A rotary zero-gap handling robot

Abstract

The utility model discloses a kind of rotary zero-gap handling robots, with its including robot body and rotary platform, the robot body is by vehicle body, driving device, driven device, power supply positioning device, safety device and electric control device composition;The rotary platform is by lower support device, rotary bearing, rotary driving device, upper support device and detection switch composition;The utility model passes through design a kind of handling robot for excavator lower frame, can more flexible and efficient realize its assembly operation with excavator track, realize safe and efficient assembly, realizes automated operation, greatly saves manual work, with good practical application and popularization value.

Description

Technical Field

[0001] This utility model relates to the field of engineering machinery and equipment technology, and in particular to a rotary zero-backlash handling robot. Background Technology

[0002] Currently, the process of assembling tracks on excavators often involves using a gantry crane to lift the excavator's underframe and slowly rotate it. Then, the excavator's underframe and tracks are slowly lowered for assembly by visually inspecting their relative positions on the ground. This requires at least two workers to operate, resulting in low assembly efficiency and poor safety.

[0003] With the development of robotics technology, some manufacturers are gradually adopting handling robots to replace traditional overhead cranes for assembly. However, problems still exist, such as rotation angle deviation and the excavator underframe not matching the tracks well after it is lowered. Utility Model Content

[0004] The purpose of this invention is to address the above-mentioned situation by providing a zero-backlash rotary transport robot. This transport robot can achieve a good match between the excavator underframe and the tracks through its own effective adjustments.

[0005] The specific solution of this utility model is: a zero-backlash rotary handling robot, which includes a robot body and a rotary platform. The robot body is composed of a vehicle body, a drive device, a driven device, a power supply and positioning device, a safety device and an electronic control device. The rotary platform is composed of a lower support device, a rotary bearing, a rotary drive device, an upper support device and a detection switch.

[0006] Furthermore, the vehicle body described in this utility model is a box girder frame structure welded from steel plates, with the steel plates positioned by mortise and tenon joints; the drive device includes a drive motor and a drive sprocket that is connected to the output end of the drive motor; the driven device consists of a driven wheel, a driven shaft, and a fixed bearing seat, with the drive sprocket driving the driven sprocket mounted on the driven shaft via a chain, thereby driving the driven wheel to rotate and thus moving the handling robot.

[0007] Furthermore, the power supply positioning device described in this utility model consists of a current collector, a traction fork arm, and a vision camera. The traction fork arm is fixed to the vehicle body and is movably connected to the current collector. The traction fork arm moves with the transport robot, thereby pulling the current collector to move. The current collector contacts the sliding contact line set on the fixed track, thereby supplying power to the transport robot. The vision camera is set on the traction fork arm. The traction fork arm moves with the transport robot, thereby allowing the vision camera to illuminate the barcode set on the fixed track and stop at different positions as needed.

[0008] Furthermore, the safety device described in this utility model consists of a laser obstacle avoidance sensor, a safety edge, a speaker, a warning light, and an emergency stop button. The laser obstacle avoidance sensor is an active safety feature, actively detecting obstacles in front of the transport robot; the safety edge, speaker, warning light, and emergency stop button are passive safety features, alerting workers to safety through sound and light, and stopping the transport robot via an electronic control device after the safety edge collides with an obstacle.

[0009] Furthermore, the electrical control device described in this utility model consists of a PLC, a driver, and low-voltage electrical components, which control the handling robot to perform various actions.

[0010] Furthermore, the rotary platform described in this utility model comprises a lower support device, a rotary bearing, a rotary drive device, an upper support device, and a detection switch. The lower support device is welded together from an upper flange, a middle cylinder, and a lower flange. The upper flange is connected to the rotary bearing, and the lower flange is connected to the vehicle body. The rotary bearing has a ring of external teeth, which mesh with the rotary drive device for transmission. The rotary drive device comprises a servo motor, a reducer, a drive gear, and a backlash-eliminating flange. By adjusting the backlash-eliminating flange, the backlash between the drive gear and the external teeth of the rotary bearing is eliminated. The rotation of the drive gear of the rotary drive device drives the rotary bearing to rotate, thereby driving the upper support device to rotate. The upper support device comprises an upper support, an anti-slip plate, and an electromagnet. The upper support device contacts the workpiece, and the electromagnet is energized to attract the workpiece to prevent the workpiece from moving relative to the upper support device. The detection switch comprises several proximity switches or limit switches, used to detect the rotation angle and position of the upper support device.

[0011] Furthermore, in this utility model, the outer ring mounting flange and the inner ring mounting flange of the backlash-eliminating flange have an eccentricity δ. The outer ring mounting flange is connected to the slewing bearing fixing plate, and the inner ring mounting flange is connected to the servo motor, reducer, and drive gear. By rotating the backlash-eliminating flange, the center distance between the drive gear and the outer teeth of the slewing bearing can be adjusted, thereby eliminating the gear backlash between the drive gear and the outer teeth of the slewing bearing.

[0012] This invention designs a transport robot for the undercarriage of an excavator, which can more flexibly and efficiently assemble the robot with the excavator tracks, achieving safe and efficient assembly, realizing automated operation, greatly saving manpower, and has great practical application and promotion value. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0014] Figure 2 This is a three-dimensional structural diagram of the present invention;

[0015] Figure 3 This is a three-dimensional structural diagram of the rotary platform in this invention;

[0016] Figure 4 This is a front view schematic diagram of the power supply positioning device in this invention;

[0017] Figure 5 yes Figure 3 A cross-sectional schematic diagram of the rotary platform;

[0018] Figure 6 yes Figure 5 A three-dimensional structural diagram of the intermediate slewing bearing and slewing drive device;

[0019] Figure 7 yes Figure 5 A partial top view of the slewing bearing and slewing drive device;

[0020] Figure 8 This is a top view of the gap-eliminating flange in this invention;

[0021] Figure 9 yes Figure 3 A bottom-view diagram of the detection switch;

[0022] Figure 10 yes Figure 3 A partial front view of the detection switch;

[0023] Figure 11 This is a right-side view of one embodiment of the present invention when carrying a workpiece.

[0024] In the diagram: 1-Robot body, 11-Vehicle body, 12-Drive unit, 13-Driven device, 14-Power supply and positioning device, 15-Mounting device, 16-Electrical control device, 2-Slewing platform, 21-Lower support device, 22-Slewing bearing, 23-Slewing drive unit, 24-Upper support device, 25-Detection switch, 26-Excavator underframe, 27-Traction fork arm, 28-Vision camera, 29-Cyclist collector. Detailed Implementation

[0025] The technical solution 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, and 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. In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0026] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] See Figures 1 to 11 This utility model is a zero-gap rotary handling robot, which includes a robot body 1 and a rotary platform 2. The robot body is composed of a vehicle body 11, a drive device 12, a driven device 13, a power supply and positioning device 14, a safety device and an electronic control device 16. The rotary platform is composed of a lower support device 21, a rotary bearing 22, a rotary drive device 23, an upper support device 24 and a detection switch 25.

[0028] Furthermore, in this embodiment, the vehicle body is a box girder frame structure welded from steel plates, with the steel plates positioned by mortise and tenon joints. The drive device includes a drive motor and a drive sprocket connected to the output end of the drive motor. The driven device consists of a driven wheel, a driven shaft, and a fixed bearing seat. The drive sprocket drives the driven sprocket mounted on the driven shaft via a chain, thereby rotating the driven wheel to drive the transport robot to move. Furthermore, the power supply and positioning device in this invention consists of a current collector 29, a traction fork arm 27, and a vision camera 28. The traction fork arm is fixed to the vehicle body and is movably connected to the current collector. The traction fork arm moves with the transport robot, thereby pulling the current collector to move. The current collector contacts a sliding contact line mounted on a fixed track, thereby supplying power to the transport robot. The vision camera is mounted on the traction fork arm. The traction fork arm moves with the transport robot, allowing the vision camera to illuminate the barcode mounted on the fixed track and stop at different positions as needed. Furthermore, the safety device in this invention consists of a laser obstacle avoidance sensor, a safety contact edge, a speaker, a warning light, and an emergency stop button. The laser obstacle avoidance sensor is an active safety feature, actively detecting obstacles in front of the transport robot. The safety edge, speaker, warning light, and emergency stop button are passive safety features, alerting workers to safety through sound and light, and stopping the transport robot via an electronic control device after the safety edge collides with an obstacle. Furthermore, the electronic control device described in this invention consists of a PLC, a driver, and low-voltage electrical components, controlling the transport robot to perform various actions.

[0029] Furthermore, in this embodiment, the rotary platform comprises a lower support device, a rotary bearing, a rotary drive device, an upper support device, and a detection switch. The lower support device is welded from an upper flange, a middle cylinder, and a lower flange. The upper flange is connected to the rotary bearing, and the lower flange is connected to the vehicle body. The rotary bearing has a ring of external teeth, which mesh with the rotary drive device for transmission. The rotary drive device comprises a servo motor, a reducer, a drive gear, and a backlash-eliminating flange. By adjusting the backlash-eliminating flange, the backlash between the drive gear and the external teeth of the rotary bearing is eliminated. The rotation of the drive gear of the rotary drive device drives the rotary bearing to rotate, thereby driving the upper support device to rotate. The upper support device comprises an upper support, an anti-slip plate, and an electromagnet. The upper support device contacts the workpiece, and the electromagnet is energized to attract the workpiece to prevent the workpiece from moving relative to the upper support device. The detection switch comprises several proximity switches or limit switches, used to detect the rotation angle and position of the upper support device. Furthermore, in this utility model, the outer ring mounting flange and the inner ring mounting flange of the backlash-eliminating flange have an eccentricity δ. The outer ring mounting flange is connected to the slewing bearing fixing plate, and the inner ring mounting flange is connected to the servo motor, reducer, and drive gear. By rotating the backlash-eliminating flange, the center distance between the drive gear and the outer teeth of the slewing bearing can be adjusted, thereby eliminating the gear backlash between the drive gear and the outer teeth of the slewing bearing.

[0030] This utility model is an automated robotic handling system, mainly designed for handling the excavator underframe 26 for assembly. See attached document. Figure 11 As shown, the robot includes a robot body 1 and a rotating platform 2. The robot body is responsible for moving the workpiece to the set position. It includes a chassis, drive unit, driven unit, power supply and positioning unit, safety device, and electronic control unit. These devices control the robot body to move to the required position to perform the assembly operation of the tracks and the underframe. The rotating platform includes a lower support device 21, a slewing bearing 22, a slewing drive device 23, an upper support device 24, and a detection switch 25. This structure allows the robot to rotate along with the workpiece. The rotary drive device consists of a servo motor, a reducer, a drive gear, and a backlash-eliminating flange. Adjusting the backlash-eliminating flange eliminates the clearance between the drive gear and the external teeth of the rotary bearing. The outer and inner ring mounting flanges of the backlash-eliminating flange have an eccentricity δ. The outer ring mounting flange is connected to the rotary bearing fixing plate, and the inner ring mounting flange is connected to the servo motor, reducer, and drive gear. Rotating the backlash-eliminating flange adjusts the center distance between the drive gear and the external teeth of the rotary bearing, thereby eliminating the gear clearance and achieving zero backlash during rotation. The rotation of the drive gear in the rotary drive device drives the rotary bearing to rotate, which in turn drives the upper support device to rotate. The upper support device consists of an upper support, an anti-slip plate, and an electromagnet. The upper support device contacts the workpiece; when the electromagnet is energized, it attracts the workpiece, preventing it from moving relative to the upper support device. The detection switch consists of several proximity switches or limit switches, used to detect the rotation angle and position of the upper support device and feed back the workpiece's rotation position to the relevant control equipment for real-time adjustment and control. The robot body also has a manual operation panel for real-time adjustment and control by the operator.

[0031] This invention designs a transport robot for the undercarriage of an excavator, which can more flexibly and efficiently assemble the robot with the excavator tracks, achieving safe and efficient assembly, realizing automated operation, greatly saving manpower, and has great practical application and promotion value.

Claims

1. A rotary zero-gap handling robot, characterized by: It includes a robot body and a rotating platform. The robot body consists of a vehicle body, a drive device, a driven device, a power supply and positioning device, a safety device, and an electronic control device. The rotating platform consists of a lower support device, a slewing bearing, a slewing drive device, an upper support device, and a detection switch.

2. A revolute zero-clearance handling robot according to claim 1, characterized in that The vehicle body is a box girder frame structure welded from steel plates, with the steel plates positioned by mortise and tenon joints. The drive device includes a drive motor and a drive sprocket that is connected to the output end of the drive motor. The driven device consists of a driven wheel, a driven shaft, and a fixed bearing seat. The drive sprocket drives the driven sprocket mounted on the driven shaft through a chain, thereby driving the driven wheel to rotate and move the handling robot.

3. A revolute zero-clearance handling robot according to claim 1, characterized in that: The power supply and positioning device consists of a current collector, a traction fork arm, and a vision camera. The traction fork arm is fixed to the vehicle body and is movably connected to the current collector. The traction fork arm moves with the handling robot, thereby pulling the current collector to move. The current collector contacts the sliding contact line set on the fixed track, thereby supplying power to the handling robot. The vision camera is set on the traction fork arm. The traction fork arm moves with the handling robot, thereby allowing the vision camera to illuminate the barcode set on the fixed track and stop at different positions as needed.

4. A revolute zero-clearance handling robot according to claim 1, characterized in that: The safety device consists of a laser obstacle avoidance sensor, a safety edge, a speaker, a warning light, and an emergency stop button. The laser obstacle avoidance sensor is an active safety feature that actively detects obstacles in front of the transport robot. Safety edges, speakers, warning lights, and emergency stop buttons are passive safety features. They alert workers to safety through sound and light, and the handling robot stops via an electronic control device after the safety edge collides with an obstacle.

5. A revolute zero-clearance handling robot according to claim 1, characterized in that: The electrical control device consists of a PLC, a driver, and low-voltage electrical components, which control the handling robot to perform various actions.

6. A revolute zero-clearance handling robot according to claim 1, characterized in that: The rotary platform consists of a lower support device, a rotary bearing, a rotary drive device, an upper support device, and a detection switch; The lower support device is welded from an upper flange, a middle cylinder, and a lower flange. The upper flange is connected to the slewing bearing, and the lower flange is connected to the vehicle body. The slewing bearing has a ring of external teeth that mesh with the slewing drive device. The slewing drive device consists of a servo motor, a reducer, a drive gear, and a backlash-eliminating flange. By adjusting the backlash-eliminating flange, the backlash between the drive gear and the external teeth of the slewing bearing is eliminated. The rotation of the drive gear in the slewing drive device drives the slewing bearing to rotate, thereby rotating the upper support device. The upper support device consists of an upper support, an anti-slip plate, and an electromagnet. The upper support device contacts the workpiece, and the electromagnet is energized to attract the workpiece, preventing it from moving relative to the upper support device. The detection switch consists of several proximity switches or limit switches, used to detect the rotation angle and position of the upper support device.

7. A rotary zero gap handling robot according to claim 6, characterized in that The outer ring mounting flange and the inner ring mounting flange of the backlash elimination flange have an eccentricity δ. The outer ring mounting flange is connected to the slewing bearing fixing plate, and the inner ring mounting flange is connected to the servo motor, reducer, and drive gear. By rotating the backlash elimination flange, the center distance between the drive gear and the outer teeth of the slewing bearing can be adjusted, thereby eliminating the gear backlash between the drive gear and the outer teeth of the slewing bearing.

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