Ground rail for robot steering

Abstract

The utility model relates to the technical field of robot ground rail operation, in particular to a ground rail for robot steering, which comprises a ground rail, a graduator, a turntable, a bearing module, a locking module and a brake module, the turntable is fixedly mounted on the graduator, the graduator is fixed at the joint of the ground rails through a mounting bottom plate below the graduator, and the graduator drives the turntable to rotate, so that the turntable rail is connected with the ground rails; the load-bearing module carries out load-bearing work; the locking module is mounted on the turntable to release and lock the turntable; the multi-face movement operation of the robot is achieved, the multi-face movement control device is suitable for machining and equipping of large parts, the labor productivity is improved, the number of workers is reduced, the production cost is reduced, industrial production automation is accelerated, a factory can control the production rhythm more accurately, and the multi-face movement control device is safe, efficient and high in practicability. And rapid production can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of robot ground rail operation, in particular to a ground rail used for robot steering. Background Art

[0002] With the continuous innovation of science and technology, the rapid development of industrial automation and intelligent manufacturing, automated equipment has gradually replaced traditional manual labor, and equipment has been continuously upgraded to transform and upgrade equipment interconnection and production intelligence. At present, the most common automated production line in the manufacturing industry is an assembly line, which uses robots and manipulators to replace manual operations, and even to carry out transportation or processing in a larger area. The ground rail is a device that assists robots, manipulators and other equipment to move within a certain range.

[0003] Traditional ground rail operations are generally performed in linear motion, which cannot realize the multi-faceted motion operation of the robot and has low production efficiency. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings of the above-mentioned prior art, and propose a steering rail that can achieve the effect of turning through the traditional straight rail, and provide a ground rail for robot steering, including: a ground rail, a divider, a turntable, a load-bearing module, a locking module and a brake module;

[0005] The ground rail comprises a first direction ground rail and a second direction ground rail, one end of the first direction ground rail and the second direction ground rail are fixedly connected through the indexer, and a certain angle is formed between the first direction ground rail and the second direction ground rail;

[0006] Parallel turntable tracks are installed on both sides of the turntable, the turntable is installed and fixed on the indexer, and the indexer is fixed at the intersection of the ground rails through the mounting base below, and the indexer drives the turntable to rotate so that the turntable track is connected to the ground rail;

[0007] The load-bearing module includes a horizontal thrust cylinder, a plurality of positioning blocks and a load-bearing sliding member, and the positioning block cooperates with the load-bearing sliding member to perform load-bearing work;

[0008] The locking module comprises a locking cylinder and a locking sliding member, and the locking module is installed on the turntable to release and lock the turntable;

[0009] The brake module includes a lifting cylinder and a hook, and the brake module is used to block and release the robot slide.

[0010] Furthermore, the load-bearing sliding components are respectively installed on the ground rails close to the turntable, and each of the load-bearing sliding components includes a sliding guide rail, two load-bearing sliders and a slider connecting rod. The slider connecting rod connects the two load-bearing sliders, and the bottom of the load-bearing slider is close to the ground rail. The load-bearing slider pushes the slider connecting rod to slide on the sliding guide rail through the extension movement of the transverse thrust cylinder.

[0011] Furthermore, the positioning block is installed under the turntable. The positioning block is a concave-shaped structure and is inverted under the turntable. The load-bearing slider slides into the groove under the positioning block and is connected with the positioning block. The load-bearing slider and the positioning block jointly bear the load-bearing work of the robot slide entering the turntable.

[0012] Furthermore, the ground rail adopts a roller slider rail, the diameter of the indexer is much smaller than the diameter of the turntable, and the indexer is electrically connected to the motor.

[0013] Furthermore, a hollow circle is provided at the center of the turntable, and the turntable rotates under the drive of the indexer. The limit angle of rotation is the angle between the first direction ground rail and the second direction ground rail. The rotation connects the turntable track with the first direction ground rail or the second direction ground rail.

[0014] Furthermore, the locking sliding component includes a locking slider and a limiting guide rail. When the locking slider slides to the hollow circular part in the middle of the turntable, it is locked with the turntable to limit the rotation of the turntable.

[0015] Furthermore, before the robot slide enters the turntable from the target ground rail and leaves the turntable to enter the target ground rail:

[0016] The turntable track of the turntable rotates to connect with the target ground rail;

[0017] The horizontal push cylinder on the target ground rail extends to push the corresponding load-bearing sliding block to cooperate with the positioning block to perform load-bearing work;

[0018] The locking cylinder extends to push the locking slide to lock the rotating disk.

[0019] Furthermore, a pin is provided below the hook in the brake module, and the pin is connected to the lifting cylinder, and the hook is lifted and lowered by the lifting and lowering movement of the lifting cylinder.

[0020] When the hook is lifted, it hooks the robot slide and restricts the robot slide from moving forward;

[0021] When the hook is lowered, the robot slide is released.

[0022] Furthermore, a plurality of sensors are installed on the ground rail, and a sensor sheet is installed on the turntable, and the positioning of the robot slide is achieved through the sensors and the sensor sheet.

[0023] Furthermore, a wire trough is arranged on the outer side of the ground rail, a plurality of dust discharge ports are arranged on the bottom edge of the wire trough, a tank chain is arranged in the wire trough, and the tank chain is used to accommodate electrical wires and various transmission lines.

[0024] Furthermore, the movable end of the tank chain is attached to the outer wall inside the wire trough, and the drag chain bracket of the robot slide contacts the movable end of the tank chain during operation, dragging the tank chain, and the other end of the tank chain is attached to the inner wall inside the wire trough and moves in the wire trough opposite to the travel direction of the robot slide.

[0025] Compared with the prior art, the beneficial effects of the utility model are:

[0026] (1) The traditional straight track is modified to achieve the effect of turning, and the production cost is low;

[0027] (2) The turning track enables the robot to perform multi-faceted motion operations, which is suitable for the processing and equipment of large parts and improves labor productivity;

[0028] (3) The steering movement is accurately controlled through the joint action of the load-bearing module, the brake module and the locking module to avoid damage to the indexer, which is safe and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 This is a schematic diagram of an overview of a ground rail for robot steering according to the utility model;

[0031] Figure 2 This is a partial schematic diagram of a ground rail steering device for robot steering according to the utility model;

[0032] Figure 3 This is a perspective view from below of a ground rail turntable for robot steering according to the utility model;

[0033] Figure 4 This is a schematic diagram of a steering robot of the utility model entering a turntable from a first direction ground rail;

[0034] Figure 5 It is a schematic diagram of a steering robot turning and leaving the turntable to enter the second direction track of the utility model;

[0035] Reference numerals

[0036] 1: Robot slide; 2: First direction ground rail; 3: Second direction ground rail; 4: Turntable;

[0037] 41: turntable track; 42: motor;

[0038] 5: Brake module;

[0039] 51: Lifting cylinder; 52: Hook;

[0040] 6: load-bearing module;

[0041] 61: Horizontal push cylinder; 621: Load-bearing slider; 622: Slider connecting rod; 63: Sliding guide rail; 64: Positioning block;

[0042] 7: Lock module;

[0043] 71: locking cylinder; 72: locking slide; 73: limiting guide rail;

[0044] 8: Wire trough; 9: Tank chain; 10: Indexer;

[0045] 100: Induction sheet. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0048] The specific implementation of the present utility model is described below in conjunction with the accompanying drawings and embodiments.

[0049] Example 1

[0050] like Figure 1 As shown, a ground rail for robot steering provided in this embodiment includes: a ground rail, a divider 10, a turntable 4, two load-bearing modules 6, a locking module 7 and two brake modules 5;

[0051] like Figure 2 and Figure 3 As shown, the ground rail comprises a first direction ground rail 2 and a second direction ground rail 3, one end of the first direction ground rail 2 and the second direction ground rail 3 are fixedly connected through the indexer 10, and a certain angle is formed between the first direction ground rail 2 and the second direction ground rail 3;

[0052] Turntable rails 41 are installed on both sides of the turntable, the turntable 4 is installed and fixed on the indexer 10, and the indexer 10 is fixed at the intersection of the ground rails through the mounting base below. The indexer 10 drives the turntable 4 to rotate, so that the turntable rails 41 are connected to the ground rails;

[0053] The load-bearing module 6 includes two horizontal thrust cylinders 61, four positioning blocks 64 and two load-bearing sliding members. The positioning blocks 64 are installed below the turntable. The load-bearing sliding members are respectively installed on the ground rails close to the turntable 4. The positioning blocks 64 cooperate with the load-bearing sliding members to carry out load-bearing work.

[0054] The locking module includes a locking cylinder 71 and a locking sliding member, and the locking module is installed on the rotating disk 4 to release and lock the rotating disk 4;

[0055] The brake module 5 includes a lifting cylinder 51 and a hook 52 , and is used to block and release the robot slide 1 .

[0056] Among them, in this embodiment, if Figure 2 As shown, each of the load-bearing sliding components includes a sliding guide rail 63, two load-bearing sliders 621 and a slider connecting rod 622. The slider connecting rod 622 connects the two load-bearing sliders 621. The load-bearing sliders 621 are tightly attached to the ground rail below. The load-bearing sliders 621 push the slider connecting rod 622 to slide on the sliding guide rail 63 through the extension movement of the transverse thrust cylinder 61.

[0057] Specifically, Figure 2 As shown, the positioning block 64 is a concave-shaped structure, which is inverted under the turntable 4. Each load-bearing slider 621 slides into the groove below the positioning block 64 and is connected to the positioning block 64. The load-bearing slider 621 and the positioning block 64 jointly bear the load-bearing work of the robot slide 1 entering the turntable 4.

[0058] Furthermore, the ground rail adopts a roller slider rail, and the ground rail includes a first direction ground rail 2 and a second direction ground rail 3. There is a certain angle between the first direction ground rail 2 and the second direction ground rail 3. The first direction ground rail 2 and the second direction ground rail 3 are connected at the intersection through the indexer 10. The diameter of the indexer 10 is much smaller than the diameter of the turntable 4. The indexer 10 is electrically connected to the motor 42.

[0059] Specifically, Figure 2 and Figure 3 As shown, a hollow circle is provided at the center of the turntable 4. The turntable 4 rotates under the drive of the indexer 10. The limit angle of rotation is the angle of the ground rail. The rotation connects the turntable track 41 with the first direction ground rail 2 or the second direction ground rail 3.

[0060] Furthermore, the locking sliding component includes a locking slider 72 and a limiting guide rail 73 . When the locking slider 72 slides to the hollow circular portion in the middle of the turntable 4 , it is locked with the turntable 4 to limit the rotation of the turntable 4 .

[0061] Wherein, before the robot slide 1 enters the turntable 4 from the target ground rail and leaves the turntable 4 to enter the target ground rail:

[0062] The turntable track 41 of the turntable 4 rotates to connect with the target ground track;

[0063] The horizontal push cylinder 61 on the target ground rail extends to push the corresponding load-bearing slider 621 to cooperate with the positioning block 64 to perform load-bearing work;

[0064] The locking cylinder 71 extends to push the locking slider 72 to lock the rotating disk 4 .

[0065] Specifically, in this embodiment, a pin is installed below the hook 52 in the brake module 5, and the pin is connected to the lifting cylinder 51. The hook 52 is lifted and lowered by the lifting and lowering movement of the lifting cylinder 51.

[0066] When the hook 52 is lifted up, it hooks the robot slide 1 and restricts the robot slide 1 from moving forward;

[0067] When the hook 52 is lowered, the robot slide 1 is released.

[0068] Preferably, a plurality of sensors are installed on the ground rail, and a sensor sheet 100 is installed on the turntable, and the positioning of the robot slide is achieved through the sensors and the sensor sheet 100.

[0069] A wire trough 8 is arranged on the outer side of the ground rail, and a plurality of dust discharge ports are arranged on the bottom edge of the wire trough 8. A tank chain 9 is arranged in the wire trough 8, and the tank chain 9 is used to accommodate electric wires and various transmission lines.

[0070] The movable end of the tank chain 9 is attached to the outer wall inside the wire trough 8. After the drag chain bracket of the robot slide 1 contacts the movable end of the tank chain 9 during operation, it drags the tank chain 9. The other end of the tank chain 9 is attached to the inner wall inside the wire trough 8 and moves in the wire trough 8 opposite to the travel direction of the robot slide 1.

[0071] like Figure 4 and Figure 5 As shown, the working principle or working process of a ground rail for robot steering provided in this embodiment is as follows:

[0072] Enter turntable 4 from track 2 in the first direction:

[0073] (1) The robot slide 1 slides on the first direction ground rail 2 toward the turntable 4. When the sensor senses that the robot slide 1 reaches the brake module 5, the motor 42 operates, and the indexer 10 drives the turntable 4 to rotate, so that the turntable track 41 is connected to the first direction ground rail 2;

[0074] (2) The horizontal push cylinder 61 on the first direction ground rail 2 extends out to push the two load-bearing slide blocks 621 into the grooves under the corresponding two positioning blocks 64;

[0075] (3) The lifting cylinder 51 on the first direction ground rail 2 descends, and at the same time, the locking cylinder 71 extends to push the locking slider 72 to lock the turntable 4;

[0076] (4) The robot slide 1 continues to move forward and reaches the center of the turntable 4 along the track.

[0077] The turntable 4 rotates to realize the steering of the robot slide 1:

[0078] (1) The locking cylinder 71 is retracted, the locking slider 72 returns to its original position, the turntable 4 is released, and at the same time, the push cylinder 61 on the second direction ground rail 2 is retracted, and the load-bearing slider 621 of the second direction ground rail 3 is in the initial position;

[0079] (2) The motor 42 operates, and the indexer 10 drives the turntable 4 to rotate, so that the turntable track 41 is connected to the second direction ground track 3;

[0080] (3) The horizontal pushing cylinder 61 on the second direction ground rail 3 extends out to push the corresponding two load-bearing slide blocks 621 into the grooves under the corresponding two positioning blocks 64. At the same time, the locking cylinder 71 extends out to push the locking slide block 72 to lock the turntable 4.

[0081] Leave turntable 4 and enter the second direction track 3:

[0082] (1) the lifting cylinder 51 on the second direction ground rail 3 descends;

[0083] (2) the robot slide 1 moves out of the turntable 4 and enters the second direction ground rail 3, exceeding the position of the brake module 5 on the second direction ground rail 3;

[0084] (3) The lifting cylinder 51 on the second direction ground rail 3 is lifted, and the locking cylinder 71 extends to push the locking slider 72 to lock the turntable 4.

[0085] Finally, it should be noted that the above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

[0086] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A ground rail for robot steering, characterized in that: include: Floor rails, indexers, turntables, load-bearing modules, locking modules and brake modules; The ground rail comprises a first direction ground rail and a second direction ground rail, one end of the first direction ground rail and the second direction ground rail are fixedly connected through the indexer, and a certain angle is formed between the first direction ground rail and the second direction ground rail; Parallel turntable tracks are installed on both sides of the turntable, the turntable is installed and fixed on the indexer, and the indexer is fixed at the intersection of the ground rails through the mounting base below, and the indexer drives the turntable to rotate so that the turntable track is connected to the ground rail; The load-bearing module includes a horizontal thrust cylinder, a plurality of positioning blocks and a load-bearing sliding member, and the positioning block cooperates with the load-bearing sliding member to perform load-bearing work; The locking module comprises a locking cylinder and a locking sliding member, and the locking module is installed on the turntable to release and lock the turntable; The brake module includes a lifting cylinder and a hook, and the brake module is used to block and release the robot slide.

2. The ground rail for robot steering according to claim 1, characterized in that: The load-bearing sliding components are respectively installed on the ground rails close to the turntable, and each of the load-bearing sliding components includes a sliding guide rail, two load-bearing sliders and a slider connecting rod. The slider connecting rod connects the two load-bearing sliders, and the bottom of the load-bearing slider is close to the ground rail. The load-bearing slider pushes the slider connecting rod to slide on the sliding guide rail through the extension movement of the transverse thrust cylinder.

3. The ground rail for robot steering according to claim 2, characterized in that: The positioning block is installed under the turntable. The positioning block is a concave-shaped structure and is inverted under the turntable. The load-bearing sliding block slides into the groove under the positioning block and is connected to the positioning block. The load-bearing sliding block and the positioning block jointly bear the load-bearing work of the robot slide entering the turntable.

4. The ground rail for robot steering according to claim 3, characterized in that: The ground rail adopts a roller slider rail, the diameter of the indexer is much smaller than the diameter of the turntable, and the indexer is electrically connected to the motor.

5. The ground rail for robot steering according to claim 4, characterized in that: A hollow circle is arranged at the center of the turntable. The turntable rotates under the drive of the indexer. The rotation limit angle is the included angle between the first direction ground rail and the second direction ground rail. The rotation connects the turntable track with the first direction ground rail or the second direction ground rail.

6. The ground rail for robot steering according to claim 5, characterized in that: The locking sliding component comprises a locking slider and a limiting guide rail. When the locking slider slides to the hollow circular part in the middle of the rotating disk, it is locked with the rotating disk to limit the rotation of the rotating disk.

7. The ground rail for robot steering according to claim 6, characterized in that: Before the robot slide enters the turntable from the target ground rail and leaves the turntable to enter the target ground rail: The turntable track of the turntable rotates to connect with the target ground rail; The horizontal push cylinder on the target ground rail extends to push the corresponding load-bearing sliding block to cooperate with the positioning block to perform load-bearing work; The locking cylinder extends to push the locking slide to lock the rotating disk.

8. The ground rail for robot steering according to claim 1, characterized in that: A pin is installed below the hook in the brake module, and the pin is connected to the lifting cylinder. The hook is lifted and lowered by the lifting and lowering movement of the lifting cylinder. When the hook is lifted, it hooks the robot slide and restricts the robot slide from moving forward; When the hook is lowered, the robot slide is released.

9. The ground rail for robot steering according to claim 1, characterized in that: A plurality of sensors are installed on the ground rail, and a sensor sheet is installed on the turntable, and the positioning of the robot slide is achieved through the sensors and the sensor sheet.

10. The ground rail for robot steering according to claim 1, characterized in that: A wire trough is arranged on the outer side of the ground rail, a plurality of dust discharge ports are arranged on the bottom edge of the wire trough, a tank chain is arranged in the wire trough, and the tank chain is used to accommodate electric wires and various transmission lines.

11. The ground rail for robot steering according to claim 10, characterized in that: The movable end of the tank chain is attached to the outer wall inside the wire trough. After the drag chain bracket of the robot slide contacts the movable end of the tank chain during operation, the tank chain is dragged. The other end of the tank chain is attached to the inner wall inside the wire trough and moves in the wire trough opposite to the travel direction of the robot slide.

Images