Robot hung upside down on sky rail
By designing Tianluo upside-up robot, using SUS304-material membrane roll jaws and guardrail safety gratings, the problems of unstable clamping of the roll core and easy material damage are solved, and the safety protection of the roll core and the stable operation of the equipment are achieved to ensure personnel safety.
Patent Information
- Application Number
- CN202422533531.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-21
- Publication Date
- 2025-08-12
- Estimated Expiration
- 2034-10-21
AI Technical Summary
Traditional core clamping devices have problems such as unstable clamping, impermanent material or easy to corrosion, and insufficient safety protection, resulting in dropping of coil material and damage to the core surface.
A Tianluo upside-up robot is designed, which uses membrane rolled jaws made of SUS304 for clamping, and is equipped with a guardrail and a safety grating to achieve manual and automatic operation modes, has anti-coil core drop function, and is equipped with a safety grating in the operating area of the robot arm to prevent personnel injury.
Effectively prevent the core from falling, protect the core surface, improve equipment stability and reliability, ensure personnel safety, and avoid equipment and personnel injury.
Smart Images
Figure CN223211370U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of industrial automation robots, in particular to an inverted robot hanging on a ceiling rail. Background Art
[0002] In modern industrial production, especially in the field of coil handling, such as textile, plastic film, metal coil and other industries, the coil core is an important component for supporting and fixing the coil. Its safety and durability have a direct impact on production efficiency and product quality.
[0003] The existing technology has the following shortcomings: Traditional core clamping devices often have various shortcomings, such as unstable clamping, which easily causes the roll to fall, the clamping part material is not wear-resistant or easy to corrode, thereby damaging the core surface, and insufficient safety protection measures. Therefore, it is particularly important to design a clamping device that can firmly clamp the core and prevent it from falling. Utility Model Content
[0004] The purpose of the utility model is to solve the shortcomings of the prior art and to propose an inverted robot on a ceiling rail.
[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solution: an inverted robot hanging on a ceiling rail, comprising fixed support legs, the fixed support legs are fixedly connected to the robot ceiling rail, the robot ceiling rail is slidably connected to a robot slide, the robot slide is fixedly connected to a cross fixing frame, the cross fixing frame is fixedly connected to the robot seventh-axis motor, the cross fixing frame is fixedly connected to a chain, the chain is arranged on a guide groove, the cross fixing frame is fixedly connected to a FANUC six-axis robot, and the FANUC six-axis robot is fixedly connected to a fixed block.
[0006] As a further description of the above technical solution:
[0007] The fixed block is fixedly connected to a driving motor, the output end of the driving motor is fixedly connected to a coupling, the coupling is fixedly connected to a threaded screw, the threaded screw is threadedly connected to a threaded fixing bracket, the threaded fixing bracket is fixedly connected to a lifting cylinder, and the lifting cylinder is fixedly connected to a film roll clamp.
[0008] As a further description of the above technical solution:
[0009] The threaded fixing frame is fixedly connected to a visual camera, and the threaded fixing frame is fixedly connected to a spray terminal.
[0010] As a further description of the above technical solution:
[0011] The fixing block is fixedly connected to the accordion cover, and a limiting light block is provided on the fixing block.
[0012] As a further description of the above technical solution:
[0013] The outer ring of the robot overhead rail is provided with a guardrail, and a control cabinet is provided on one side of the guardrail.
[0014] As a further description of the above technical solution:
[0015] A safety grating is provided on one side of the guardrail, a blanking tool is provided on one side of the guardrail, and a coil is provided on the blanking tool.
[0016] As a further description of the above technical solution:
[0017] The threaded screw is symmetrically provided with two groups of threads, the threaded screw is rotatably connected to the fixed block, the threaded fixing frame is symmetrically provided with two groups, and the film roll clamping jaws are symmetrically provided with two groups.
[0018] The utility model has the following beneficial effects:
[0019] 1. In the utility model, when clamping the roll material, it has the function of preventing the roll core from falling, and has manual and automatic operation modes. The clamping part of the film roll clamp is specially designed, which can fully protect the safety of the roll core and prevent damage to the roll core surface. The contact part with the roll core is made of SUS304 material. SUS304 material is not only corrosion-resistant, but also has good wear resistance, which helps to reduce wear caused by long-term contact and friction, maintain the flatness and precision of the contact surface, and improve the operation stability and reliability of the equipment.
[0020] 2. In the present invention, by configuring guardrails and safety gratings in the operating area of the robot arm, the robot can automatically stop and alarm when a person accidentally enters, and automatically continue to operate after the person leaves, fully considering the safety of personnel and equipment to avoid harm to personnel and equipment. In addition, a safety grating is also configured at the material picking position of the robot arm to prevent people from entering from the material picking port of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of the inverted robot on the ceiling rail proposed in the present invention;
[0022] Figure 2 This is a schematic diagram of the partial structure of the inverted robot on the ceiling rail proposed in this utility model. Figure 1 ;
[0023] Figure 3 This is a schematic diagram of the partial structure of the inverted robot on the ceiling rail proposed in this utility model. Figure 2 ;
[0024] Figure 4 This is a schematic diagram of the partial structure of the inverted robot on the ceiling rail proposed in this utility model. Figure 3 .
[0025] Legend:
[0026] 1. Guardrail; 2. Unloading tooling; 3. Control cabinet; 4. Safety light grid; 5. Fixed support legs; 6. Robot overhead rail; 7. Robot slide; 8. Robot seventh-axis motor; 9. Chain; 10. Guide groove; 11. FANUC six-axis robot; 12. Fixed block; 13. Limit light block; 14. Organ cover; 15. Drive motor; 16. Coupling; 17. Threaded screw; 18. Threaded fixing bracket; 19. Lifting cylinder; 20. Film roll clamp; 21. Vision camera; 22. Spraying terminal; 23. Cross fixing bracket. DETAILED DESCRIPTION
[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0028] Reference Figure 1-Figure 4 , the utility model provides an embodiment: a ceiling rail inverted robot, including a fixed support leg 5, the fixed support leg 5 is fixedly connected to a robot ceiling rail 6, the robot ceiling rail 6 is slidably connected to a robot slide 7, the robot slide 7 is fixedly connected to a cross fixing frame 23, the cross fixing frame 23 is fixedly connected to a robot seventh axis motor 8, the cross fixing frame 23 is fixedly connected to a chain 9, the chain 9 is arranged on a guide groove 10, the cross fixing frame 23 is fixedly connected to a FANUC six-axis robot 11, the FANUC six-axis The robot 11 is fixedly connected to a fixed block 12. When clamping the roll material, it has the function of preventing the roll core from falling, and has manual and automatic operation modes. The clamping part of the film roll clamp 20 is specially designed to fully protect the safety of the roll core and prevent damage to the roll core surface. The contact part with the roll core is made of SUS304 material. SUS304 material is not only corrosion-resistant, but also has good wear resistance, which helps to reduce wear caused by long-term contact and friction, maintain the flatness and precision of the contact surface, and improve the operation stability and reliability of the equipment.
[0029] The fixed block 12 is fixedly connected to a drive motor 15, the output end of the drive motor 15 is fixedly connected to a coupling 16, the coupling 16 is fixedly connected to a threaded screw 17, the threaded screw 17 is threadedly connected to a threaded fixing frame 18, the threaded fixing frame 18 is fixedly connected to a lifting cylinder 19, the lifting cylinder 19 is fixedly connected to a film roll clamp 20, the threaded fixing frame 18 is fixedly connected to a visual camera 21, the threaded fixing frame 18 is fixedly connected to a spray terminal 22, the fixed block 12 is fixedly connected to an accordion cover 14, a limiting light block 13 is provided on the fixed block 12, the outer ring of the robot overhead rail 6 is provided with a guardrail 1, and a control cabinet 3 is provided on one side of the guardrail 1. A safety grating 4 is provided on one side of the guardrail 1, and a blanking tool 2 is provided on one side of the guardrail 1. A coil is provided on the blanking tool 2, and two sets of threads are symmetrically provided on the threaded screw 17. The threaded screw 17 is rotatably connected to the fixed block 12, and the threaded fixing frame 18 is symmetrically provided with two sets, and the film roll clamps 20 are symmetrically provided with two sets. By configuring the guardrail 1 in the operation area of the robot arm and the safety grating 4 in the operation area, it is possible to actively stop the operation and alarm when a person accidentally enters, and automatically continue to operate after the person leaves, fully considering the safety of personnel and equipment to avoid harm to personnel and equipment, and a safety grating 4 is also configured at the material picking position of the robot arm to prevent people from entering from the material picking port of the robot arm.
[0030] Working principle: First, when the finished film roll is automatically transferred, the FANUC six-axis robot 11 is started. The FANUC six-axis robot 11 automatically locates the number of rolls and the approximate position through visual sensing, so that it moves quickly to the vicinity of the roll, and then reduces the speed to achieve precise positioning. Then, the drive motor 15 is started. The drive motor 15 drives the coupling 16 to rotate, and the coupling 16 rotates to drive the threaded screw 17 to rotate. The threaded screw 17 rotates and drives the two sets of symmetrical threaded fixing frames 18 to move and adjust the position of the film roll clamp 20 according to the length of the roll. Then, the lifting cylinder 19 is started. The lifting cylinder 19 drives the film roll clamp 20 to fix and clamp the roll and remove the roll from the unloading tooling 2. While removing the roll, the QR code can be automatically sprayed on one end of the roll core through the spray terminal 22. Then, the robot is started. Seven-axis motor 8, the robot's seventh-axis motor 8 drives the robot slide 7 to slide upward, thereby driving the roll material fixed and clamped on the film roll clamp 20 below to move and be placed in the inspection tooling. Through the guardrail 1 configured in the robot arm operation area and the safety grating 4 configured in the operation area, it can actively stop and alarm when a person accidentally enters, and automatically continue to operate after the person leaves, fully considering the safety of personnel and equipment to avoid harm to personnel and equipment, and the manipulator material picking position is also equipped with a safety grating 4 to prevent personnel from entering from the manipulator material picking port, and the contact part with the roll core is made of SUS304 material. SUS304 material is not only corrosion-resistant, but also has good wear resistance, which helps to reduce wear caused by long-term contact and friction, maintain the flatness and precision of the contact surface, and improve the operation stability and reliability of the equipment.
[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A robot suspended on a ceiling rail, comprising a fixed support leg (5), characterized in that: The fixed support leg (5) is fixedly connected to a robot overhead rail (6), the robot overhead rail (6) is slidably connected to a robot slide (7), the robot slide (7) is fixedly connected to a cross fixing frame (23), the cross fixing frame (23) is fixedly connected to a robot seventh axis motor (8), the cross fixing frame (23) is fixedly connected to a chain (9), the chain (9) is arranged on a guide groove (10), the cross fixing frame (23) is fixedly connected to a FANUC six-axis robot (11), and the FANUC six-axis robot (11) is fixedly connected to a fixed block (12).
2. The inverted hanging robot according to claim 1, characterized in that: The fixed block (12) is fixedly connected to a driving motor (15), the output end of the driving motor (15) is fixedly connected to a coupling (16), the coupling (16) is fixedly connected to a threaded screw (17), the threaded screw (17) is threadedly connected to a threaded fixing frame (18), the threaded fixing frame (18) is fixedly connected to a lifting cylinder (19), and the lifting cylinder (19) is fixedly connected to a film roll clamp (20).
3. The inverted hanging robot according to claim 2, characterized in that: The threaded fixing frame (18) is fixedly connected to a visual camera (21), and the threaded fixing frame (18) is fixedly connected to a spray terminal (22).
4. The inverted hanging robot according to claim 3, characterized in that: The fixing block (12) is fixedly connected to the accordion cover (14), and a limiting light block (13) is provided on the fixing block (12).
5. The inverted hanging robot according to claim 4, characterized in that: The outer ring of the robot overhead rail (6) is provided with a guardrail (1), and a control cabinet (3) is provided on one side of the guardrail (1).
6. The inverted robot on the ceiling rail according to claim 5, characterized in that: A safety grating (4) is provided on one side of the guardrail (1), a blanking tool (2) is provided on one side of the guardrail (1), and a coil is provided on the blanking tool (2).
7. The inverted hanging robot according to claim 6, characterized in that: The threaded screw (17) is symmetrically provided with two groups of threads, the threaded screw (17) is rotatably connected to the fixed block (12), the threaded fixing frame (18) is symmetrically provided with two groups, and the film roll clamping jaws (20) are symmetrically provided with two groups.