Annular ground rail production line

Abstract

The utility model relates to the technical field of pickling passivation, and discloses an annular ground rail production line which comprises an annular ground rail body. The machining grooves surround the peripheral side of the annular ground rail main body; the lower end of the mounting base is movably connected with the upper surface of the annular ground rail main body, and the mounting base does circular motion along the annular ground rail main body; and the manipulators are mounted at the upper ends of the mounting bases in a one-to-one correspondence manner and are used for grabbing and conveying the material baskets. According to the utility model, the mounting base is movably connected to the annular ground rail main body, and the manipulator is mounted at the upper end of the mounting base, so that the manipulator can do circular motion along the annular ground rail main body; and meanwhile, the multiple machining grooves are formed in the peripheral side of the annular ground rail body, the mechanical arms can be controlled to rotate to different machining groove positions so as to machine the materials in the material basket through different technologies, and therefore the time for transferring the materials between the two mechanical arms is shortened, and the machining efficiency of the materials is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of pickling and passivation technology, specifically to a ring-shaped ground rail production line. Background Technology

[0002] A passivation production line, such as a pickling and passivation line, is used for pickling and passivation treatment. This type of production line is widely used in industries such as metal products, machinery, and transportation facilities, primarily to enhance the corrosion resistance of metal surfaces and extend their service life.

[0003] Existing passivation lines typically employ a gantry crane and multiple robotic grippers working in tandem to pickle and passivate metal surfaces. However, this passivation line requires independent robotic grippers in multiple processing tanks, such as the pickling tank and passivation tank. After a workpiece completes processing in one tank, it needs to be transferred to an adjacent robotic gripper via a gantry crane. The movement of the workpiece is accomplished through the cooperation between two robotic grippers, resulting in a long workpiece transport time and slow workpiece movement speed, leading to low workpiece processing efficiency. Utility Model Content

[0004] In view of this, the present invention provides a circular ground rail production line to solve the problem of low workpiece processing efficiency.

[0005] This utility model provides a circular ground track production line, comprising:

[0006] The main body of the circular ground track;

[0007] Several processing grooves surround the outer periphery of the annular ground rail body;

[0008] At least one mounting base, the lower end of which is movably connected to the upper surface of the annular ground rail body, and the mounting base moves in a circular motion along the annular ground rail body;

[0009] At least one robotic arm is mounted one-to-one on the upper end of the mounting base for gripping and conveying material baskets.

[0010] Beneficial effects: By movably connecting a mounting base to the main body of the circular track, the robot arm is mounted on the upper end of the mounting base, allowing the robot arm to move in a circle along the main body of the circular track. At the same time, multiple processing slots are set on the outer periphery of the main body of the circular track, which can control the robot arm to rotate to different processing slots to process the materials in the material basket using different processes, thereby reducing the transfer time of materials between the two robot arms and effectively improving the processing efficiency of materials.

[0011] In one optional embodiment, the upper surface of the annular ground rail body is provided with at least two annular slide rails, which are respectively disposed on the outer periphery and the inner periphery of the annular ground rail body; the lower end face of the mounting base is provided with at least two sliders, each slider being provided with at least two rollers, and the rollers being movably connected to the annular slide rails.

[0012] In one optional embodiment, the annular slide rail is provided with an annular rack on its side, the mounting base is provided with a drive motor, and a gear is mounted on the output shaft of the drive motor, the gear meshing with the annular rack.

[0013] In one optional embodiment, the robotic hand includes a robotic hand body, a robotic arm, and a robotic wrist; the robotic hand body is rotatably disposed on the upper end of the mounting base; the robotic arm is disposed on the robotic hand body and rotatably connected to the robotic hand body; the robotic wrist is disposed at the end of the robotic arm and rotatably connected to the robotic arm.

[0014] In one alternative embodiment, the robotic arm further includes a drive assembly disposed on and rotatably connected to the robotic wrist, the drive assembly having a gripper at its bottom for gripping the material basket.

[0015] In one alternative implementation, the drive component is a servo electric cylinder used to provide driving force to the gripper.

[0016] In one alternative embodiment, the robotic arm includes a first robotic arm and a second robotic arm; one end of the first robotic arm is connected to the main body of the robotic hand, and the other end is connected to one end of the second robotic arm, and the other end of the second robotic arm is connected to the robotic wrist.

[0017] In one optional embodiment, it further includes: a power supply assembly, the power supply assembly including a sliding contact line and a current collector, the sliding contact line surrounding the periphery of the annular ground rail body or mounted on the upper part of the annular ground rail body, the current collector being electrically connected to the sliding contact line and mounted on the mounting base.

[0018] In one alternative embodiment, a control box is also included, disposed on the mounting base and electrically connected to the robotic arm;

[0019] The control box contains a controller for controlling the movements of the robotic arm.

[0020] In one optional implementation, a wireless communication module is further included, which is wirelessly connected to the controller and is used to send control commands to the controller. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional structural diagram of a circular ground rail production line according to an embodiment of the present utility model;

[0023] Figure 2 This is another perspective structural diagram of a circular ground rail production line according to an embodiment of the present utility model;

[0024] Figure 3 for Figure 2 A magnified view of part A in the diagram.

[0025] Explanation of reference numerals in the attached figures:

[0026] 100. Circular ground rail body; 110. Circular slide rail; 111. Circular rack; 200. Mounting base; 210. Slider; 211. Roller; 220. Drive motor; 230. Gear; 300. Robotic arm; 310. Robotic arm body; 320. Robotic arm; 321. First robotic arm; 322. Second robotic arm; 330. Robotic wrist; 340. Drive assembly; 350. Gripper; 400. Processing groove; 500. Control box; 600. Material basket. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0028] According to embodiments of the present invention, such as Figures 1 to 3As shown, a circular track production line is provided, including: a circular track body 100; a plurality of processing grooves 400 surrounding the outer periphery of the circular track body 100; at least one mounting base 200, the lower end of which is movably connected to the upper surface of the circular track body 100, and the mounting base 200 performing circumferential movement along the circular track body 100; and at least one robot arm 300, which is installed one-to-one on the upper end of the mounting base 200 for gripping and conveying material baskets 600.

[0029] In this embodiment, the circular track production line has a circular track body 100, which is fixedly installed on the ground. The circular track body 100 is arranged in a ring shape, which can guide the components installed on the circular track body 100 to perform circular motion. Several processing slots 400 are installed on the outer periphery of the circular track body 100, so that when the components on the circular track body 100 move, they can approach the processing slots 400 in sequence, so that the robot arm 300 can perform operations such as grabbing and placing the material basket 600 in different processing slots 400, realizing the flow and processing of materials between the various processing slots 400. At least one mounting base 200 is connected to the upper surface of the annular track body 100. The lower end of the mounting base 200 is movably connected to the upper surface of the annular track body 100. A robotic arm 300 is correspondingly mounted on the upper end of the mounting base 200, so that the robotic arm 300 moves in a circular motion along the annular track body 100 under the drive of the mounting base 200. This controls the robotic arm 300 to rotate to different processing slots 400 after grasping the material basket 600, so as to realize the conveying of materials in the material basket 600 and facilitate the processing of materials with different processes in different processing slots 400. By controlling the robotic arm 300 to grasp the material basket 600 and controlling the robotic arm 300 to move in a circular motion around the annular track body 100 to realize the conveying of materials in the material basket 600, the flow of materials is smoother, the transfer time of materials between two robotic arms 300 can be reduced, thereby effectively improving the material processing efficiency. Setting the passivation line as a ring can reduce the space occupied by the passivation line compared to a straight passivation line.

[0030] In other possible implementations, multiple mounting bases 200 and robotic arms 300 are provided; through the cooperation of multiple robotic arms 300, materials can be processed more quickly, further improving material processing efficiency.

[0031] In one embodiment, the upper surface of the annular ground rail body 100 is provided with at least two annular slide rails 110, which are respectively provided on the outer periphery and the inner periphery of the annular ground rail body 100; the lower end face of the mounting base 200 is provided with at least two sliders 210, and each slider 210 is provided with at least two rollers 211, which are movably connected to the annular slide rails 110.

[0032] In this embodiment, the upper surface of the annular ground rail body 100 has at least two annular slide rails 110, located on the outer and inner circumferences of the annular ground rail body 100, respectively. The two annular slide rails 110 provide guidance and support for the movement of the mounting base 200. The two annular slide rails 110 enhance the stability and guidance of the mounting base 200 during movement, making its trajectory more precise and preventing wobbling or deviation. The lower end face of the mounting base 200 is provided with at least two sliders 210, which can be respectively positioned at both ends of the mounting base 200 along its direction of movement, further stabilizing the movement of the mounting base 200. Each slider 210 is equipped with at least two rollers 211, which are movably connected to the annular slide rail 110 on the outer periphery of the annular ground rail body 100 and the annular slide rail 110 on the inner periphery of the annular ground rail body 100, respectively. When the rollers 211 receive driving force, they can further transmit the driving force to the sliders 210 and the mounting base 200, thereby realizing the circular motion of the mounting base 200 on the annular ground rail body 100, thus ensuring that the robot arm 300 can stably and accurately reach the position of each processing slot 400 to complete the grasping and conveying task of the material basket 600.

[0033] In one embodiment, the annular slide rail 110 has an annular rack 111 on its side, and the mounting base 200 has a drive motor 220. A gear 230 is mounted on the output shaft of the drive motor 220, and the gear 230 meshes with the annular rack 111.

[0034] In this embodiment, a drive motor 220 is installed on the mounting base 200 to provide driving force for the movement of the mounting base 200. A gear 230 mounted on the output shaft of the drive motor 220 and an annular rack 111 on the side of the annular slide rail 110 constitute a transmission system. The gear 230 rotates under the drive of the drive motor 220. Because the gear 230 meshes with the annular rack 111, the rotational motion of the gear 230 is converted into linear motion along the annular rack 111 (since the annular rack 111 is circular, it ultimately manifests as circular motion). The meshing transmission of the gear 230 and the annular rack 111 has advantages such as accurate transmission ratio, high transmission efficiency, strong load-bearing capacity, and smooth movement. This ensures the stability and accuracy of the movement of the mounting base 200 on the annular ground rail body 100, enabling the robot arm 300 mounted on it to accurately reach the positions of each processing slot 400 and reliably complete the gripping and conveying tasks of the material basket 600.

[0035] It is understandable that the specific position of the annular rack 111 can be on either side of the annular slide rail 110, and can be set according to actual usage requirements.

[0036] In one embodiment, the robotic arm 300 includes a robotic arm body 310, a robotic arm 320, and a robotic wrist 330; the robotic arm body 310 is rotatably disposed on the upper end of the mounting base 200; the robotic arm 320 is disposed on the robotic arm body 310 and rotatably connected to the robotic arm body 310; and the robotic wrist 330 is disposed at the end of the robotic arm 320 and rotatably connected to the robotic arm 320.

[0037] In this embodiment, the robot arm body 310 is rotatably mounted on the upper end of the mounting base 200, allowing the entire robot arm 300 to rotate circumferentially with the mounting base 200 as a reference. This expands the working range of the robot arm 300, enabling it to better operate in processing slots 400 at different locations. A robot arm 320 is rotatably connected to the robot arm body 310. The robot arm 320 can rotate, allowing the end effector of the robot arm 300 to reach different spatial positions, enabling the material basket 600 to grasp and transport materials at different heights and distances. A robot wrist 330 is also rotatably connected to the end of the robot arm 320. The robot wrist 330 can rotate to allow the end effector mounted on it to operate at different angles and directions, enhancing the flexibility and precision of the robot arm 300's operation.

[0038] In one embodiment, the robotic arm 300 further includes a drive assembly 340, which is disposed on and rotatably connected to the robotic wrist 330. The bottom of the drive assembly 340 is provided with a gripper 350 for gripping the material basket 600.

[0039] In this embodiment, by mounting the drive assembly 340 on and rotating it with the mechanical wrist 330, the drive assembly 340 can adjust its position and angle under the drive of the mechanical wrist 330. Simultaneously, the drive assembly 340 itself can rotate relative to the mechanical wrist 330, giving it high flexibility and enabling it to perform gripping actions at different positions and angles according to actual operational needs. The bottom of the drive assembly 340 is equipped with a gripper 350, which is directly used to grip the material basket 600. When the drive assembly 340 receives a control signal, it drives the gripper 350 to perform corresponding actions, such as opening or closing. By controlling the movement of the gripper 350, stable gripping and releasing of the material basket 600 can be achieved, ensuring the safety and accuracy of the material basket 600 during the conveying process.

[0040] Furthermore, the drive assembly 340 is a servo electric cylinder used to provide driving force for the gripper 350. The servo electric cylinder combines the power characteristics of a traditional cylinder with the precision of servo control. As the power source for the gripper 350, the servo electric cylinder can drive the opening and closing action of the gripper 350 and control the opening degree of the gripper 350 to adaptively grasp different material baskets 600 sizes.

[0041] In one embodiment, the robotic arm 320 includes a first robotic arm 321 and a second robotic arm 322; one end of the first robotic arm 321 is connected to the robotic hand body 310, and the other end is connected to one end of the second robotic arm 322, and the other end of the second robotic arm 322 is connected to the robotic wrist 330.

[0042] In this embodiment, by setting up a first robotic arm 321 and a second robotic arm 322, one end of the first robotic arm 321 is connected to the main body 310 of the robotic hand, allowing it to rotate around the main body 310 as a fulcrum, thereby driving the entire robotic arm 320 to move within a certain angle range. The other end is connected to the second robotic arm 322, providing support and a basis for movement for the second robotic arm 322. Furthermore, the movement of the first robotic arm 321 can change the position of the second robotic arm 322 and the robotic wrist 330, expanding the range of motion of the robotic hand 300 in both horizontal and vertical directions. One end of the second robotic arm 322 is connected to the first robotic arm 321, further increasing the degree of freedom and flexibility of the robotic arm 320 based on the movement of the first robotic arm 321. The other end is connected to the robotic wrist 330, directly providing support and power transmission for the robotic wrist 330, enabling it to accurately reach the target position. After reaching the target position, it can also fine-tune the angle and position of the robotic wrist 330 through its own movement to meet the precision requirements of operations such as grasping the material basket 600.

[0043] The first robotic arm 321 and the second robotic arm 322 work together to achieve complex movements of the robotic wrist 330 in three-dimensional space through different combinations of motion. The first robotic arm 321 is responsible for a large range of position adjustments, while the second robotic arm 322 performs more precise position and posture fine-tuning based on the first robotic arm 321. The two work together to allow the robotic arm 300 to adapt to the grasping needs of the material basket 600 in different positions and postures, improving the operational flexibility and accuracy of the robotic arm 300.

[0044] In one embodiment, it further includes a power supply component, which includes a sliding contact line and a current collector. The sliding contact line is wrapped around the periphery of the annular ground rail body 100 or erected on the upper part of the annular ground rail body 100. The current collector is electrically connected to the sliding contact line and is mounted on the mounting base 200.

[0045] In this embodiment, a sliding contact line is wrapped around the perimeter of the annular ground rail body 100 to form a closed conductive loop, providing a power transmission channel for the robot 300 moving on the annular ground rail body 100. A current collector is electrically connected to the sliding contact line and mounted on the mounting base 200. When the mounting base 200 moves along the annular ground rail body 100, the current collector remains in contact with the sliding contact line, introducing the current in the sliding contact line into the electrical system on the mounting base 200, providing power to the drive motor 220, the various moving parts of the robot 300, etc. Through the cooperation of the sliding contact line and the current collector, the power supply components can provide a stable and reliable power supply to the robot 300 moving on the annular ground rail body 100, and can prevent cable tangling that occurs when using traditional cables, thus affecting processing efficiency. Similarly, the sliding contact line can also be installed on the upper or lower part of the annular ground rail body 100, depending on the actual usage requirements.

[0046] In one embodiment, a control box 500 is also included, which is disposed on the mounting base 200 and electrically connected to the robot arm 300; the control box 500 contains a controller for controlling the movement of the robot arm 300.

[0047] In this embodiment, the control box 500 is mounted on the mounting base 200, facilitating close electrical connection between the control box 500 and the various electric components in the robot arm 300, thereby enabling precise control of the movements of each part of the robot arm 300. The controller inside the control box 500 is electrically connected to the robot arm 300, and control commands are sent to the controller to control the movements of the robot arm 300. For example, the controller can receive instruction information from external sources, such as the position information for grasping the material basket 600, the target position information for placing the material basket 600, and the sequence of actions, and parse these instructions into control signals that the joint motors of the robot arm 300 can understand. Furthermore, based on the parsed instructions, the movement of each part of the robot arm 300 is coordinated and controlled. For example, the controller controls the rotation angle of the robotic arm body 310 on the mounting base 200, enabling the robotic arm 320 to align with the material basket 600. Simultaneously, it controls the first robotic arm 321 and the second robotic arm 322 to extend, retract, and rotate, ensuring the robotic wrist 330 accurately reaches the material basket 600. Finally, it controls the hydraulic cylinder in the drive assembly 340 to drive the gripper 350 to grasp the material basket 600. Throughout the process, the controller precisely calculates and controls parameters such as time, speed, and force for each action, ensuring the robotic arm 300 completes its task efficiently and accurately. The controller can also monitor the motion status of each part of the robotic arm 300 in real time, acquiring information such as the position of the robotic arm 320 and the gripping force of the gripper 350 through sensors, and comparing this information with preset target values. If a deviation is detected between the actual motion state and the target value, the controller promptly adjusts the control signals to correct the error, ensuring the accuracy and stability of the robotic arm 300's movements.

[0048] In one embodiment, a wireless communication module is also included, which is wirelessly connected to the controller and is used to send control commands to the controller.

[0049] In this embodiment, by wirelessly connecting the wireless communication module to the controller, the constraints of cables are eliminated, making the control of the robot 300 more flexible and convenient. This allows the robot 300 to move more freely on the circular ground track body 100, avoiding cable entanglement and improving the convenience of operation and work efficiency.

[0050] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A circular ground rail production line, characterized in that, include: The main body of the circular ground track (100); Several processing grooves (400) surround the outer periphery of the annular ground rail body (100); At least one mounting base (200) is provided, the lower end of which is movably connected to the upper surface of the main body of the annular ground rail (100), and the mounting base (200) moves in a circular motion along the main body of the annular ground rail (100). At least one robotic arm (300) is mounted one-to-one on the upper end of the mounting base (200) for gripping and conveying material baskets (600).

2. The circular ground track production line according to claim 1, characterized in that, The upper surface of the annular ground rail body (100) is provided with at least two annular slide rails (110), the annular slide rails (110) being respectively arranged on the outer periphery of the annular ground rail body (100) and the inner periphery of the annular ground rail body (100); the lower end face of the mounting base (200) is provided with at least two sliders (210), each slider (210) being provided with at least two rollers (211), the rollers (211) being movably connected to the annular slide rails (110).

3. The circular ground track production line according to claim 2, characterized in that, The annular slide rail (110) has an annular rack (111) on its side, and the mounting base (200) has a drive motor (220). The output shaft of the drive motor (220) is equipped with a gear (230), which meshes with the annular rack (111).

4. The circular ground track production line according to claim 1, characterized in that, The robotic arm (300) includes a robotic arm body (310), a robotic arm (320), and a robotic wrist (330); the robotic arm body (310) is rotatably disposed on the upper end of the mounting base (200); the robotic arm (320) is disposed on the robotic arm body (310) and rotatably connected to the robotic arm body (310); the robotic wrist (330) is disposed at the end of the robotic arm (320) and rotatably connected to the robotic arm (320).

5. The circular ground track production line according to claim 4, characterized in that, The robotic arm (300) also includes a drive assembly (340), which is disposed on the robotic wrist (330) and rotatably connected to the robotic wrist (330). The bottom of the drive assembly (340) is provided with a gripper (350) for gripping the material basket (600).

6. The circular ground track production line according to claim 5, characterized in that, The drive assembly (340) is a servo electric cylinder used to provide driving force to the gripper (350).

7. The circular ground track production line according to claim 4, characterized in that, The robotic arm (320) includes a first robotic arm (321) and a second robotic arm (322); one end of the first robotic arm (321) is connected to the robotic hand body (310), and the other end is connected to one end of the second robotic arm (322), and the other end of the second robotic arm (322) is connected to the robotic wrist (330).

8. The circular ground rail production line according to any one of claims 1-7, characterized in that, Also includes: The power supply assembly includes a sliding contact line and a current collector. The sliding contact line is wrapped around the periphery of the annular ground rail body (100) or erected on the upper part of the annular ground rail body (100). The current collector is electrically connected to the sliding contact line and is mounted on the mounting base (200).

9. The circular ground track production line according to claim 1, characterized in that, It also includes a control box (500), which is mounted on the mounting base (200) and electrically connected to the robotic arm (300); The control box (500) is equipped with a controller for controlling the movement of the robotic arm (300).

10. The circular ground track production line according to claim 9, characterized in that, It also includes a wireless communication module, which is wirelessly connected to the controller and used to send control commands to the controller.

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