A bearing roller handling gantry robot

Abstract

The utility model relates to bearing manufacturing automation technical field discloses a truss manipulator for bearing roller carrying. Including the truss crossbeam of covering machine tool station, linear guide on crossbeam, sliding base and horizontal slide of drive, take the vertical guide column of jaw, distributed control system. The core improvement lies in: the interval setting transfer rack on the truss crossbeam, and the crossbeam section between every two mobile base is provided with at least one rack. When the machine tool processing delay, its jaw will temporarily store the roller to adjacent rack, and the downstream machine tool jaw directly takes the material from the rack, realizes the asynchronous collaborative work of multiple machine tools. At the same time, the rack utilizes the truss three-dimensional space deployment, realizes material buffer zero ground occupation. Compared with the traditional scheme, the equipment comprehensive efficiency improves 23%, and the single production line saves 2.5 square meters of land occupation. It is suitable for bearing roller multi-process automation production line.

Description

Technical Field

[0001] This utility model relates to the field of bearing manufacturing automation technology, and in particular to a gantry robot for handling bearing rollers. Background Technology

[0002] In the automated production process of bearing rollers, it is usually necessary to transfer the rollers between different machine tool stations to complete multiple processing steps (such as turning, grinding, and heat treatment). The following two handling methods are commonly used in existing technologies:

[0003] 1. Automatic loading and unloading system for conveyor lines

[0004] Implementation method:

[0005] Each machine tool is connected by a conveyor belt or roller conveyor, and the rollers are fed into / removed from the machine tool processing area by a robotic arm or push rod mechanism.

[0006] Inherent defects: Poor adaptability: For non-standard machine tools (such as old-fashioned vertical lathes) or production line layouts with limited space, it is difficult to physically connect the conveyor line; Insufficient flexibility: Once a machine tool is delayed in processing, subsequent workstations are forced to stop due to the lack of a buffer mechanism, and the efficiency of the entire line decreases significantly.

[0007] 2. Industrial robot handling solutions

[0008] Implementation method: Deploy multi-joint robots among multiple machine tools, and realize roller gripping, transportation and placement through trajectory planning.

[0009] Inherent drawbacks: High cost: The cost of a single set of equipment exceeds 200,000 yuan due to the six-axis robot body and high-precision trajectory control system; Low space utilization: The robot working unit requires a reserved safety area, and the effective utilization rate of the ground is less than 60%; Complex maintenance: The joint sealing structure is easily invaded by metal debris, and the mean time between failures (MTBF) is less than 4,000 hours.

[0010] 3. Traditional gantry robot solution

[0011] Implementation method: A portal gantry is erected above the production line, and the material transfer between machine tools is completed by a three-axis slide table driving the gripper.

[0012] Technical bottlenecks: No intermediate buffer function: It only supports point-to-point direct transport from machine tool to machine tool. When the target machine tool is not ready, the gripper needs to hold the material and wait, resulting in ineffective energy consumption; Unutilized idle space: No functional modules are deployed in the three-dimensional space between the truss beam and the machine tool, resulting in serious resource waste; Lack of collaborative control: There is no material handover mechanism between multiple grippers, making it difficult to achieve asynchronous operation across workstations.

[0013] In summary, existing material handling technologies are either unable to adapt to all machine tools due to physical limitations, or their widespread adoption is restricted by high costs and low reliability. In particular, they lack the ability to optimize dynamic imbalances in production line cycle times, resulting in the average overall equipment efficiency (OEE) of bearing roller production lines being below 65% for a long time. Utility Model Content

[0014] In order to overcome the above-mentioned defects of the prior art, the embodiments of this utility model provide a gantry robot for handling bearing rollers.

[0015] To achieve the above objectives, the innovative features of this utility model are as follows: its structure includes: a truss beam that extends along a first horizontal direction and covers multiple machine tool stations;

[0016] Linear guide rails are installed on the truss beams and arranged along the X-axis;

[0017] The movable base is slidably connected to the linear guide rail and is driven by the X-axis drive mechanism to move along the X-axis direction.

[0018] The Y-axis carriage is mounted on a movable base and is driven by a Y-axis drive mechanism to move along the Y-axis direction.

[0019] The Z-axis actuator includes a guide column on the Y-axis carriage and a gripper at the bottom of the guide column, which is driven by the Z-axis drive mechanism to move up and down along the Z-axis direction.

[0020] The distributed control system responds to the material handling signals of each machine tool station and controls the grippers to perform material handling operations in three axes in a coordinated manner.

[0021] Intermediate storage racks are installed at intervals along the truss beams to temporarily store bearing rollers.

[0022] Furthermore, the aforementioned transfer and placement frame is fixed to the truss beam, and at least one transfer and placement frame is provided in the truss beam section between every two movable bases.

[0023] Furthermore, the position of the aforementioned transfer rack satisfies the following condition: the gripper corresponding to any movable base can directly access the bearing rollers on its adjacent transfer rack through triaxial motion.

[0024] Furthermore, the operating logic of the aforementioned distributed control system includes:

[0025] When the rollers processed by the first machine tool need to be transferred to the second machine tool, the corresponding grippers of the first machine tool place the rollers in the transfer rack between the two.

[0026] When the second machine tool needs to be loaded, the corresponding gripper of the second machine tool takes the roller from the transfer rack.

[0027] Furthermore, the aforementioned X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism each include: a drive motor; a drive gear fixed to the output end of the drive motor; and racks respectively disposed on the linear guide rail, the Y-axis slide, and the guide column; wherein the drive gear meshes with the rack in the corresponding axial direction for transmission.

[0028] Furthermore, the aforementioned drive motor is a servo motor, and the transmission structures of the X-axis, Y-axis, and Z-axis reuse the same gear and rack meshing scheme.

[0029] Furthermore, the aforementioned truss beams cover six machine tool stations, each equipped with an independent Z-axis execution unit.

[0030] Furthermore, this utility model also includes a centralized lubrication system, the oil passage of which leads to the meshing surfaces of the racks on the X-axis, Y-axis, and Z-axis.

[0031] Furthermore, the aforementioned grippers are pneumatic grippers, and the shape of their gripping surfaces is adapted to the cylindrical curved surface of the bearing rollers.

[0032] The beneficial effects of this utility model are:

[0033] 1. By using the truss beam integrated transfer and placement rack, the production line cycle dynamic balance is achieved, improving the overall equipment efficiency (OEE); the measured OEE of the bearing roller production line increased from 65% to 80% (an increase of 23%), and the overall line capacity fluctuation rate decreased by 40%.

[0034] 2. By utilizing the distributed deployment of truss-based three-dimensional space racks, material buffering can be achieved with zero ground space occupation; compared with traditional ground buffering solutions, it saves 2.5㎡ per production line unit and is suitable for compact workshop layouts. Attached Figure Description

[0035] Figure 1 This is an isometric drawing of the present invention.

[0036] Figure 2 This is a structural diagram of the bottom of the movable base of this utility model. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0038] This embodiment provides a gantry robot for handling bearing rollers, the structure of which is as follows: Figure 1-2As shown, the specific implementation details are as follows:

[0039] 1. Mechanical structure implementation:

[0040] Truss beam 101: Made of Q235B square steel, welded together, 12 meters long, extending along the X-axis, covering 6 machine tool stations (station spacing 2 meters).

[0041] Linear guide rail 102: Two parallel GGB15 linear guide rails 102 are fixed to the upper surface of the truss beam 101 by bolts, and their length is the same as that of the truss beam 101.

[0042] Moving base 201: 6 sets of HT200 cast iron bases 201, with sliders at the bottom that match the linear guide rail 102. Each moving base 201 corresponds to one machine tool station.

[0043] Y-axis slide 202: An aluminum alloy slide (stroke 800mm) located above the movable base 201, which moves along the Y-axis.

[0044] Z-axis actuator: Guide column 203: chrome-plated steel column with a diameter of 50mm, connected to the Y-axis carriage via a linear bearing; Grippers: SMC MHZ2-20D pneumatic grippers with a V-groove structure for the gripping surface, suitable for bearing rollers with a diameter of 10-30mm, and the gripping force is adjustable from 20-100N.

[0045] Transfer placement rack 301: 5 stainless steel U-shaped brackets (length × width × height = 150mm × 100mm × 50mm), one of which is fixed in the middle of the truss beam 101 between every two movable bases 201, and the distance between adjacent placement racks is 2 meters.

[0046] 2. Transmission System Implementation: Drive Mechanism: Drive Motor 401: All three axes use Delta ECMA-C20604RS servo motors; Drive Gear 402: Module 2, 20 teeth alloy steel gear; Rack 403: X-axis: Module 2 rack (12 meters long) fixed to the side of linear guide 102; Y-axis: Module 2 rack (800 mm long) fixed to the base of Y-axis slide 202; Z-axis: Module 2 rack (500 mm long) fixed to the side of guide post 203.

[0047] Lubrication system 501: Automatic grease pump (Bercher BL200) delivers lithium-based grease to each rack meshing surface through an oil distributor, injecting 0.1ml of grease every 8 hours.

[0048] 3. Implementation of control processes:

[0049] Signal interaction logic: Each machine tool PLC sends signals to the distributed control system via RS485 bus:

[0050] M1_READY: Machine tool 1 has completed processing and requests material retrieval; M4_NEED: Machine tool 4 needs material loading and requests material feeding.

[0051] Transit operation process:

[0052] Machine tool 1 sends the M1_READY signal;

[0053] The control system drives the gripper (204) corresponding to the machine tool 1 to perform the following actions: move to the processing area of ​​the machine tool 1 to pick up the material; move to the placement rack S1 between the machine tool 1 and the machine tool 2; and release the roller to the placement rack.

[0054] Machine tool 4 sends the M4_NEED signal;

[0055] The gripper (204) corresponding to the machine tool 4 performs the following actions: positioning to the placement rack S1; taking away the roller and transporting it to the machine tool 4.

[0056] Collaborative work instructions:

[0057] Each gripper (204) moves independently. For example, when the gripper corresponding to machine tool 1 puts material onto the placement rack S1, the gripper corresponding to machine tool 3 can simultaneously take material from the placement rack S3.

[0058] Example 2: Extended Scheme

[0059] Replace the transfer rack with a smart buffer platform: Structural change: Add a Mettler Toledo load cell (5kg range) to the U-shaped bracket to monitor the weight of the rollers in real time and upload the data to the control system;

[0060] Control optimization: The system dynamically plans the transport path based on the roller inventory of each rack (such as prioritizing the rack with the largest inventory), which still falls under the category of the "transfer and buffer module" in claim 1.

[0061] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0062] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0063] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gantry robot for handling bearing rollers, characterized in that, Its structure includes: a truss beam (101) extending along a first horizontal direction and covering multiple machine tool stations; Linear guide rail (102) is installed on the truss beam (101) and arranged along the X-axis; The movable base (201) is slidably connected to the linear guide rail (102) and is driven by the X-axis drive mechanism to move along the X-axis direction; The Y-axis carriage (202) is mounted on the movable base (201) and is driven by the Y-axis drive mechanism to move along the Y-axis direction; The Z-axis actuator includes a guide post (203) on the Y-axis carriage (202) and a gripper at the bottom of the guide post (203), which is driven by the Z-axis drive mechanism to move up and down along the Z-axis direction; The distributed control system responds to the material handling signals of each machine tool station and controls the grippers to perform material handling operations in three axes in a coordinated manner. A transfer rack (301) is provided at intervals along the truss beams (101) for temporarily storing bearing rollers.

2. The gantry robot for handling bearing rollers according to claim 1, characterized in that, The transfer placement frame (301) is fixed on the truss beam (101), and at least one transfer placement frame (301) is provided in the truss beam (101) section between every two movable bases (201).

3. A gantry robot for handling bearing rollers according to claim 2, characterized in that, The position of the transfer placement rack (301) satisfies the following condition: the gripper corresponding to any movable base (201) can directly access the bearing rollers on the adjacent transfer placement rack through triaxial motion.

4. A gantry robot for handling bearing rollers according to claim 1, characterized in that, The operating logic of the distributed control system includes: When the rollers processed by the first machine tool need to be transferred to the second machine tool, the corresponding gripper of the first machine tool places the rollers in the transfer rack (301) between the two. When the second machine tool needs to be loaded, the corresponding gripper of the second machine tool takes the roller from the transfer rack (301).

5. A gantry robot for handling bearing rollers according to claim 1, characterized in that, The X-axis drive mechanism, Y-axis drive mechanism and Z-axis drive mechanism each include: a drive motor (401); a drive gear (402) fixed to the output end of the drive motor; and racks (403) respectively provided on the linear guide rail, the Y-axis slide and the guide column; wherein the drive gear (402) meshes with the rack (403) in the corresponding axial direction for transmission.

6. A gantry robot for handling bearing rollers according to claim 5, characterized in that, The drive motor (401) is a servo motor, and the transmission structures of the X-axis, Y-axis and Z-axis reuse the same gear and rack meshing scheme.

7. A gantry robot for handling bearing rollers according to claim 1, characterized in that, The truss beam (101) covers 6 machine tool stations, and each machine tool station is equipped with an independent Z-axis execution unit.

8. A gantry robot for handling bearing rollers according to claim 5, characterized in that, It also includes a centralized lubrication system (501), whose oil passage leads to the meshing surfaces of the racks on the X-axis, Y-axis, and Z-axis.

9. A gantry robot for handling bearing rollers according to claim 1, characterized in that, The gripper is a pneumatic gripper, and its gripping surface shape is adapted to the cylindrical curved surface of the bearing roller.

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