Double-ferry annular track applied to mechanical arm and using method of double-ferry annular track

Abstract

The invention belongs to the technical field of mechanical arm machining, and particularly relates to a double-ferry annular track applied to a mechanical arm and a using method, the double-ferry annular track comprises a first annular ferry track, and a second annular ferry track is installed at the end of the first annular ferry track; the end of the first annular ferry rail and the end of the second annular ferry rail are slidably connected with a mechanical base. When the cables are connected, the cables penetrate through the interiors of the binding holes to be bound in a classified mode, then an electric push rod is opened to drive a binding plate to stretch out and draw back, the distance between the tail portions of the cables is adjusted, and when the cables are crossed through movement of the mechanical base, the cables are bound through the binding plate; and while winding is avoided, the binding plate is driven by the electric push rod to move at the end part of the cable, so that a protection effect is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arm processing, and specifically relates to a double-ferry annular track for a robotic arm and its usage method. Background Art

[0002] The double-ferry annular track of the robotic arm drives the robotic arm to rotate at high speed through a servo motor + harmonic reducer; a linear motor or a synchronous belt pushes the robotic arm to move radially (maximum speed 2 m / s); at the intersection of the tracks, the power source is switched through a lifting turntable or a translation guide rail, and the inner and outer rings are alternately driven.

[0003] The annular guide rail provides the robotic arm with characteristics of high precision, high rigidity, and stable operation; the annular guide rail can ensure the rapid and efficient transmission of workpieces on the production line, improving production efficiency; the annular guide rail conveyor line realizes the rapid handling, sorting, and loading of goods in logistics warehousing.

[0004] Currently, in the prior art, when using the double-ferry annular guide rail, a large number of connecting cables are generated inside. When the robotic arm swings annularly, the cables will be driven to wind around each other, resulting in wear of the cables. Therefore, a double-ferry annular track for a robotic arm and its usage method are proposed to solve the above problems. Summary of the Invention

[0005] To make up for the deficiencies of the prior art and solve at least one of the technical problems proposed in the background art, the present invention proposes a double-ferry annular track for a robotic arm and its usage method.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows: A double-ferry annular track for a robotic arm and its usage method according to the present invention includes a first annular ferry track, and a second annular ferry track is installed at the end of the first annular ferry track; a robotic base is slidably connected to the ends of the first annular ferry track and the second annular ferry track; a sliding seat is installed at the bottom of the robotic base and is slidably connected to the side walls of the first annular ferry track and the second annular ferry track; an installation groove is installed at the top of the robotic base; a mounting plate is fixedly connected to the bottom of the first annular ferry track; an electric push rod is fixedly connected to the end of the mounting plate; a restraint plate is fixedly connected to the end of the electric push rod; restraint holes are opened at the end of the restraint plate, and there are several of them.

[0007] Preferably, a clamping rod is hinged to the end of the restraint plate through a torsion spring and is arranged in a circumferential array; the clamping rod is located at the end of the restraint hole.

[0008] Preferably, a guide groove is opened at the end of the clamping rod; a wear-resistant ball is spherically connected inside the guide groove.

[0009] Preferably, a limiting plate is fixedly connected to the end of the binding plate; an airbag is fixedly connected to the inner side wall of the limiting plate and is located at the end of the clamping rod; a connecting groove is formed inside the binding plate; a buffer protection belt is fixedly connected to the inner side wall of the binding hole; and one end of the airbag is fixedly connected to a trachea, and the other end of the trachea is fixedly connected to the end of the buffer protection belt.

[0010] Preferably, a cleaning plate is fixedly connected to the end of the clamping rod, and there are several of them.

[0011] Preferably, the first annular ferry track and the second annular ferry track are customized from SUS 304 stainless steel, and the mechanical base is made of Q235 threaded steel with a diameter of 12φ.

[0012] A method for using a double-ferry annular track applied to a robotic arm, characterized in that: the method for using the double-ferry annular track of the robotic arm is applicable to the double-ferry annular track of the robotic arm described in any one of the above claims 1-6; and it is characterized in that:

[0013] This method includes the following steps:

[0014] S1. Check the emergency stop circuit, air pressure, and track obstacle sensor; power on the servo system, and each axis returns to zero; the robotic arm returns to the inner ring origin (0° position), the outer ring retracts to the initial point, and the photoelectric switch confirms the position; the laser rangefinder scans the concentricity of the track;

[0015] S2. Use the hand-held teach pendant to guide the robotic arm to record key path points (such as workstation A → ferry point → workstation B); generate a trajectory file (such as spline curve interpolation) through ROS or MATLAB and import it into the PLC for execution;

[0016] S3. Inner ring operation: The robotic arm rotates along the inner ring to the target workstation and rotates 90° to the welding point; Outer ring operation: The linear motor pushes the outer ring to extend;

[0017] S4. The robotic arm performs actions such as grasping and welding; after completing the operation, it returns to the safe position, the outer ring retracts, and the inner ring resets.

[0018] Preferably, in S3, the specific path ferry includes the following steps:

[0019] S31. The inner ring stops at the ferry point, the lifting mechanism lifts 5 mm to align with the track; the pneumatic locking pin is inserted into the positioning hole, the servo motor disengages, and the outer ring linear motor takes over the drive; the robotic arm moves along the outer ring to the target position and switches back to the inner ring drive in reverse; the complete switching process ≤ 0.5 seconds.

[0020] Preferably, in S1, the specific optical cable routing includes the following method:

[0021] S11. By passing the cables through the inside of the binding holes and classifying and binding them, the cables can be restricted, reducing the problem of the cables being entangled with each other.

[0022] Advantages of the present invention:

[0023] The present invention provides a double-ferry annular track and a usage method applied to a robotic arm. By installing the robotic arm on the top of the installation groove, and then two sets of industrial operation robotic arms are respectively on both sides of the first annular ferry track and the second annular ferry track, reciprocating and cross-operating respectively. Since the working time of the process of driving the mechanical base by the first annular ferry track is relatively short, when the industrial operation robotic arm is waiting after the first annular ferry track and the mechanical base process are completed, another target object implements the process of the second annular ferry track and the mechanical base and then continues with a new operation, so as to perform a cyclic ferry reciprocating motion to process the process, improving the processing efficiency of the robotic arm. Then, by installing a mounting plate and an electric push rod at the bottom of the first annular ferry track, when connecting the cables, by passing the cables through the inside of the binding holes and classifying and binding them, and then by opening the electric push rod to drive the binding plate to perform telescopic motion, the distance between the tails of the cables is adjusted, so that when the cables cross due to the movement of the mechanical base, they are bound by the binding plate, avoiding entanglement. At the same time, by driving the binding plate to move at the end of the cables by the electric push rod, a protective effect is achieved.

[0024] The present invention provides a double-ferry annular track and a usage method applied to a robotic arm. When the cables pass through the binding holes for binding, by squeezing the clamping rods, the clamping rods open to both sides, squeezing the torsion springs to generate elastic force, and the elastic force generated by the torsion springs pushes the clamping rods to clamp on the surface of the cables, achieving the effects of end support and clamping fixation, reducing the problem of wear caused by the tail shaking of the cables when they move. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention, not constituting an improper limitation to the present invention.

[0026] In the drawings:

[0027] Figure 1 is a schematic flow chart of the method of the present invention;

[0028] Figure 2 is a three-dimensional view of the present invention;

[0029] Figure 3 is a cross-sectional view of the present invention;

[0030] Figure 4It is a perspective view of the restraint plate in the present invention;

[0031] Figure 5 It is Figure 4 the enlarged view at position A in

[0032] Legend description:

[0033] 1. First annular ferry track; 11. Second annular ferry track; 21. Mechanical base; 22. Slide seat; 23. Installation groove; 24. Installation plate; 25. Electric push rod; 26. Restraint plate; 27. Restraint hole; 31. Clamping rod; 32. Guide groove; 33. Wear-resistant ball; 34. Cleaning plate; 41. Limiting plate; 42. Airbag; 43. Connecting groove; 44. Air pipe; 45. Buffer protection belt. Specific implementation manner

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] The following gives specific embodiments.

[0036] Please refer to Figures 1-5, the present invention provides a double-ferry annular track and a usage method applied to a robotic arm, including a first annular ferry track 1, and a second annular ferry track 11 is installed at the end of the first annular ferry track 1; a robotic base 21 is slidably connected to the ends of the first annular ferry track 1 and the second annular ferry track 11; a sliding seat 22 is installed at the bottom of the robotic base 21 and is slidably connected to the side walls of the first annular ferry track 1 and the second annular ferry track 11; an installation groove 23 is installed at the top of the robotic base 21; a mounting plate 24 is fixedly connected to the bottom of the first annular ferry track 1; an electric push rod 25 is fixedly connected to the end of the mounting plate 24; a restraint plate 26 is fixedly connected to the end of the electric push rod 25; a restraint hole 27 is opened at the end of the restraint plate 26, and there are several of them; during operation, when it is necessary to perform an operation on a process, by installing the robotic arm on the top of the installation groove 23, then two sets of industrial operation robotic arms are respectively on both sides of the first annular ferry track 1 and the second annular ferry track 11, reciprocating respectively and operating crosswise. Since the working time of the process driven by the first annular ferry track 1 for the robotic base 21 is relatively short, when the industrial operation robotic arm is waiting after the process of the first annular ferry track 1 and the robotic base 21 is completed, another target object implements the process of the second annular ferry track 11 and the robotic base 21 and then continues a new operation to perform a cyclic ferry reciprocating motion to process the process and improve the processing efficiency of the robotic arm. Then, by installing a mounting plate 24 and an electric push rod 25 at the bottom of the first annular ferry track 1, when connecting cables, the cables are passed through the inside of the restraint holes 27 and classified and restrained. Then, by turning on the electric push rod 25 to drive the restraint plate 26 to perform a telescopic motion, the distance between the tails of the cables is adjusted, so that when the cables cross due to the movement of the robotic base 21, they are restrained by the restraint plate 26, avoiding entanglement. At the same time, by driving the restraint plate 26 to move at the ends of the cables through the electric push rod 25, a protective effect is achieved.

[0037] Further, as Figures 3-4 shown, a clamping rod 31 is hinged to the end of the restraint plate 26 through a torsion spring and is arranged in a circumferential array; the clamping rod 31 is located at the end of the restraint hole 27; during operation, when the cable passes through the restraint hole 27 for restraint, by squeezing the clamping rod 31, the clamping rod 31 is opened to both sides, squeezing the torsion spring to generate an elastic force, and the elastic force generated by the torsion spring pushes the clamping rod 31 to clamp on the surface of the cable to achieve the effects of end support and clamping fixation, reducing the problem of wear caused by the tail shaking of the cable when it moves.

[0038] Further, as Figure 5As shown, a guide groove 32 is provided at the end of the clamping rod 31; a wear-resistant ball 33 is ball-jointed inside the guide groove 32; during operation, when the cable passes through, the wear-resistant ball 33 installed on the surface of the clamping rod 31 contacts the surface of the cable and moves, and then the wear-resistant ball 33 rotates to reduce the problem of wear on the cable surface caused by the guide groove 32.

[0039] Further, as Figure 5 shown, a limit plate 41 is fixedly connected to the end of the restraint plate 26; an airbag 42 is fixedly connected to the inner side wall of the limit plate 41 and is located at the end of the clamping rod 31; a connection groove 43 is provided inside the restraint plate 26; a buffer protection belt 45 is fixedly connected to the inner side wall of the restraint hole 27; one end of the airbag 42 is fixedly connected to an air pipe 44, and the other end of the air pipe 44 is fixedly connected to the end of the buffer protection belt 45; during operation, when the cable passes through the restraint hole 27 and presses the clamping rod 31, causing the clamping rod 31 to rotate to both sides, the airbag 42 is compressed to play a buffering effect. Then, when the airbag 42 is compressed, the gas inside flows through the air pipe 44 into the buffer protection belt 45, causing the buffer protection belt 45 to expand and wrap around the surface of the cable to protect the cable.

[0040] Further, as Figure 5 shown, a cleaning plate 34 is fixedly connected to the end of the clamping rod 31, and there are several of them; during operation, by installing the cleaning plate 34 at the end of the clamping rod 31, when the cable passes through, the cleaning plate 34 can clean the surface of the cable.

[0041] Further, as Figures 2-5 shown, the first annular ferry track 1 and the second annular ferry track 11 are customized from SUS304 stainless steel, and the mechanical base 21 is made of Q235 threaded steel with a diameter of φ12.

[0042] Please refer to Figure 1 shown, a method for using a double-ferry annular track applied to a robotic arm, characterized in that: the method for using the double-ferry annular track of the robotic arm is applicable to the double-ferry annular track of the robotic arm described in any of the above claims 1-6; characterized in that:

[0043] This method includes the following steps:

[0044] S1. Check the emergency stop circuit, air pressure, and track obstacle sensor; power on the servo system, and each axis returns to zero; the robotic arm returns to the inner ring origin (0° position), the outer ring retracts to the initial point, and the photoelectric switch confirms the position; the laser rangefinder scans the concentricity of the track;

[0045] S2. The handheld teaching pendant guides the robotic arm to record key path points (such as Station A → Transfer Point → Station B); generates a trajectory file (such as spline curve interpolation) through ROS or MATLAB and imports it into the PLC for execution;

[0046] S3. Inner loop operation: The robotic arm rotates along the inner loop to the target station and rotates 90° to the welding point; Outer loop operation: The linear motor pushes the outer loop to extend;

[0047] S4. The robotic arm performs actions such as grasping and welding; after completing the operation, it returns to the safe position, the outer loop retracts, and the inner loop resets.

[0048] Further, as Figure 1 shown, in the above S3, the specific path transfer includes the following steps: S31. The inner loop stops at the transfer point, the lifting mechanism raises by 5 mm to align with the track; the pneumatic locking pin is inserted into the positioning hole, the servo motor disengages, and the outer loop linear motor takes over the drive; the robotic arm moves along the outer loop to the target position and switches back to the inner loop drive in reverse; the complete switching process ≤ 0.5 seconds.

[0049] Further, as Figure 1 shown, in the above S1, the specific optical cable routing includes the following method:

[0050] S11. By passing the cables through the inside of the restraint holes 27 and classifying and restraining them, the cables are constrained to reduce the problem of the cables winding around each other.

[0051] Working principle: When it is necessary to perform operations on the process, the robotic arm is installed on the top of the installation groove 23, and then the two sets of industrial operation robotic arms reciprocate on both sides of the first annular ferry track 1 and the second annular ferry track 11 respectively, performing cross operations. Since the working time of the process driven by the first annular ferry track 1 for the mechanical base 21 is relatively short, when the industrial operation robotic arm is waiting after the processes of the first annular ferry track 1 and the mechanical base 21 are completed, another target object implements the processes of the second annular ferry track 11 and the mechanical base 21 and then continues with new operations, so as to perform cyclic ferry reciprocating motion to process the process and improve the processing efficiency of the robotic arm. Then, by installing a mounting plate 24 and an electric push rod 25 at the bottom of the first annular ferry track 1, when connecting the cables, the cables are passed through the inside of the binding holes 27 and classified and bound. Then, by turning on the electric push rod 25 to drive the binding plate 26 to perform telescopic motion, the distance between the tails of the cables is adjusted, so that when the cables cross due to the movement of the mechanical base 21, they are bound by the binding plate 26. While avoiding entanglement, the electric push rod 25 drives the binding plate 26 to move at the end of the cable to achieve a protective effect; when the cables are bound by passing through the binding holes 27, the clamping rods 31 are squeezed, causing the clamping rods 31 to open to both sides, squeezing the torsion springs to generate elastic force, and the elastic force generated by the torsion springs pushes the clamping rods 31 to clamp on the surface of the cables to achieve the effects of end support and clamping fixation, reducing the problem of wear caused by the tail shaking of the cables when they move; when the cables pass through, the wear-resistant balls 33 installed on the surface of the clamping rods 31 contact the surface of the cables and move, and then the wear-resistant balls 33 rotate to reduce the problem of wear caused by the guide grooves 32 to the surface of the cables; when the cables pass through the binding holes 27 and squeeze the clamping rods 31, causing the clamping rods 31 to rotate to both sides, the airbag 42 is squeezed to play a buffering role. Then, when the airbag 42 is squeezed, the gas inside flows through the air pipe 44 into the inside of the buffer protection belt 45, causing the buffer protection belt 45 to expand and wrap around the surface of the cables to protect the cables; by installing a cleaning plate 34 at the end of the clamping rods 31, when the cables pass through, the cleaning plate 34 is used to clean the surface of the cables.

[0052] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A double ferry circular track for a robotic arm, comprising a first circular ferry track (1), characterized in that: A second circular ferry track (11) is installed at the end of the first circular ferry track (1); the ends of the first circular ferry track (1) and the second circular ferry track (11) are slidably connected to a mechanical base (21); a sliding seat (22) is installed at the bottom of the mechanical base (21), and is slidably connected to the side walls of the first circular ferry track (1) and the second circular ferry track (11); a mounting groove (23) is installed at the top of the mechanical base (21); a mounting plate (24) is fixedly connected to the bottom of the first circular ferry track (1); an electric push rod (25) is fixedly connected to the end of the mounting plate (24); a restraining plate (26) is fixedly connected to the end of the electric push rod (25); a restraining hole (27) is opened at the end of the restraining plate (26), and a plurality of restraining holes (27) are provided.

2. A double ferry circular track for a robot arm as claimed in claim 1, characterized in that: The ends of the restraining plates (26) are hinged with clamping rods (31) via torsion springs and are arranged in a circular array; the clamping rods (31) are located at the ends of the restraining holes (27).

3. A double ferry circular track for a robot arm as claimed in claim 2, characterized in that: A guide groove (32) is formed at the end of the clamping rod (31); a wear-resistant ball (33) is spherically connected inside the guide groove (32).

4. A double ferry circular track for a robot arm as claimed in claim 2, characterized in that: The end of the restraining plate (26) is fixedly connected to the limiting plate (41); the inner wall of the limiting plate (41) is fixedly connected to an air bag (42) and is located at the end of the clamping rod (31); a connecting groove (43) is opened inside the restraining plate (26); the inner wall of the restraining hole (27) is fixedly connected to a buffer protection belt (45); the end of the air bag (42) is fixedly connected to an air pipe (44), and the other end of the air pipe (44) is fixedly connected to the end of the buffer protection belt (45).

5. The double ferry circular track for a robot arm as claimed in claim 2, characterized in that: The end of the clamping rod (31) is fixedly connected with a cleaning plate (34), and a plurality of cleaning plates (34) are provided.

6. The double ferry circular track for a robot arm as claimed in claim 1, characterized in that: The first circular ferry track (1) and the second circular ferry track (11) are made of SUS 304 stainless steel, and the mechanical base (21) is made of Q235 threaded steel with a diameter of φ12.

7. A method for using a double ferry circular track applied to a robotic arm, characterized in that: The method for using the double ferry circular track of the robot arm is applicable to the double ferry circular track of the robot arm described in any of claims 1 to 6 above; it is characterized in that: The method comprises the following steps: S1. Check the emergency stop circuit, air pressure, and track obstacle sensor; power on the servo system and return each axis to zero; the robot arm returns to the inner ring origin (0° position), the outer ring shrinks to the initial point, and the photoelectric switch confirms the position; the laser rangefinder scans the track concentricity; S2. The handheld teaching pendant guides the robot arm to record key path points (such as workstation A→ferry point→workstation B); generates trajectory files (such as spline curve interpolation) through ROS or MATLAB, and imports them into PLC for execution; S3, inner ring operation: the robot arm rotates along the inner ring to the target station and rotates 90° to the welding point; outer ring operation: the linear motor pushes the outer ring out; S4, the robot arm performs actions such as grasping and welding; after completing the operation, it returns to a safe position, the outer ring retracts, and the inner ring resets.

8. A method for using a double ferry circular track applied to a robotic arm as claimed in claim 7, characterized in that: In S3, the specific path ferrying includes the following steps: S31, the inner ring stops at the ferry point, the lifting mechanism lifts 5mm to align with the track; the pneumatic locking pin is inserted into the positioning hole, the servo motor is disengaged, and the outer ring linear motor takes over the drive; the robot arm moves along the outer ring to the target position and switches back to the inner ring drive; the complete switching process is ≤0.5 seconds.

9. A method for using a double ferry circular track applied to a robotic arm as claimed in claim 7, characterized in that: In S1, the specific optoelectronic cable control includes the following methods: S11. The cables are passed through the binding holes (27) and are bound by categories, so as to restrain the cables and reduce the problem of the cables being entangled with each other.

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