagram of a following transfer station of the present application;

[0055] Figure 3 is a structural schematic diagram of an embodiment of the present application after the base of the transfer station and the chip receiving disc of the transfer station are removed;

[0056] Figure 4 is a structural schematic diagram of the robot gripper placing a part from the right side of the present application;

[0057] Figure 5 is a structural schematic diagram of the robot gripper clamping a part from the left side of the present application;

[0058] Figure 6 is a structural schematic diagram of another embodiment of the present application after the base of the transfer station and the chip receiving disc of the transfer station are removed;

[0059] Figure 7 is a structural schematic diagram of the robot of the present application after the chip receiving disc of the transfer station is removed.

[0060] In the figure, 1 is a ground rail, 2 is a robot, 3 is a transfer station, 4 is an intermediate connecting welding piece, 5 is a transfer station mounting base plate, 6 is a right side welding piece, 7 is a left side welding piece, 8 is a supporting welding frame, 9 is a transfer station chip receiving disc, 10 is a frame, 11 is a cylinder mounting plate, 12 is a push cylinder, 13 is a cylinder gasket plate, 14 is a first supporting block, 15 is a first limiting block, 16 is a second supporting block, 17 is a second limiting block, 18 is a travel switch, 19 is a first gasket block, 20 is a first baffle, 21 is a second gasket block, 22 is a second baffle, 23 is a code reader, 24 is a robot gripper, 25 is an outer frame, 26 is a cylinder fixing plate, 27 is a bearing fixing plate, 28 is a rotary cylinder, 29 is a limiting rod, 30 is an extension cylinder, 31 is a bearing, 32 is a robot mounting plate, and 33 is a robot chip receiving disc. DETAILED DESCRIPTION

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0062] This invention provides a moving transfer platform 3 on a ground rail 1 for parts requiring flipping and barcode scanning, enabling the flipping of parts and barcode scanning detection during part loading. It should be noted that the part flipping on the transfer platform 3 can be facilitated by allowing the robot 2 to grasp the parts from different sides, or the flipping mechanism can be installed on the transfer platform 3 to achieve the flipping of parts.

[0063] Example 1:

[0064] like Figures 1-5 As shown, in this embodiment, the present invention provides a following transfer platform 3 on the ground rail 1. Specifically, the following transfer platform 3 is installed on the robot 2 base located on the ground rail 1 so that it can 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 limiting device, and a barcode 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] Frame 10 is fixed to the base;

[0068] A support and limiting device is installed on the frame 10 to support and fix the parts to be flipped.

[0069] A barcode scanning device is installed on the frame 10 to scan the barcodes of the parts to be flipped. Specifically, the barcode scanning device is a barcode reader 23.

[0070] The accompanying transfer platform 3 on the ground rail 1 provided by this invention can meet the requirements of part flipping and barcode scanning. The workpiece transfer and flipping are very convenient, and no manual barcode scanning is required, saving time and effort. The transfer platform 3 solves the problem that the position of the part on the tooling tray is inconsistent with the processing position in the machine tool, requiring a 180° flip. With the transfer platform 3 of this invention, the part can be flipped 180° simply by changing the clamping direction of the fixture. The transfer platform 3 is equipped with a barcode scanning mechanism to realize barcode scanning detection when the part is loaded, which solves the problem of barcode scanning and information entry.

[0071] In this embodiment, the base includes a transfer platform 3 mounting base, an intermediate connecting welded component 4, a base plate, and a connecting beam; wherein:

[0072] The transfer station 3 mounting base is slidably connected with the ground rail 1 through a sliding block; specifically, in the embodiment, the transfer station 3 mounting base comprises a transfer station mounting bottom plate 5, a left side welding piece 7 and a right side welding piece 6; the transfer station mounting bottom plate 5 is a flat plate structure, and the left side welding piece 7 and the right side welding piece 6 are both L-shaped structures and are fixed at both sides of the bottom of the transfer station mounting bottom plate 5; it should be noted that the base structure of the robot 2 is the same as that of the transfer station 3 mounting base, only the specifications are different.

[0073] The intermediate connecting welding piece 4 is arranged in parallel and at intervals with the transfer station 3 mounting base and is fixedly connected with the base of the robot 2.

[0074] The connecting beam is connected with the transfer station 3 mounting base and the intermediate connecting welding piece 4 at both ends; further, the connecting beam is arranged in parallel and at intervals by a plurality of connecting rods, and through such a structural arrangement, the connecting beam can not only bear other components of the transfer station 3 but also has a small weight and reduces the pressure on the ground rail 1.

[0075] The bottom plate is fixed on the connecting beam and is arranged in parallel with the transfer station 3 mounting base.

[0076] The base of the present application is similar in shape to a soil letter.

[0077] Further, in order to reduce the weight and simplify the structure, in the embodiment, the frame 10 is an L-shaped structure comprising a bottom beam and a vertical beam; wherein:

[0078] The bottom beam is fixed on the base through a stand column;

[0079] The supporting and limiting device is arranged on the bottom beam;

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

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

[0082] The code scanning device is arranged for scanning and detecting when parts are fed.

[0083] In the embodiment, the supporting and limiting device comprises a first limiting block 15, a second limiting block 17, a first baffle 20, a second baffle 22, a push air cylinder 12 and a travel switch 18; wherein:

[0084] The first limiting block 15 and the second limiting block 17 are arranged in a staggered manner to form a concave shape, and the to-be-flipped part is supported, limited and fixed in a profiling manner; specifically, the top of each of the first limiting block 15 and the second limiting block 17 is provided with a limiting groove; and the number of the first limiting block 15 and the second limiting block 17 is two, wherein the two first limiting blocks 15 are arranged on the cross beam in a spaced manner and close to one end of the cross beam in the width direction; the two second limiting blocks 17 are arranged on the cross beam in a spaced manner and located between the two first limiting blocks 15, and the two second limiting blocks 17 are close to the other end of the cross beam in the width direction. The height of the two first limiting blocks 15 is greater than the height of the two second limiting blocks 17, so as to support and limit the to-be-flipped part in a profiling manner.

[0085] In the embodiment, the first limiting block 15 is fixed on the cross beam through the first supporting block 14, and the second limiting block 17 is fixed on the cross beam through the second supporting block 16. The height difference between the first limiting block 15 and the second limiting block 17 can be realized by using the first supporting block 14 and the second supporting block 16 with different thicknesses, as shown in Figure 3 The thickness of the first supporting block 14 is greater than the thickness of the second supporting block 16.

[0086] The first baffle 20 and the second baffle 22 are arranged in a spaced manner to limit one side of the to-be-flipped part at different positions; it should be noted that, in the embodiment, the first baffle 20 is arranged beside the first limiting block 15 close to 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 beside the vertical beam. This structure is also determined according to the shape of the edge of the to-be-flipped part, so as to achieve the effect of profiling and limiting.

[0087] The push gas cylinder 12 is arranged beside the first limiting block 15 to push and limit the other side of the to-be-flipped part.

[0088] Specifically, the push gas cylinder 12 is arranged at the end of the cross beam through the gas cylinder mounting plate 11, and forms a structure arranged at both ends of the cross beam between the second baffle 22; the push gas cylinder 12 is used to push and limit the other side of the to-be-flipped part, and the first baffle 20 and the second baffle 22 are used to push and limit one side of the to-be-flipped part, so as to finally form a two-end-limiting positioning structure, which ensures the stable placement of the to-be-flipped part.

[0089] In order to prevent the to-be-flipped part from being damaged, such as being pressed and damaged, on the surface during the pushing and limiting, the side of the first baffle 20 and the first baffle 20 facing the to-be-flipped part is also provided with a pad;

[0090] Of course, considering that the push gas cylinder 12 also contacts the to-be-flipped part, in order to prevent the damage of the gas cylinder to the part, in the embodiment, the position where the push gas cylinder 12 contacts the to-be-flipped part is also provided with a pad.

[0091] AsFigure 3 As shown in the figure, the gasket includes the baffle first gasket 19, the baffle second gasket 21 and the cylinder gasket 13, wherein the baffle first gasket 19 is arranged on the first baffle 20, the baffle second gasket 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 on the beam side and located between the two second limit blocks 17.

[0093] As an optional embodiment of the present application, as shown in Figure 1 and Figure 2 In this embodiment, the base of the robot 2 and the base of the transfer station 3 are in a split structure, and are independently arranged. This structure is the optimal embodiment of the present application.

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

[0095] The base of the transfer station 3 in the present application can be integrated with the mounting plate in the base of the robot 2, but in this way, the weight is too large, the bearing capacity requirement of the slide rail slider is higher, and materials are wasted.

[0096] As an optional embodiment of the present application, the frame 10 is welded by square tubes.

[0097] The transfer station 3 in the present application adopts the welded frame 10, which is simple in structure and only needs to change the clamping direction of the clamp to realize the 180° overturning of the part.

[0098] As another optional embodiment of the present application, the frame 10 is made of profile steel.

[0099] When the transfer station 3 in the present application is built by the profiled material and locked on the base, the weight can be reduced to achieve the purpose of light weight, but the fixing strength of the profiled material by the corner code is not enough, and it is easy to shake and not stable enough.

[0100] Embodiment 2:

[0101] The difference between this embodiment 2 and embodiment 1 is only that in this embodiment, the structure of the frame 10 is different from that in embodiment 1.

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

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

[0104] The telescopic cylinders 30 are arranged at the two ends of the limiting rods 29 to push and limit the part to be turned over at the two ends.

[0105] As a further improvement of the application, in order to realize automatic turning of the part to be turned over, the rotary cylinder 28 and the bearing 31 are further included, wherein:

[0106] The rotary cylinder 28 is arranged at the other end of the limiting rod 29 and is connected with 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 turn over; specifically, the rotary cylinder 28 is fixed on 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 with the rotary cylinder 28.

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

[0108] The transfer table 3 of the application realizes turning over of the part by arranging the turning mechanism, using the rotary cylinder 28 to realize turning over, and adopting a double-station mode, using the chrome-plated limiting rod 29 to limit left and right, and using the telescopic cylinder 30 to limit front and back, so that the turning over of the part can be realized on the transfer table 3. However, the overall size of the transfer table 3 is increased, the ground rail 1 is more heavily loaded, and the cost is increased.

[0109] Embodiment 3:

[0110] As shown in Figures 1-5 and Figure 7 The difference between the embodiment 3 and the embodiment 1 or the embodiment 2 is that the embodiment 3 further includes a scrap receiving device installed on the base and located below the frame 10, which is used to receive aluminum scraps and prolong the service life.

[0111] Specifically, in the embodiment, the scrap receiving device includes a supporting welding frame 8, a supporting rod and a scrap receiving disc; wherein

[0112] The supporting welding frame 8 is connected to the base via struts. In this embodiment, there are two supporting welding frames 8, each with two sets of struts at its bottom. One supporting welding frame 8 is fixed to the transfer platform mounting base plate 5 via two sets of struts, with the two sets of struts located on either side of the column. To avoid obstruction, the supporting welding frame 8 is disconnected at the column position. The other supporting welding frame 8 is fixed to the base plate via two sets of struts, and the strut structure and the supporting welding frame 8 structure are the same as the other set.

[0113] Considering the collection of chips after collection, in this embodiment, the chip collection 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 collection tray.

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

[0115] In this embodiment, the chip collection tray is made of two sheet metal chip collection trays spliced ​​together, located on the left and right sides of the column respectively. This not only avoids the column well, but also facilitates disassembly and assembly.

[0116] The transfer station 3 of the present invention is also equipped with a chip receiving plate sheet metal, which extends the service life and saves costs.

[0117] Example 4:

[0118] like Figures 1-7 As shown, in this embodiment, the robot 2 provided by the present invention includes a ground rail 1, a robot 2 body installed on the ground rail 1, and a transfer platform 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. The base is also equipped with a chip-collecting device for the robot 2. A robotic gripper is installed at the end of the control arm for gripping parts. The base includes a robot mounting plate 32, and one end of a transfer platform 3 is mounted on the robot mounting plate 32.

[0120] In automated production, the robot 2 of the present invention can decide whether to install a transfer station 3 according to actual needs, and has the feature of easy disassembly.

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

[0122] The robot chip receiving tray 33 is mounted on the base. Furthermore, the robot chip receiving tray 33 is composed of two chip receiving tray sheet metal pieces spliced ​​together, and the two chip receiving tray sheet metal pieces are mounted on the robot mounting plate 32.

[0123] The transfer station 3 of the present invention is also equipped with a chip receiving plate sheet metal, which extends the service life and saves costs.

[0124] The robot 2 of this invention is equipped with a chip receiving tray, which is composed of two sheet metal chip receiving trays that are spliced ​​together from left to right. This design allows for easy disassembly and installation, solves the problem of chip accumulation, and extends the service life.

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

[0126] like Figure 2 As shown, the transfer platform 3 is connected to the robot mounting plate 32 via an intermediate connecting welded component 4. The base of the transfer platform 3 has the same structure as the robot's base (both consist of a mounting plate and two L-shaped plates, but with different lengths). The transfer platform mounting base plate 5 is fastened to the right welded component 6 and the left welded component 7 with screws. The left welded component 7 and the right welded component 6 are installed together with the slider. During the movement of the slider, it drives the entire transfer platform 3 to move together. Two transfer platform chip collection trays 9 are supported by a support welded frame 8 and fixed to the base plate and the transfer platform mounting base plate 5. They can collect aluminum chips. Considering the needs of the operator, the transfer platform chip collection trays 9 are made of 5mm thick sheet metal welded together to improve strength and are sufficient to support the weight of a person.

[0127] like Figure 3 As shown, the frame 10 of the transfer platform is welded from square tubing, which improves strength, simplifies the structure, and saves costs. One end is fixed to the base plate, and the other end is fixed to the transfer platform mounting base plate 5, which can greatly shorten the size of the mounting base plate, reduce weight, and lower costs. The part to be flipped is placed vertically on the transfer platform 3. Four points are selected based on its surface characteristics, and two first limiting blocks 15 and two second limiting blocks 17 are used to support and limit the left and right sides of the part to be flipped (e.g., ...). Figure 3 As shown, both the first limiting block 15 and the second limiting block 17 are designed in a U-shape, with the part to be flipped held in the middle for limiting. The first support block 14 and the second support block 16 raise the part to be flipped as a whole for easy gripping. 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). 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 turned over is placed on the transfer table 3, the pushing cylinder 12 pushes the part to be turned over from the left end, and the right side of the part to be turned over will be in contact with the first baffle 20 and the second baffle 22 to clamp the part to be turned over, so that the limiting purpose is achieved, the baffle first pad 19 and the baffle second pad 21 are combined with the part features to be shaped and designed, and the positioning is accurate; a pushing cylinder 12 is arranged at the first end of the beam, after the robot clamps the part to be turned over and places it on the first limiting block 15 and the second limiting block 17, the pushing cylinder 12 extends outward to clamp the part to be turned over, and the pushing cylinder 12 is provided with a cylinder pad 13, which is made of nylon, like the baffle first pad 19 and the baffle second pad 21, to prevent damage to the part when clamping. The code reader 23 is mounted on the welded frame 10 by a metal plate and is used to realize the part code scanning requirement.

[0128] Since the posture of the part to be turned over placed on the tool tray is different from the posture of the part to be turned over machined in the machine tool, the A surface faces upward on the tool tray, and the B surface faces upward when machined in the machine tool, so that 180° turning over is needed in the middle, and therefore the transfer table 3 plays an extremely important role and meets the part turning over requirement.

[0129] As shown in Figure 4 The robot gripper 24 clamps the part to be turned over from top to bottom on the tool tray and is placed on the transfer table 3 from the right side, 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] As shown in Figure 5 Then the robot 2 turns to the other side, that is, clamps the part to be turned over from the left side, at this time, the B surface is on the inner side of the gripper, and the A surface is on the outer side of the gripper. After the part to be turned over is clamped from the transfer table 3 and 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 surface faces upward, and the A surface faces downward, so that the purpose of turning over the part by 180° is achieved. The whole working process can be realized only by changing the action of the robot 2, without designing a special turning table, thereby reducing the machining cost. At the same time, the existence of the code scanning mechanism can directly realize automatic code scanning, without manual code scanning, thereby saving manpower and material resources.

[0131] First of all, it needs to be explained here that "inward" is the direction towards the center of the containing space, and "outward" is the direction away from the center of the containing space.

[0132] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the accompanying drawings. Figure 1The illustrated position or positional relationship is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements indicated must have a particular position, be constructed and operated in a particular position, and therefore cannot be understood as a limitation of the present application.

[0133] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0134] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0135] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0136] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 application. In the present application, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or features of different embodiments or examples described in the present application without contradiction.

[0137] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A track-mounted transfer platform, characterized in that, The transfer platform is mounted on a robot base located on a ground rail, allowing it to move along the rail with the robot. The transfer platform includes a base, a frame, a support and limiting device, and a barcode scanning device. One end of the base is slidably connected to the ground rail, and the other end is connected to the robot's base. The frame is fixed to the base. The support and limiting device is mounted on the frame to support and fix the part to be flipped. The barcode scanning device is located on the frame to scan the placed part to be flipped. The base includes a transfer platform mounting seat, an intermediate connecting welded component, a base plate, and a connecting beam. The transfer platform mounting seat is slidably connected to the ground rail via a slider. The intermediate connecting welded component is parallel to and spaced apart from the transfer platform mounting seat, and is fixedly connected to the robot's base. Both ends of the connecting beam are connected to the transfer platform mounting seat and the intermediate connecting welded component, respectively. The base plate is fixed to the connecting beam and is parallel to the transfer platform mounting seat. The frame is an L-shaped structure, including a bottom beam and a vertical beam; the bottom beam is fixed to the base by columns; the support and limiting device is disposed on the bottom beam; the scanning device is fixed to the vertical beam; the support and limiting device includes a first limiting block, a second limiting block, a first baffle, a second baffle, and a push cylinder; the first limiting block and the second limiting block are staggered to form a U-shape, supporting, limiting, and fixing the part to be flipped in a contour-following manner; the first baffle and the second baffle are spaced apart to limit one side of the part to be flipped at different positions; the push cylinder is disposed next to the first limiting block to push and limit the part to be flipped on the other side; or The frame includes an outer frame; the supporting and limiting device includes limiting rods and telescopic cylinders; the number of limiting rods is even, and they are arranged in pairs at parallel intervals on the top of the outer frame to form a limiting part for fixing the component to be flipped; the telescopic cylinders are arranged at both ends of the limiting rods to push and limit the component to be flipped at both ends; it also includes a rotary cylinder and a bearing, the rotary 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 one of the telescopic cylinders on one side to flip; the bearing is rotatably arranged at the other end of the limiting rod and is connected to the other telescopic cylinder and the limiting rod; It also includes a chip receiving device installed on the base and located below the frame. The chip receiving device includes a welding support frame, a strut, and a chip receiving tray. The welding support frame is connected to the base through the strut. The chip receiving tray is mounted on the welding support frame.

2. The track-mounted transfer platform according to claim 1, characterized in that, The first baffle and the side of the first baffle facing the part to be flipped are also provided with pads, and / or, the contact position between the push cylinder and the part to be flipped is also provided with pads.

3. A robot, characterized in that, It includes a ground rail, a robot body mounted on the ground rail, and a transfer station as described in any one of claims 1-2 that is detachably connected to the ground rail and the robot body.

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