Detachable ground rail for automatic labeling robot

Abstract

The invention belongs to the technical field of detachable ground rails for robots, and particularly discloses a detachable ground rail for an automatic labeling robot, which comprises a ground rail body, the ground rail body comprises a plurality of sections of ground rails, the ground rail is divided into a fixed rail and a movable rail, the movable rail is obtained by splicing an electromagnetic lock assembly and a mechanical buckle assembly, and the electromagnetic lock assembly is connected with the mechanical buckle assembly. A first supporting frame and a second supporting assembly are connected to the lower portion of the ground rail in a bolted mode, a ball rail is arranged on the ground rail, a lifting assembly is fixedly connected to the lower portion of the ball rail, and a movable robot base is arranged on the upper portion of the ground rail. According to the detachable ground rail for the automatic labeling robot, self-locking between the ground rails is achieved through the electromagnetic lock assembly and the mechanical buckle assembly, moving and positioning of the base are achieved through the liftable ball rail, and the problems that an existing labeling robot is fixedly installed, the movement range is small, and overhauling is not convenient are solved; and the rail installation and maintenance efficiency is improved, and the labor cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of detachable rails for robots, in particular to a detachable rail for an automatic labeling robot. BACKGROUND

[0002] The construction of intelligent factories characterized by the integration of advanced technologies such as the Internet of Things, cloud computing, and big data with intelligent equipment has become the main driving force for steel enterprises to enhance their core competitiveness and form an innovative development mechanism. As a member of intelligent manufacturing equipment, robots play an important role in the intelligent transformation and upgrading of traditional equipment. The application of robots can effectively improve efficiency, improve equipment service capability, and reduce the rate of defective products. By improving the diversification of robot perception and self-adaptive control quality, robots can automatically complete control instructions and intelligently adapt to production rhythm, forming an integrated solution platform to meet the actual needs of the steel industry. Currently, the steel coil labeling operation in domestic steel plants is basically completed by manual labor, which is highly dangerous and labor-intensive, and belongs to repetitive work. However, there is no formed product for purchase or integration reference in the application of steel coil intelligent labeling robots in China.

[0003] To solve the above problems, the invention patent CN201911342076.1 discloses a "steel coil intelligent labeling device and method", which includes a label printing device, a label peeling device, a mechanical arm, a machine head, and a programmable controller. The label printing device, label peeling device, mechanical arm, and machine head are connected to the programmable controller. The machine head is connected to the mechanical arm through a flange. By controlling the mechanical arm to drive the machine head to run at a set load or height, the vacuum chuck takes the label, and the labeling roller rolls on the surface of the steel coil to paste the label on the inner and outer surfaces of the steel coil.

[0004] Although the device and method provided by the above-mentioned patent improve production efficiency and improve the manual environment, the robot is fixedly installed, which limits the movement range of the robot and is not convenient for later maintenance work. SUMMARY

[0005] The present application relates to the field of detachable rails for robots, in particular to a detachable rail for an automatic labeling robot.

[0006] In order to achieve the above-mentioned purpose, the basic scheme provided by the present application is: a detachable track for an automatic labeling robot, comprising a track body, a six-axis robot is bolted on the track body, a labeling clamp is bolted at the end of the six-axis robot, a label printing mechanism is arranged on the side of the six-axis robot, a steel roll is arranged in front of the track body, a safety fence is arranged outside the track body, the track body comprises a plurality of track sections, one of the track sections is used as a fixed track, the other track sections are spliced into a movable track through an electromagnetic lock assembly and a mechanical buckle assembly, a first support frame is bolted below the track used as the fixed track, a second support assembly is bolted below the tracks at both ends of the movable track, guide rails are fixed on both sides of the track, a ball track is arranged in the guide rails, a lifting assembly is fixed below the ball track, and a movable base is arranged above the track.

[0007] The principle of the present application is that: in use, first, one track section is installed stably as a fixed track through the first support frame below, and then the remaining track sections are spliced into a movable track through the electromagnetic lock assembly and the mechanical buckle assembly, the tracks at both ends of the movable track are supported and fixed through the second support assembly, and a complete track body is formed; then the six-axis robot is bolted on the movable base above the track, the ball track in the guide rails on both sides of the track is matched with the lifting assembly to realize stable movement and positioning of the base and the six-axis robot; during operation, the label printing mechanism on the side is started to complete label preparation, the six-axis robot grabs the label through the labeling clamp bolted at the end, and precise labeling operation is completed on the steel roll in front under the protection of the safety fence; when maintenance is needed, the base is moved to the fixed track, and then the electromagnetic lock assembly and the mechanical buckle assembly are unlocked, and the track sections are disassembled for transportation.

[0008] The present application has the advantages that: through the double fixing structure of the electromagnetic lock assembly and the mechanical buckle assembly, the number of track sections can be flexibly increased or decreased according to the specifications of the steel roll and the space size of the operation area, which can adapt to single-steel-roll close-range labeling and also meet the requirements of multi-steel-roll and large-span operation scenarios; the electromagnetic lock assembly realizes quick locking / unlocking, and the mechanical buckle assembly provides mechanical redundant fixing, which avoids loosening or separation of the track due to vibration or collision during operation, ensures the stability of the six-axis robot during movement, and reduces the risk of equipment falling and labeling errors; the ball track in the guide rail reduces the friction resistance when the base moves, so that the six-axis robot moves more stably along the track, and avoids labeling deviation caused by movement jamming.

[0009] Scheme two, which is a preferred embodiment of the basic scheme, the ball track can move up and down in the guide rail, the guide rail bottom is provided with a through hole, the lifting assembly is fixed to the ball track through the through hole in the guide rail bottom, and the base and the six-axis robot are stably moved or fixed on the guide rail through the extension and contraction of the ball track, which reduces the friction resistance when the base moves.

[0010] Scheme three, this is the preferred basis, the lifting assembly includes the upper outer tube and the lower outer tube, the upper outer tube and the lower outer tube are nested, the upper outer tube is fixedly connected at the bottom of the ball rail, the lower outer tube is fixedly connected at the side of the ground rail, the bearing in the upper outer tube is connected with the screw shaft, the lower end of the screw shaft is threadedly connected with the screw shaft sleeve, the lower end of the screw shaft sleeve is connected with the bottom of the lower outer tube through the bearing, the driving motor of the screw shaft sleeve is bolted at the bottom of the ground rail, the nested upper and lower outer tubes guarantee the stability of lifting, cooperate with the precision control of the screw transmission, adapt to different specifications of steel roll labeling, and improve the operation precision.

[0011] Scheme four, this is the preferred basis, the electromagnetic lock assembly includes a lock body and an adsorption plate, the lock body is bolted at the right side connecting surface of the ground rail, the adsorption plate is bolted at the left side connecting surface of the ground rail, the surfaces of the lock body and the adsorption plate are flush with the end surface of the ground rail, the lock body and the adsorption plate are respectively fixedly connected to the left and right connecting surfaces of the ground rail, and the surfaces are flush with the end surface of the ground rail, so that the splicing is closely fitted, the protrusion is avoided, the splicing flatness of the track is guaranteed, and the movement of the robot is stable.

[0012] Scheme five, this is the preferred basis, the mechanical buckle assembly includes a base and a lock head, the base is embedded at both ends of the right side connecting surface of the ground rail, the lock head is fixedly connected at both ends of the left side connecting surface of the ground rail, the lock head is sleeved with a wedge-shaped lock block, the base is provided with a limiting block matched with the lock head, the limiting block is connected with the base through a spring, the base and the lock head are separately arranged at both ends of the ground rail connecting surface, the wedge-shaped lock block cooperates with the spring limiting block, and automatic clamping and locking are realized during splicing, the stability of the track connection is enhanced, and double protection is formed with the electromagnetic lock to avoid loosening caused by operation vibration.

[0013] Scheme six, this is the preferred basis, the right side end surface of the ground rail is provided with a positioning hole, the left side end surface of the ground rail is provided with a positioning instrument corresponding to the positioning hole, the positioning instrument is matched with the positioning hole, the adjacent ground rails are quickly positioned during splicing, misplacement is avoided, and the track assembly efficiency is improved.

[0014] Scheme seven, this is the preferred basis, the support leg of the second support assembly is provided with an air cylinder, the bottom of the second support assembly is bolted with a pulley, the pulley is designed to facilitate the transfer and position fine adjustment of the moving track section, heavy equipment is not needed to assist, the flexibility of track splicing is improved; the air cylinder drives the support leg to be quickly lifted, the support leg is stably supported after landing, different ground flatness is adapted, and the track is prevented from shaking. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is the general assembly schematic view of the detachable ground rail of the automatic labeling robot; Figure 2 is the connection schematic view of the detachable ground rail of the automatic labeling robot; Figure 3It is a detachable rail connection diagram between rails of an automatic labeling robot of the present application; Figure 4 It is another view of a detachable rail connection diagram between rails of an automatic labeling robot of the present application; Figure 5 It is a structure diagram of an electromagnetic lock assembly in a detachable rail of an automatic labeling robot of the present application; Figure 6 It is a top view of a lifting assembly in a detachable rail of an automatic labeling robot of the present application; Figure 7 It is Figure 6 A-A sectional view; Figure 8 It is a structure diagram of a mechanical buckle assembly in a detachable rail of an automatic labeling robot of the present application. DETAILED DESCRIPTION

[0016] The present application will be further described in detail through specific embodiments: The reference signs in the drawings of the specification include: 1. rail body, 21. six-axis robot, 22. labeling clamp, 23. label printing mechanism, 24. safety fence, 25. steel coil, 3. rail, 31. guide rail, 32. ball rail, 33. lifting assembly, 331. upper outer tube, 332. lower outer tube, 333. lead screw shaft, 334. lead screw shaft sleeve, 34. electromagnetic lock assembly, 341. lock body, 342. adsorption plate, 35. mechanical buckle assembly, 351. base, 352, lock head, 353. wedge-shaped lock block, 354. limit block, 355. spring, 361. positioning hole, 362. positioner, 4. base, 5. first support frame, 6. second support assembly, 61. air cylinder, 62. pulley.

[0017] EMBODIMENT As Figure 1 and Figure 8The utility model discloses a detachable rail for automatic labeling robot, including the rail body 1, the rail body 1 is formed by several section rails 3, wherein a section rail 3 is as fixed track, and the first support frame 5 is bolted below, and the rest rail 3 is spliced into moving track by means of electromagnetic lock assembly 34 and mechanical buckle assembly 35, and the support leg of second support assembly 6 is provided with air cylinder 61 and is bolted with pulley 62 at the bottom, and the right and left end surfaces of each section rail 3 are respectively provided with positioning hole 361 and corresponding positioning instrument 362, and the lock body 341 of electromagnetic lock assembly 34 is bolted on the right side connecting surface, and the left side connecting surface is bolted with adsorption plate 342, and the left and right connecting surfaces of section rail 3 are also respectively provided with the base 351 of mechanical buckle assembly 35 and lock head 352, and the lock head 352 is sleeved with wedge-shaped lock block 353, and the limiting block 354 is connected in the base 351 through spring 355, and the guide rail 31 is fixed on both sides of section rail 3, the ball track 32 that can move up and down is embedded in the guide rail 31, the through hole is set in the bottom of guide rail 31 for the fixed connection of lifting assembly 33 and ball track 32, the upper outer tube 331 of lifting assembly 33 is fixedly connected to the bottom of ball track 32, the lower outer tube 332 is fixedly connected to the side surface of section rail 3, the lead screw shaft 333 connected by bearing in the upper outer tube 331, the lower end of lead screw shaft 333 is screw connected with lead screw shaft sleeve 334, the lower end of lead screw shaft sleeve 334 is connected to the bottom of lower outer tube 332 through bearing, and the driving motor is bolted to the bottom of section rail 3, the movable base 4 that is slidably connected with ball track 32 is arranged above section rail 3, the six-axis robot 21 is bolted on the movable base 4, the labeling clamp 22 is bolted to the end of six-axis robot 21, the label printing mechanism 23 is arranged on the side, the steel coil 25 is placed in front of the rail body 1, and the safety fence 24 is arranged on the outside.

[0018] The embodiment of the present application is: Firstly, the operator determines the total length of the fixed track and the moving track according to the size of the steel coil 25 and the labeling operation range, plans the rail laying path, hoists the single section rail 3 as the fixed track to the core position of the operation area, stably fixes it on the ground through the first support frame 5 bolted at the bottom, ensures that it does not shake and deviate, then adjusts the air cylinder 61 of the first support frame 5 and the second support assembly 6, so that the rail body 1 is kept at a uniform height.

[0019] Next, the movable track sections of the ground rails 3 are pushed close to the fixed track by the pulley 62 at the bottom of the second support assembly 6, and precise alignment is achieved by the positioning instrument 362 on the right side end face of the ground rail 3 clamping the positioning hole 361 on the left side end face of the other ground rail 3. After alignment, the electromagnetic lock assembly 34 is started, and the lock body 341 of the left ground rail is energized to adsorb the adsorption plate 342 of the right ground rail to complete the preliminary locking. At the same time, the lock head 352 of the mechanical buckle assembly 35 is inserted into the base 351 of the adjacent ground rail 3 during the docking process, the wedge-shaped lock block 353 on the lock head 352 is pressed against the limiting block 354 in the base 351 and compresses the spring 355. After alignment is completed, the spring 355 resets to push the limiting block 354 to clamp the wedge-shaped lock block 353, forming a mechanical and electromagnetic double locking structure.

[0020] Finally, the movable base 4 is installed above the ground rails 3 and straddles the two side rails 31, then the six-axis robot 21 is bolted to the base 4, the labeling clamp 22 is installed at the end of the six-axis robot 21, and the label printing mechanism 23 is arranged on the side of the six-axis robot 21. At the same time, the safety fence 24 is erected outside the ground rail body 1, and the steel coil 25 is placed in the working area directly in front of the ground rails 3; when the base 4 moves, the motor of the lifting assembly 33 is started, the motor drives the screw shaft sleeve 334 to rotate, and through the thread cooperation between the screw shaft sleeve 334 and the screw shaft 333, the upper outer tube 331 is driven to rise relative to the lower outer tube 332, and then the ball rail 32 is driven to move upward in the guide rail 31, facilitating the movement of the base 4 and the six-axis robot 21 to the appropriate working position. When reaching the specified position, the motor drives the ball rail 32 to retract into the guide rail 31, thereby realizing the positioning of the base 4 on the guide rail 31, and then the automatic labeling work can be started.

[0021] When maintenance is needed, first turn off the power of the equipment, remove the safety fence 24, move the six-axis robot 21 and the base 4 to the fixed track position, then disconnect the power of the electromagnetic lock assembly 34, press the unlocking structure of the mechanical buckle assembly 35 to make the limiting block 354 disengage from the wedge-shaped lock block 353, release the locking between the ground rails 3, and then use the pulley 62 of the second support assembly 6 to disassemble and transport the movable track sections of the ground rails 3. After being emptied, the maintenance work can be started.

[0022] The above is only an embodiment of the present application, and the specific structure and characteristics of the scheme are not described in detail. It should be noted that for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should be considered as the protection scope of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A detachable ground rail for an automatic labeling robot, characterized in that, The system includes a ground rail body (1), on which a six-axis robot (21) is attached. A labeling fixture (22) is attached to the end of the six-axis robot (21). A label printing mechanism (23) is provided on the side of the six-axis robot (21). A steel coil (25) is provided in front of the ground rail body (1). A safety fence (24) is provided on the outside of the ground rail body (1). The ground rail body (1) includes several sections of ground rail (3), one section of ground rail (3) serving as a fixed track, and the other sections of ground rail... (3) A movable track is formed by splicing an electromagnetic lock assembly (34) and a mechanical buckle assembly (35). A first support frame (5) is bolted to the bottom of the ground rail (3) which serves as a fixed track. A second support assembly (6) is bolted to the bottom of the ground rail (3) at both ends of the movable track. Guide rails (31) are fixed on both sides of the ground rail (3). A ball track (32) is provided inside the guide rail (31). A lifting assembly (33) is fixed to the bottom of the ball track (32). A movable base (4) is provided above the ground rail (3).

2. The detachable ground rail for an automatic labeling robot according to claim 1, characterized in that, The ball track (32) can move up and down within the guide rail (31). The bottom of the guide rail (31) is provided with a through hole. The lifting component (33) is fixedly connected to the ball track (32) through the through hole at the bottom of the guide rail (31).

3. The detachable ground rail for an automatic labeling robot according to claim 1, characterized in that, The lifting assembly (33) includes an upper outer tube (331) and a lower outer tube (332), which are nested together. The upper outer tube (331) is fixed to the bottom of the ball track (32), and the lower outer tube (332) is fixed to the side of the ground rail (3). A lead screw shaft (333) is connected to the bearing inside the upper outer tube (331). A lead screw sleeve (334) is threaded to the lower end of the lead screw shaft (333). The lower end of the lead screw sleeve (334) is connected to the bottom of the lower outer tube (332) through a bearing. The drive motor of the lead screw sleeve (334) is bolted to the bottom of the ground rail (3).

4. The detachable ground rail for an automatic labeling robot according to claim 1, characterized in that, The electromagnetic lock assembly (34) includes a lock body (341) and an adsorption plate (342). The lock body (341) is bolted to the right side of the ground rail (3), and the adsorption plate (342) is bolted to the left side of the ground rail (3). The surfaces of the lock body (341) and the adsorption plate (342) are flush with the end face of the ground rail (3).

5. The detachable ground rail for an automatic labeling robot according to claim 1, characterized in that, The mechanical buckle assembly (35) includes a base (351) and a lock head (352). The base (351) is embedded in both ends of the right connecting surface of the ground rail (3). The lock head (352) is fixed to both ends of the left connecting surface of the ground rail (3). A wedge-shaped locking block (353) is sleeved on the lock head (352). A limiting block (354) matching the lock head (352) is provided in the base (351). The limiting block (354) is connected to the base (351) by a spring (355).

6. The detachable ground rail for an automatic labeling robot according to claim 1, characterized in that, The ground rail (3) has a positioning hole (361) on the right end face and a positioning device (362) corresponding to the positioning hole (361) is attached to the left end face of the ground rail (3).

7. The detachable ground rail for an automatic labeling robot according to claim 1, characterized in that, The second support assembly (6) has a cylinder (61) on its support leg and a pulley (62) is bolted to the bottom of the second support assembly (6).

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