Track mechanism of automatic production line transfer robot
By designing an integrated track system, including ground track mechanisms, air track mechanisms and support gantry, the flexibility and efficiency problems caused by the single existing track structure are solved, and the precise positioning and movement of the robot in three-dimensional space is achieved, which significantly improves performance and adaptability and improves production efficiency.
Patent Information
- Application Number
- CN202421725721.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-22
- Publication Date
- 2025-06-13
- Estimated Expiration
- 2034-07-22
AI Technical Summary
The track structure of the existing automated production line handling robot is single, which limits its flexibility and efficiency in complex production environments and affects the adaptability and conversion efficiency of the robot in different production links.
An integrated track system is designed, including a ground track mechanism, an aerial track mechanism and a support gantry. The ground track mechanism provides the main movement path in the horizontal direction of the robot. The aerial track mechanism provides three-dimensional motion capability to support the gantry to connect the ground and an aerial track mechanism to realize the precise positioning and movement of the robot in the three-dimensional space.
It significantly improves the performance of the handling robot and the adaptability of the use scenarios, increases operational flexibility and work efficiency, and is suitable for automated handling needs in various industrial environments, improves production efficiency and reduces operating costs.
Smart Images
Figure CN222974719U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical fields of automation and intelligent manufacturing, and particularly relates to a track mechanism of a handling robot for an automated production line. Background Technique
[0002] The handling robot for an automated production line is an important device in the field of industrial robots. Its main function is to automatically handle materials between different production links to maximize production efficiency and minimize labor costs. The design and function of this kind of robot are highly specialized and have the ability to operate stably in various industrial environments.
[0003] The handling robot for an automated production line realizes the automated handling task of the robot on the production line through a specific track design. Therefore, the track mechanism of the handling robot for an automated production line is an indispensable part of modern manufacturing. The optimization of its design and function not only improves production efficiency but also brings higher economic benefits and market competitiveness to enterprises.
[0004] Although the handling robot greatly improves the efficiency and safety of the automated production line, it is found that the track structure of the current production line handling robot is single. The singleness of its track structure limits its flexibility and efficiency in complex production environments, restricts the working range of the robot. In addition, the singleness of the track structure also affects the adaptability and conversion efficiency of the robot in different production links. Content of the Utility Model
[0005] The purpose of the utility model is to provide a track mechanism of a handling robot for an automated production line to solve the problems raised in the above background technique.
[0006] To achieve the above purpose, the utility model provides the following technical solution:
[0007] A track mechanism of a handling robot for an automated production line includes a robot body, a ground track mechanism, an aerial track mechanism, and a support gantry. The robot body is located on the aerial track mechanism. The ground track mechanism includes ground support platforms arranged in a symmetric structure. A handling sliding component is arranged on the top of each ground support platform, and a first driving component is arranged on the outer wall of the ground support platform at one end of each handling sliding component;
[0008] The support gantry includes support columns arranged in a symmetric structure and a support truss connected between the tops of the two support columns through a handling rotating component. The aerial track mechanism is located on the support truss, and a support base is arranged at the bottom of each support column;
[0009] The aerial rail mechanism includes a handling displacement component and a handling fixing frame. The handling fixing frame is in a rectangular structure and sleeved on the support truss. A fixing plate is connected and arranged at the bottom of the handling fixing frame, and the robot body is fixedly located on the outer wall of the fixing plate.
[0010] As a preferred solution of the present utility model, each of the handling sliding components includes a first electric screw rod slide rail. The first electric screw rod slide rail is parallelly embedded in the inner top of the ground support platform. A first handling slider is slidably arranged on the first electric screw rod slide rail, and a fixing seat for fixing with the ground is arranged on the outer wall of the ground support platform.
[0011] As a preferred solution of the present utility model, the first driving component includes a first motor. One end of the screw rod of each first electric screw rod slide rail is connected to the output end of the first motor through a coupling.
[0012] As a preferred solution of the present utility model, the support columns are symmetrically distributed on the first electric screw rod slide rails at the top of the ground support platform. The bottom of the support column is fixed to the top of the first handling slider through the support base, and the support base slides on the first electric screw rod slide rail inside the ground support platform.
[0013] As a preferred solution of the present utility model, the handling rotation component includes a rotating shaft and a rotating motor. The rotating shafts are symmetrically fixed at both ends of the support truss. Each rotating shaft is connected to the inner wall of the top of the adjacent support column through a bearing seat. The rotating motor is located on the outer wall of one side of the top of the support column. One end of the rotating shaft close to the rotating motor penetrates through the support column and extends to the outside and is fixed to the output end of the rotating motor through a coupling.
[0014] As a preferred solution of the present utility model, the handling displacement component includes a handling displacement motor, a rack and a gear. The racks are symmetrically structured and parallelly distributed on the outer walls of both sides below the support truss. The handling displacement motors are fixedly located at both sides of the bottom of the fixing plate below the handling fixing frame through connecting plates. The output end of the top of each handling displacement motor penetrates through the fixing plate and is connected to the gear, and the gear is meshed and connected to the adjacent rack.
[0015] As a preferred solution of the present utility model, a chute is horizontally opened at the top of the support truss. A sliding block is connected to the inner wall of the side of the handling fixing frame away from the fixing plate, and the sliding block slides inside the chute.
[0016] Compared with the prior art, the beneficial effects of the present utility model are:
[0017] To address the problems in the background art, the logistics handling robot of the present application is provided with a ground track mechanism that cooperates with a support gantry and is connected to an aerial track mechanism. An integrated track system is adopted, combining the ground and the hollow track mechanisms, and designed in cooperation with the gantry to significantly improve the performance of the handling robot and the adaptability of the usage scenarios, facilitating the handling robot to carry out handling on an automated production line;
[0018] Although traditional ground tracks are stable, they are limited to two-dimensional plane movement, while the hollow track mechanism provides better space utilization and three-dimensional movement capabilities, significantly improving the performance of the handling robot and the adaptability of the usage scenarios;
[0019] The ground track mechanism provides the main movement path for the robot in the horizontal direction, suitable for large-range planar movement and material transfer between different production lines in a factory workshop. The aerial track mechanism is installed on the gantry system, and the support truss can rotate, further driving the aerial track mechanism to rotate, facilitating the robot to perform precise positioning and movement in three-dimensional space, greatly increasing the flexibility of operation and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 is an overall axonometric view of the present utility model;
[0021] Figure 2 is a schematic diagram of the overall structure of the present utility model;
[0022] Figure 3 is a schematic diagram of the structure of the aerial track mechanism of the present utility model;
[0023] Figure 4 is a schematic diagram of the structure of the ground track mechanism of the present utility model.
[0024] In the figure: 1, ground track mechanism; 11, ground support platform; 12, first electric screw rail; 13, first handling slider; 14, first motor; 2, aerial track mechanism; 21, handling fixing frame; 211, fixing plate; 212, sliding block; 22, handling displacement motor; 23, rack; 24, gear; 3, support gantry; 31, support column; 32, handling rotation assembly; 321, rotating shaft; 322, rotating motor; 33, support truss; 331, chute; 34, support base. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0025] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the embodiments of the present utility model.
[0026] Embodiment
[0027] In this application document, each device adopts a conventional model in the prior art, and the control method is automatically controlled by a controller. The control circuit of the controller can be realized by simple programming by those skilled in the art, which belongs to the common general knowledge in this field.
[0028] Please refer to Figures 1-4 , the present utility model provides a technical solution: a track mechanism for a handling robot of an automated production line, including a robot body, a ground track mechanism 1, an aerial track mechanism 2, and a support gantry 3. The robot body is located on the aerial track mechanism 2. The ground track mechanism 1 includes ground support platforms 11 arranged in a symmetrical structure. A handling sliding assembly is provided on the top of each ground support platform 11, and a first driving assembly is provided on the outer wall of the ground support platform 11 at one end of each handling sliding assembly; each handling sliding assembly includes a first electric screw rail 12, the first electric screw rail 12 is parallelly embedded in the inner top of the ground support platform 11, a first handling slider 13 is slidably arranged on the first electric screw rail 12, and a fixing seat for fixing to the ground is provided on the outer wall of the ground support platform 11; the first driving assembly includes a first motor 14, and the screw end of each first electric screw rail 12 is connected to the output end of the first motor 14 through a coupling; the support gantry 3 includes support columns 31 arranged in a symmetrical structure and a support truss 33 connected between the tops of the two support columns 31 through a handling rotating assembly 32. The aerial track mechanism 2 is located on the support truss 33, and a support base 34 is provided at the bottom of each support column 31; the support columns 31 are symmetrically distributed on the first electric screw rails 12 on the top of the ground support platforms 11, and the bottom of the support column 31 is fixed to the top of the first handling slider 13 through the support base 34, and the support base 34 slides on the first electric screw rail 12 inside the ground support platform 11.
[0029] It should be noted that in this embodiment, the ground track mechanism 1 serves as the basis of the system, providing a support movement path for the robot in the horizontal direction on the ground, enabling the robot to move smoothly along a predetermined path in the factory workshop, and being suitable for large-range planar movement, such as material transfer between different production lines. The stability and reliability of this mechanism ensure the safety and accuracy of the robot during operation;
[0030] Furthermore, the support gantry 3 is a key part connecting the ground track mechanism 1 and the aerial track mechanism 2. While taking into account stability and flexibility, it can bear the weight of the aerial track and the handling robot, and can also allow the aerial track mechanism 2 to rotate within a certain range, meeting the precise handling requirements of the robot for high-position materials. Moreover, the designed height and width of the gantry can be adjusted to adapt to different industrial environments and requirements;
[0031] Further, the support columns 31 are symmetrically distributed on the first electric screw rod slide rail 12 at the top of the ground support platform 11. The bottom of the support column 31 is fixed to the top of the first handling slider 13 through a support base 34. The support base 34 slides on the first electric screw rod slide rail 12 inside the ground support platform 11. When the first motor 14 is started, the rotation of the first motor 14 drives the screw rod of the first electric screw rod slide rail 12 to rotate. The first handling slider 13 on the first electric screw rod slide rail 12 makes a sliding displacement, and at the same time drives the support column 31 to displace. Since the support truss 33 is connected to the two support columns 31, it further drives the handling robot at the bottom of the handling fixing frame 21 on the support truss 33 to displace, providing a support movement path for the robot in the horizontal direction on the ground, enabling the robot to move smoothly along a predetermined path in the factory workshop, being applicable to large-range planar movement, and the stability and reliability ensuring the safety and accuracy of the robot during operation.
[0032] Please refer to Figure 2 and 3 As shown in FIGS. and, the aerial rail mechanism 2 includes a handling displacement assembly and a handling fixing frame 21. The handling fixing frame 21 is in a rectangular structure and sleeved on the support truss 33. A fixing plate 211 is connected and arranged at the bottom of the handling fixing frame 21. The robot body is fixedly located on the outer wall of the fixing plate 211. The handling rotation assembly 32 includes a rotating shaft 321 and a rotating motor 322. The rotating shafts 321 are symmetrically fixed at both ends of the support truss 33. Each rotating shaft 321 is connected to the inner wall of the top of the support column 31 close to it through a bearing seat. The rotating motor 322 is located on the outer wall of one side of the top of the support column 31. The rotating shaft 321 at one end close to the rotating motor 322 penetrates the support column 31 and extends to the outside and is fixed to the output end of the rotating motor 322 through a coupling. The handling displacement assembly includes a handling displacement motor 22, a rack 23 and a gear 24. The racks 23 are symmetrically distributed in parallel on the outer walls of both sides below the support truss 33. The handling displacement motors 22 are fixedly located at the bottoms of both sides of the fixing plate 211 below the handling fixing frame 21 through connecting plates. The output end of the top of each handling displacement motor 22 penetrates the fixing plate 211 and is connected to the gear 24. The gear 24 meshes with the rack 23 close to it. A chute 331 is horizontally opened at the top of the support truss 33. A sliding block 212 is connected to the inner wall of the side of the handling fixing frame 21 away from the fixing plate 211. The sliding block 212 slides inside the chute 331.
[0033] It should be noted that in this embodiment, the support truss 33 is connected to the inner wall of the top of the support column 31 through the rotating shaft 321 and the bearing seat. One end of one rotating shaft 321 penetrates through the support column 31 and is fixed to the output end of the rotating motor 322 on the outer wall through a coupling. By rotating the rotating motor 322, the support truss 33 can be driven to rotate, further driving the handling fixture 21 and the robot connected to the bottom fixing plate 211 to rotate, facilitating the precise positioning and movement of the robot in three-dimensional space, and greatly increasing the flexibility of operation and work efficiency.
[0034] Furthermore, the aerial track mechanism 2 is installed on the support truss 33 of the support gantry 3. This track mechanism is not limited to linear or planar motion. It can also achieve the rotation of the aerial track mechanism 2 through the rotation function of the support truss 33, enabling the robot to perform precise positioning and movement in three-dimensional space, greatly increasing the flexibility of operation, especially being prominent in operations that require vertical or inclined handling.
[0035] Furthermore, the handling displacement motor 22 is fixedly located on the bottom fixing plate 211 of the handling fixture 21. The handling robot is located at the bottom of the fixing plate 211. The sliding block 212 on the handling fixture 21 slides inside the sliding groove 331 opened on the support truss 33. When the handling displacement motor 22 is started, the gear 24 on its output end meshes with the racks 23 on both outer walls at the bottom of the support truss 33. The gear 24 meshes and displaces on the rack 23, further driving the handling fixture 21 to displace on the support truss 33 for handling by the robot.
[0036] Furthermore, through the ingenious combination of the handling displacement motor 22, the gear 24 and the rack 23, and the precise guidance of the sliding block 212 and the sliding groove 331, the displacement mechanism of the handling robot not only realizes efficient and precise material handling but also improves the stability and reliability of the overall system, is suitable for the automated handling requirements in various industrial environments, and can effectively improve production efficiency and reduce operating costs.
[0037] The working process of the present utility model:
[0038] When in use, place the goods to be handled at the bottom of the support gantry 3. Start the first motor 14. The first motor 14 rotates to drive the screw of the first electric screw slide rail 12 to rotate. While the first handling slider 13 on the first electric screw slide rail 12 slides and displaces, it drives the support column 31 to displace. Since the support truss 33 is connected to the two support columns 31, it further drives the handling robot at the bottom of the handling fixture 21 on the support truss 33 to displace, providing a support movement path for the robot in the horizontal direction on the ground.
[0039] The support truss 33 is connected to the inner wall of the top of the support column 31 through the rotating shaft 321 to connect the bearing seat. One end of one of the rotating shafts 321 penetrates through the support column 31 and is fixed to the output end of the rotating motor 322 on the outer wall through a coupling. When the robot needs to be rotated, the controller controls the rotation of the rotating motor 322, which can drive the support truss 33 to rotate, and further drive the handling fixture 21 and the robot connected to the bottom fixing plate 211 to rotate, facilitating the precise positioning and movement of the robot in three-dimensional space;
[0040] When the controller controls the operation of the handling displacement motor 22, the gear 24 on its output end meshes with the racks 23 on both outer sides of the bottom of the support truss 33. The gear 24 meshes and displaces on the rack 23, further driving the handling fixture 21 to displace on the support truss 33, and the robot is used for handling. By adopting an integrated track system, combining the ground and the hollow track mechanism, and cooperating with the gantry design, the performance of the handling robot and the adaptability of the usage scenario are significantly improved, facilitating the handling robot to carry out handling on the automated production line.
[0041] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A track mechanism for an automated production line handling robot, comprising a robot body, a ground track mechanism (1), an aerial track mechanism (2) and a supporting gantry (3), characterized in that: The robot body is located on the aerial track mechanism (2), the ground track mechanism (1) comprises a ground support platform (11) arranged in a symmetrical structure, a transport sliding assembly is arranged on the top of each ground support platform (11), and a first driving assembly is arranged on the outer wall of the ground support platform (11) at one end of each transport sliding assembly; The supporting gantry (3) comprises supporting columns (31) arranged in a symmetrical structure and a supporting truss (33) connected between the tops of two supporting columns (31) via a transport rotating assembly (32), the aerial track mechanism (2) is located on the supporting truss (33), and a supporting base (34) is arranged at the bottom of each supporting column (31); The aerial track mechanism (2) comprises a transport displacement component and a transport fixed frame (21); the transport fixed frame (21) is in a rectangular structure and is sleeved on the support truss (33); a fixing plate (211) is connected to the bottom of the transport fixed frame (21); and the robot body is fixedly located on the outer wall of the fixing plate (211).
2. The track mechanism of the automated production line handling robot according to claim 1, characterized in that: Each of the transport sliding assemblies comprises a first electric screw rail (12), the first electric screw rail (12) being embedded in parallel at the top of the ground support platform (11), a first transport sliding block (13) being slidably arranged on the first electric screw rail (12), and a fixing seat for fixing to the ground being arranged on the outer wall of the ground support platform (11).
3. The track mechanism of the automated production line handling robot according to claim 2, characterized in that: The first driving assembly comprises a first motor (14), and one end of the screw of each of the first electric screw slide rails (12) is connected to the output end of the first motor (14) via a coupling.
4. The track mechanism of the automated production line handling robot according to claim 3, characterized in that: The support columns (31) are symmetrically distributed on the first electric screw guide rail (12) at the top of the ground support platform (11); the bottom of the support columns (31) is fixed to the top of the first transport slider (13) via the support base (34); and the support base (34) slides on the first electric screw guide rail (12) inside the ground support platform (11).
5. The track mechanism of the automated production line handling robot according to claim 1, characterized in that: The transport rotating assembly (32) comprises a rotating shaft (321) and a rotating motor (322), wherein the rotating shaft (321) is symmetrically fixed at two ends of the supporting truss (33), each of the rotating shafts (321) is connected to the inner wall of the top of the supporting column (31) adjacent to it through a bearing seat, and the rotating motor (322) is located on the outer wall of one side of the top of one of the supporting columns (31), and the rotating shaft (321) close to one end of the rotating motor (322) penetrates the supporting column (31) and extends to the outside thereof and is fixed to the output end of the rotating motor (322) through a coupling.
6. The track mechanism of the automated production line handling robot according to claim 1, characterized in that: The transport displacement assembly comprises a transport displacement motor (22), a rack (23) and a gear (24); the rack (23) is symmetrically structured and parallelly distributed on the outer walls on both sides below the support truss (33); the transport displacement motor (22) is fixed to the bottom of both sides of the fixed plate (211) below the transport fixed frame (21) through a connecting plate; the top output end of each transport displacement motor (22) passes through the fixed plate (211) and is connected to the gear (24); the gear (24) is meshed and connected with the rack (23) adjacent to it.
7. The track mechanism of the automated production line handling robot according to claim 1, characterized in that: A slide groove (331) is horizontally provided on the top of the support truss (33), and a sliding block (212) is connected to the inner wall of the transport fixing frame (21) away from the fixing plate (211), and the sliding block (212) slides inside the slide groove (331).