Robot seven-axis sliding rail device capable of achieving full-automatic loading

Abstract

The utility model relates to a robot seven-shaft slide rail device for realizing full-automatic loading, which comprises a slide rail seat component, a robot base component, a belt conveying device and a drag chain device which are integrated and mounted on the slide rail seat component. The robot base assembly is in transmission with the driving guide assembly through a rack, the belt conveying device bears and rapidly conveys materials to the grabbing position, and the drag chain device is installed on one side of the sliding rail base assembly. By adopting the robot seven-shaft slide rail device for realizing full-automatic loading, complex and fine action control can be realized. Compared with a six-axis robot, the seven-axis robot can move to different positions on the sliding rail for operation, dependence on a fixed workstation is reduced, spatial layout is optimized, the working range of the robot is expanded, the robot can cover a larger working area, the non-production time of the robot is shortened, and therefore the overall production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial automation field especially, relates to the field of robot technology, specifically refers to a kind of robot seven-axis slide rail device for realizing full-automatic loading BACKGROUND

[0002] Generally, six-axis robot can complete complex action in three-dimensional space, including front and back, left and right movement, up and down lifting, and various rotations. However, in order to meet the needs of specific working environment and more complex tasks, the introduction of the "seventh axis" becomes a key step to break through the traditional limitations. Robot seven-axis slide rail is a mechanical structure used to support and guide industrial robots. Based on the traditional six-axis robot, a linear slide rail is added, providing an additional movement axis, expanding the operating range of the traditional six-axis robot in three-dimensional space, allowing the robot to move and operate flexibly in a larger range, suitable for various complex large-scale, multi-station industrial applications. As China enters an aging society, labor costs are increasing, especially for loading and unloading workers, who are facing the problems of difficulty in recruiting and high recruitment costs. The traditional loading method for bagged materials mainly relies on manual operation, which not only has low efficiency, but also has certain safety hazards. SUMMARY

[0003] The utility model aims at overcoming the above-mentioned prior art's shortcomings, providing a robot seven-axis slide rail device that meets the requirements of high efficiency, good safety, and full-automatic loading.

[0004] In order to achieve the above-mentioned purpose, the robot seven-axis slide rail device for full-automatic loading of the utility model is as follows:

[0005] The robot seven-axis slide rail device for full-automatic loading, its main feature is that the device includes a slide rail seat assembly, a robot base assembly, a belt conveyor, and a drag chain device. The robot base assembly, belt conveyor, and drag chain device are integrated and installed on the slide rail seat assembly. The robot base assembly is driven by a rack and a driving guide assembly. The belt conveyor carries and quickly transports materials to the grabbing position. The drag chain device is installed on one side of the slide rail seat assembly.

[0006] Preferably, the slide rail seat assembly includes a slide rail seat, a track plate and a rack, a front guide plate, a collision prevention device, a limiting device, and an adjusting foot. The track plate of the track plate and rack is installed on the side of the slide rail seat. The rack of the track plate and rack is installed above the slide rail seat. The front guide plate is installed on the side of the track plate. The slide rail seat is equipped with a collision prevention device and a limiting device at both ends. Two photoelectric detectors and sensors are installed on the side of the slide rail seat. The adjusting foot is installed below the slide rail seat.

[0007] Preferably, the robot base assembly comprises a robot base, a driving guide assembly and a detection safety assembly, the driving guide assembly is installed below the robot base, the robot is installed on the robot base, the robot base is in rolling contact with the track plate through the driving guide assembly, and the detection safety assembly is installed above the robot base to ensure the safe operation of the base.

[0008] Preferably, the belt conveying device comprises a motorized roller, a tensioning roller, a flange vertical roller, a folding roller, a roller assembly, a conveying belt, a buffer roller and a buffer section belt, the motorized roller and the tensioning roller are respectively installed at the front and rear ends of the slide rail base assembly, the flange vertical rollers are symmetrically installed on both sides of the conveying belt, the conveying belt is installed on the inner side of the slide rail base assembly, the roller assemblies are uniformly installed on the slide rail base to form a conveying belt support plane, the conveying belt passes around the outer periphery of the motorized roller and is supported by the roller assemblies, the conveying belt is tensioned by the folding roller to form a conveying slope on the upper and lower surfaces of the conveying belt, and a closed conveying loop is formed from the outer periphery of the tensioning roller to the motorized roller, and the buffer roller and the buffer section belt are used to convey materials to a specified height, so that the materials are conveyed to different heights and combined with the horizontal operation of the robot.

[0009] Preferably, the drag chain device is installed on the outer side of the slide rail base assembly, the drag chain mounting frame is arranged along the slide rail base and is installed on one side of the slide rail base, the upper end of the drag chain mounting frame is provided with a plurality of drag chain groove plates and fixes the drag chain, the tail of the drag chain is fixed on the drag chain groove plate, and the head of the drag chain is connected with the robot base assembly.

[0010] The robot seven-axis slide rail device for realizing full-automatic loading of the present application can realize complex and fine action control. The seven-axis robot can move to different positions on the slide rail for operation, reduces the dependence on fixed workstations, optimizes the spatial layout, expands the working range of the robot, enables the robot to cover a larger working area, and reduces the non-production time (such as moving and positioning time) of the robot, thereby improving the overall production efficiency. The seven-axis slide rail enables the robot to move and operate more flexibly in three-dimensional space, provides higher motion freedom, realizes the automatic loading of materials, connects the originally scattered processes, and realizes the full-process automation, unmanned operation and intelligentization of the product from stacking, warehouse-out to loading. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a front view of the robot seven-axis slide rail device for realizing full-automatic loading of the present application.

[0012] Figure 2 It is a top view of the robot seven-axis slide rail device for realizing full-automatic loading of the present application.

[0013] Figure 3 Figure 1 is a schematic diagram of the belt conveying device buffer part of the robot seven-axis slide rail device for realizing full-automatic loading of the machine.

[0014] Reference signs:

[0015] 1 slide rail seat assembly

[0016] 11 slide rail seat

[0017] 12 track plate and rack

[0018] 13 front guide plate

[0019] 14 anti-collision device

[0020] 15 limiting device

[0021] 16 adjusting foot

[0022] 2 robot base assembly

[0023] 21 robot seat

[0024] 22 drive guide assembly

[0025] 23 detection safety assembly

[0026] 3 belt conveying device

[0027] 31 motorized roller

[0028] 32 tensioning roller

[0029] 33 baffle vertical roller

[0030] 34 folding roller

[0031] 35 supporting roller assembly

[0032] 36 conveying belt

[0033] 37 buffer roller

[0034] 38 buffer section belt

[0035] 4 tow chain system

[0036] 41 tow chain mounting frame

[0037] 42 tow chain slot plate

[0038] 43 tow chain DETAILED DESCRIPTION

[0039] In order to describe the technical content of the utility model more clearly, further description will be made in combination with specific embodiments.

[0040] The utility model discloses a robot seven axle slide rail device of realizing full automatic loading, wherein, it includes slide rail seat subassembly 1, robot base subassembly 2, belt conveyor 3 and tow chain device 4, the robot base subassembly 2, belt conveyor 3 and tow chain device 4, integrated whole installation on slide rail seat subassembly 1, the robot base subassembly 2 is driven and is guided to subassembly 22 transmission through rack 12, and belt conveyor 3 bears and quickly transports material to the grabbing position, and the tow chain device 4 is installed on one side of slide rail seat subassembly 1.

[0041] As the preferred embodiment of the utility model, the slide rail seat subassembly 1 includes slide rail seat 11, track plate and rack 12, front guide plate 13, anti-collision device 14, limiting device 15 and adjusting foot 16, the track plate of track plate and rack 12 is installed on the side of slide rail seat 11, the rack of track plate and rack 12 is installed on the top of slide rail seat 11, the front guide plate 13 is installed on the side of track plate 12, the slide rail seat 11 both ends are equipped with anti-collision device 14 and limiting device 15, and two photoelectric detection and sensor are installed on the side of slide rail seat 11, and the adjusting foot 16 is installed below slide rail seat 11.

[0042] As the preferred embodiment of the utility model, the robot base subassembly 2 includes robot seat 21, drive guide subassembly 22 and detection safety subassembly 23, the drive guide subassembly 22 is installed below robot seat 21, the robot seat 21 is installed with robot, the robot seat 21 is rolled into contact with track plate 12 through drive guide subassembly 22, and the detection safety subassembly 23 is installed above robot seat 21, to ensure the safe operation of the base.

[0043] As the preferred embodiment of the utility model, the slide rail seat subassembly 1 includes slide rail seat 11, track plate and rack 12, front guide plate 13, anti-collision device 14, limiting device 15 and adjusting foot 16, the track plate installed on the side of slide rail seat 11 is matched with slide rail seat 11, mainly used for guiding and supporting, to ensure the stable movement of the robot, the rack installed on the top of slide rail seat 11 is matched with drive guide subassembly 22, as a transmission component, to realize power transmission and convert rotary motion into the linear motion of robot base subassembly 2. The front guide plate 13 preliminarily corrects the position and direction of conveying material, so that the material runs in the specified direction.

[0044] As the preferred embodiment of the utility model, in order to prevent robot base assembly 2 from walking excessively from slide rail seat 11, anti-collision device 14 and limiting device 15 are installed at both ends of slide rail seat 11, anti-collision device 14 prevents robot base assembly 2 from hard contact with the end by using polyurethane anti-collision block, avoiding equipment damage, limiting device 15 uses two sensors and photoelectric detection to be installed on the side of slide rail seat 11, realizing the double functions of accurate position control and physical limiting protection of robot base assembly 2, adjusting foot 16 is used to adjust the straightness and levelness of slide rail seat 11.

[0045] As the preferred embodiment of the utility model, robot base assembly 2 includes robot seat 21, drive guide assembly 22 and detection safety assembly 23, and robot seat 21 supports robot body and its load. Motor in drive guide assembly 22 completes rack and pinion transmission to provide driving force for robot base assembly 2, realizes linear motion of robot base assembly 2 and guarantees robot motion accuracy and smoothness. Detection safety assembly 23 provides position feedback, ensures base operation safety and accurate positioning, and robot is installed on robot seat 21 to realize material transfer work.

[0046] Horizontal belt conveying device 3 includes motorized drum 31, tensioning drum 32, baffle vertical roller 33, folding roller 34, roller assembly 35, conveying belt 36, buffer roller 37 and buffer section belt 38. Motorized drum 31 and tensioning drum 32 are respectively installed at the front and rear ends of slide rail seat assembly 1, motorized drum 31 provides power drive for the whole conveying line, tensioning device is arranged at tensioning drum 32, and tensioning drum 32 can provide appropriate tensioning force for conveying belt 36 to ensure its stable operation and prevent slipping or relaxation, reduce belt wear, motorized drum 31 is integrated design to improve transmission efficiency, and has compact structure and is convenient to maintain, baffle vertical roller 33 is symmetrically installed on both sides of conveying belt 36 to prevent conveying belt 36 from deviating, plays a guiding and stabilizing role, ensures that conveying belt 36 does not slip or relax when conveying materials, guarantees smooth and efficient conveying process, roller assembly 35 is uniformly installed on slide rail seat 11 to support the weight of conveying belt 36 and materials, reduce the friction resistance between conveying belt 36 and supporting structure, conveying belt 36 bears and quickly conveys materials to the grabbing position. Conveying belt 36 is installed inside slide rail seat assembly 1, which can save the length of conveying belt 36 to the maximum extent.

[0047] The conveying belt 36 is supported by a plurality of supporting roller assemblies 35 around the outer periphery of the motorized roller 31, passes through the folding roller 34 to form a conveying slope on the upper and lower surfaces of the conveying belt 36, and then forms a closed conveying loop from the outer periphery of the tensioning roller 32 to the motorized roller 31. The conveying slope can be formed at any position on the conveying surface of the conveying belt 36 due to the horizontal movement of the folding roller 34 following the robot base assembly 2. The material changes in vertical height through the buffer roller 37 and the buffer section belt 38, and the robot only needs to complete the efficient grabbing and sorting task in the horizontal plane.

[0048] The drag chain device 4 is mounted on a plurality of drag chain mounting racks 41 on one side of the slide rail base 11. The drag chain mounting racks 41 are mounted on the side of the slide rail base 11, and a plurality of drag chain groove plates 42 are mounted on the upper ends of the drag chain mounting racks 41 for fixing the drag chain 43. The tail of the drag chain 43 is fixed on the drag chain groove plate 42, and the head is connected with the robot base assembly 2 for mounting power cables, control cables and air lines.

[0049] The material is input through the conveying belt 36, and the front guide plate 13 preliminarily corrects the position and direction of the material to ensure that the material is stably conveyed along the conveying belt 36, avoiding deviation or accumulation of the material. At the same time, the robot base assembly 2 moves accurately to the predetermined grabbing position under program control along the slide rail base assembly 1. The material is conveyed to the buffer section belt 38 through the tensioning slope formed by the two folding rollers 34, and is lifted to a certain height and temporarily buffered under the cooperation of the buffer roller 37 and the buffer section belt 38, so as to ensure that the position of the material is accurate and neat, facilitating horizontal grabbing by the robot. The robot uses the gripper to accurately grab the material and places the material stably to the specified position according to the loading program, completing the loading task. After the operation is completed, the buffer roller 37 and the buffer section belt 38 cooperate with the robot base assembly 2 to move to the next station, and continue to perform the material conveying, grabbing and loading operation until the whole vehicle is loaded, realizing efficient and continuous automatic loading process. At the same time, the drag chain device 4 provides protection and transmission support for the cables and signal lines during the movement of the robot base assembly 2, ensuring stable and reliable system operation.

[0050] The specific implementation scheme of the embodiment can refer to the related description in the above embodiment, which will not be repeated here.

[0051] It can be understood that the same or similar parts in the above embodiments can be mutually referred to, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0052] It should be noted that, in the description of the utility model, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the utility model, unless otherwise specified, "a plurality of" means at least two.

[0053] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0054] The robot seven-axis sliding rail device for realizing full-automatic loading of the present application can realize complex and fine motion control. The seven-axis robot can move to different positions on the sliding rail for operation relative to the six-axis robot, reduces the dependence on fixed workstations, optimizes the spatial layout, expands the working range of the robot, enables it to cover a larger working area, and reduces the non-production time (such as moving and positioning time) of the robot, thereby improving the overall production efficiency. The seven-axis sliding rail enables the robot to move and operate more flexibly in three-dimensional space, provides higher motion freedom, realizes the automatic loading of materials, connects the originally scattered processes, and realizes the full-process automation, unmanned operation and intelligentization of the product from stacking, warehouse-out to loading.

[0055] In this specification, the present application has been described with reference to its specific embodiments. However, it is obvious that various modifications and changes can be made without departing from the spirit and scope of the present application. Therefore, the specification and drawings should be considered as illustrative rather than limiting.

Claims

1. A robot seven-axis slide rail device for achieving full automatic loading, characterized in that, The device comprises a slide rail seat assembly, a robot base assembly, a belt conveying device and a drag chain device, the robot base assembly, the belt conveying device and the drag chain device are integrally installed on the slide rail seat assembly, the robot base assembly is driven by a rack and a driving guide assembly, the belt conveying device carries and quickly conveys materials to a grabbing position, and the drag chain device is installed on one side of the slide rail seat assembly.

2. The robotic seven-axis slide rail device for achieving full automatic loading of a vehicle according to claim 1, wherein, The slide rail seat assembly comprises a slide rail seat, a track plate and a rack, a front guide plate, a collision avoidance device, a limiting device and an adjusting foot, the track plate of the track plate and the rack is installed on the side of the slide rail seat, the rack of the track plate and the rack is installed above the slide rail seat, the front guide plate is installed on the side of the track plate, the collision avoidance device and the limiting device are installed at both ends of the slide rail seat, two photoelectric detectors and sensors are installed on the side of the slide rail seat, and the adjusting foot is installed below the slide rail seat.

3. The robotic seven-axis slide rail device for achieving full automatic loading of a vehicle according to claim 1, wherein, The robot base assembly comprises a robot seat, a driving guide assembly and a detection safety assembly, the driving guide assembly is installed below the robot seat, the robot is installed on the robot seat, the robot seat is in rolling contact with the track plate through the driving guide assembly, and the detection safety assembly is installed above the robot seat to ensure the safety of the base operation.

4. The robotic seven-axis skid device for achieving full automatic loading of a vehicle according to claim 1, wherein, The belt conveying device comprises a motorized drum, a tensioning drum, a flange vertical roller, a folding roller, a roller assembly, a conveying belt, a buffer roller and a buffer section belt, the motorized drum and the tensioning drum are respectively installed at the front and rear ends of the slide rail seat assembly, the flange vertical rollers are symmetrically installed on both sides of the conveying belt, the conveying belt is installed inside the slide rail seat assembly, the roller assemblies are uniformly installed on the slide rail seat to form a conveying belt support plane, the conveying belt passes around the outer circumference of the motorized drum, is supported by the roller assemblies, is tensioned on the upper and lower surfaces of the conveying belt by the folding roller to form a conveying slope, and forms a closed conveying loop from the outer circumference of the tensioning drum to the motorized drum, and the buffer roller and the buffer section belt convey materials to a specified height through the buffer section belt, convey materials to different heights, and cooperate with the horizontal operation of the robot.

5. The robotic seven-axis slide rail device for achieving full automatic loading of a truck according to claim 1, wherein, The drag chain device is installed on the outside of the slide rail seat assembly, a drag chain mounting frame is arranged along the slide rail seat and is installed on one side of the slide rail seat, a plurality of drag chain slot plates are installed on the upper end of the drag chain mounting frame and fix the drag chain, the tail of the drag chain is fixed on the drag chain slot plate, and the head of the drag chain is connected with the robot base assembly.

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