CN116692752B - Flexible production line of truss type robot framework - Google Patents
Flexible production line of truss type robot framework Download PDFInfo
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- CN116692752B CN116692752B CN202310954962.XA CN202310954962A CN116692752B CN 116692752 B CN116692752 B CN 116692752B CN 202310954962 A CN202310954962 A CN 202310954962A CN 116692752 B CN116692752 B CN 116692752B
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- filling
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- pipe
- robot
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 55
- 238000012546 transfer Methods 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims description 63
- 239000003792 electrolyte Substances 0.000 claims description 23
- 238000003466 welding Methods 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 15
- 210000000078 claw Anatomy 0.000 claims description 11
- 239000002131 composite material Substances 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 2
- 230000000694 effects Effects 0.000 description 16
- 238000003780 insertion Methods 0.000 description 12
- 230000037431 insertion Effects 0.000 description 12
- 230000006872 improvement Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000009347 mechanical transmission Effects 0.000 description 7
- 230000007547 defect Effects 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 229910003002 lithium salt Inorganic materials 0.000 description 4
- 159000000002 lithium salts Chemical class 0.000 description 4
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 3
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 3
- 229910001416 lithium ion Inorganic materials 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000000265 homogenisation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/30—Filling of barrels or casks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Automatic Assembly (AREA)
Abstract
The invention discloses a flexible production line of a truss type robot framework, which belongs to the field of robot production lines, and structurally comprises the following components: the invention realizes that the truss day rail is matched with the filling tube warehouse frame, can simultaneously fill a plurality of filling ton barrels, and the truss day rail can be conveniently installed, so that the plugging transfer pipe is installed at the plugging port on each filling ton barrel, and the truss robot can accurately detect the plugging transfer pipe information from the contact sensor.
Description
Technical Field
The invention relates to a flexible production line of a truss type robot framework, and belongs to the field of robot production lines.
Background
The full-automatic filling machine production line can realize the route that the products start from raw materials entering the packaging equipment and are formed by a series of production activities such as processing, conveying, assembling and checking, and the like, has great flexibility, can adapt to the requirements of various production, can realize the high-volume production of food, medicine and daily chemical enterprises by using the full-automatic filling machine production line, further helps the production enterprises to realize the aim of high-speed production, and has the advantages of providing a filling production line with excellent performance, stability and reliability for the manufacturing industry; the material waste is less, and the cost is saved in mass production; programming control is carried out according to the production flow, so that the production efficiency is high; the production process has little pollution to the environment, and the like, the prior art combines a truss type robot framework to form a flexible production line, the comprehensive regulation and control of central control equipment and sensors are also needed, working errors and alarm scram of the robot production line can be caused when electronic information transmission is delayed, and the automatic control precision of the robot needs higher electronic density to control and mechanically drive, so the robot production line also needs to gradually expand the use degree, and the defects to be optimized in common technology at present are as follows:
the electrolyte lithium salt is used as an important component of the lithium ion battery, and a storage container of the electrolyte lithium salt is a large-capacity ton barrel with a special structure, and is also easily influenced by personnel quality and filling means during manual filling, so that the phenomenon that the weight and the pressure of the barrel are inconsistent after filling is caused, the filling effect is seriously influenced, and in addition, the defects of high working strength, time and labor waste, high production cost and the like of workers are caused by the traditional filling mode.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a flexible production line of a truss type robot framework, so as to solve the problems that electrolyte lithium salt is taken as an important component of a lithium ion battery, a storage container of the flexible production line is a large-capacity ton barrel with a special structure, the flexible production line is easily influenced by personnel quality and filling means during manual filling, the phenomenon of inconsistent barrel weight and pressure after filling and the like seriously influences the filling effect, and in addition, the traditional filling mode also causes the defects of higher working strength, time and labor waste, high production cost and the like of workers.
In order to achieve the above object, the present invention is realized by the following technical scheme: a flexible production line of truss-like robot architecture, its structure includes: truss top rail, total accuse case, truss robot, servo control cabinet, transportation fork truck, straight-through pipe, back flow, butt welding ball valve, plug-in transfer pipe, fixed plate, buffer board, hydraulic cylinder, gas claw fly leaf, pneumatic clamp holder, clamping jaw, elevating system, drive plate, driving motor, drive gear, transmission pinion rack, filling ton bucket, balanced chest expander, bearing table frame, stand, electrolyte filling table, filling station, filling pipe storehouse frame, total delivery pipe, filling subassembly, clamping part, electrolyte filling table comprises filling station, filling ton bucket, bearing table frame, the filling ton bucket is installed on the top of filling station, the filling station is equipped with two or more and all installs on the top of bearing table frame, electrolyte filling table is installed directly under the truss top rail, the truss top rail is subaerial through stand fixed mounting in the filling line and mutually perpendicular, total accuse case is installed on the filling line subaerial, be equipped with drive assembly, robot and control cabinet, the mechanical arm are in the same with the transmission of filling machine frame, the mechanical arm is equipped with the mechanical arm, the mechanical arm is in with the same with the mechanical arm through-hole of the transmission of fork truck, the mechanical arm is connected with the top of filling station, the mechanical arm is equipped with the top of the frame, the top of the mechanical arm is installed with the top of filling station The welding device comprises a return pipe, a butt-welding ball valve and an inserting and shifting adapter pipe, wherein the straight-through pipe is communicated with the return pipe through the butt-welding ball valve, the straight-through pipe is communicated with the return pipe, the butt-welding ball valve is fixed with a filling assembly through a connecting piece, the balance chest expander is provided with more than two horizontally connected in series to form a bearing assembly, the bearing assembly is provided with more than two groups and is arranged left and right to form a bearing frame in parallel, the inserting and shifting adapter pipe is provided with more than two bearing frames and is fixed with the filling assembly through the bearing frame, the bearing frame is electrically connected with a servo control cabinet through a wire, the servo control cabinet is mechanically connected with a truss robot through a transmission assembly, more than two proximity sensors are arranged in the truss robot, the servo control cabinet is electrically connected with the truss robot through a wire, the truss robot is mechanically connected with the inserting and shifting adapter pipe, and the inserting and shifting adapter pipe are fixed with the top of a filling ton barrel through the truss robot and are mutually communicated.
In order to optimize the technical scheme, the further measures are as follows:
as a further improvement of the invention, the truss ceiling rail is provided with two or more truss robots, the truss robots are respectively arranged on the tops of the left end and the right end of the truss ceiling rail, and the filling assembly is provided with two or more filling assemblies and is respectively arranged under the truss ceiling rail.
As a further improvement of the invention, the truss robot comprises a clamping mechanism, the clamping mechanism comprises a fixed plate, the fixed plate is mechanically connected with the buffer plate in parallel through a sliding block, the fixed plate is arranged on the top of the buffer plate, the hydraulic cylinder is arranged on the top of the buffer plate, the clamping component is arranged on the top of the fixed plate and the gas claw movable plate, the clamping component comprises a pneumatic clamp, two clamping claws are arranged and are arranged below the bottom of the pneumatic clamp, and the pneumatic clamp is mechanically connected with the plug transfer tube through the clamping claws.
As a further improvement of the invention, the transmission assembly comprises a transmission plate, a transmission toothed plate is arranged in the track of the truss ceiling rail, the driving motors are arranged on the top of the transmission toothed plate and are mutually perpendicular, the rotating shafts of the driving motors are mechanically connected with transmission gears, the transmission gears are arranged right below the transmission plate and on the same horizontal plane, and the transmission gears are meshed with the transmission toothed plate and are mutually perpendicular.
As a further improvement of the invention, the butt welding ball valve is of an I-shaped ball valve structure with the ball valve in the middle of the upper flange plate and the lower flange plate, and the middle ball valve is convenient to be connected with the flange plates of the upper pipeline and the lower pipeline in a butt welding way, thereby forming the effect of unloading the ball valve and assisting in the operation of a filling switch.
As a further improvement of the invention, the clamping jaw is of a composite locking pipe clamp structure with an inner semicircular groove fastener and a right-angle support frame block, which is convenient for the operation effect that the clamping jaw is bilaterally symmetrical and the upper and lower mirror image clamping jaws are combined into an upper and lower clamping insertion switching pipe.
As a further improvement of the invention, the filling ton barrel is a composite ton barrel body structure with a barrel type top with a filling valve port in a surrounding rod frame groove, is convenient for the fixed filling of a fixed volume of filling tonnage in the barrel body, is convenient for the top valve to conveniently take over the homogeneous filling operation and has high efficiency.
As a further improvement of the invention, the balance chest expander is a composite disc chest expander structure with a torsion spring disc frame arranged in a knob, and is convenient to butt joint between a main conveying pipe and a filling assembly, so as to form a tension balance unloading structure operation effect of pipeline pressure.
As a further improvement of the invention, the bearing table frame is of a composite horizontal bearing frame structure with clamping pieces on the table surface of the dividing groove, so that the dividing groove is convenient to be matched with a transporting forklift one by one, and the filling ton barrels are arranged in a lifting way through a lifting mechanism to be efficient, and the regular arrangement and equidistant distribution is realized.
Advantageous effects
The invention has the following advantages after operation:
the truss top rail is matched with the filling pipe warehouse frame, a plurality of filling ton barrels can be filled simultaneously, the truss top rail is arranged to facilitate the installation of the truss robot, so that the plugging connection pipe is installed at the plugging connection port on each filling ton barrel, the truss robot detects the plugging connection pipe information accurately from the proximity sensor, the automatic control precision and the electronic density of the truss robot by the integral control box and the servo control cabinet are improved, the flexible production line of the assembly robot for controlling the series connection of electronic and mechanical transmission is facilitated, the further expansion and the stability of the production line are improved, the filling means are improved, the labor force is relieved, the electronic system is combined by mechanical transmission, the extensibility of the production line of the whole truss robot architecture is increased, the ordered implementation of each step is guaranteed, the filling cluster density is higher, and the filling homogenization measurement is better when the control is fed back in time.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the following detailed description of the drawings in the description of the embodiments will be presented, so that other features, objects and advantages of the present invention will become more apparent:
fig. 1 is a schematic perspective view of a flexible production line of a truss type robot structure according to the present invention.
Fig. 2 is a schematic diagram of a detailed perspective structure of a filling assembly of a flexible production line of a truss type robot structure according to the present invention.
Fig. 3 is a schematic perspective view of an electrolyte filling table of a flexible production line with a truss type robot structure according to the present invention.
Fig. 4 is a detailed schematic perspective view of a filling tube warehouse rack of a flexible production line of a truss type robot framework.
Fig. 5 is a schematic diagram of a three-dimensional structure of the invention, which is formed by assembling the straight-through pipe, the return pipe, the butt-welded ball valve and the insertion-shifting adapter in detail.
FIG. 6 is a schematic view showing a detailed perspective structure of the balance chest expander of the present invention.
Fig. 7 is a schematic perspective view showing the working state of the truss robot according to the present invention.
Fig. 8 is a schematic perspective view of a combined linkage clamping state of the insertion and pulling transfer tube, the fixed plate, the buffer plate, the hydraulic cylinder, the pneumatic claw movable plate, the pneumatic clamp holder and the clamping jaw.
Reference numerals illustrate: truss top rail-1, total control box-2, truss robot-3, servo control cabinet-4, transfer fork truck-5, straight-through pipe-6, return pipe-7, butt welding ball valve-8, insertion and pulling transfer pipe-9, fixed plate-10, buffer plate-11, hydraulic cylinder-12, pneumatic claw movable plate-13, pneumatic clamp holder-14, clamping jaw-15, lifting mechanism-16, transmission plate-17, driving motor-18, transmission gear-19, transmission toothed plate-20, filling ton barrel-21, balance chest-22, bearing table frame-23 and upright post-24.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
referring to fig. 1-8, the present invention provides a flexible production line of truss type robot architecture, which structurally includes: truss top rail 1, master control box 2, truss robot 3, servo control cabinet 4, transfer fork truck 5, through pipe 6, back flow 7, butt welding ball valve 8, insert and dial transfer pipe 9, fixed plate 10, buffer plate 11, hydraulic cylinder 12, gas claw fly plate 13, pneumatic gripper 14, clamping jaw 15, elevating system 16, drive plate 17, driving motor 18, drive gear 19, drive toothed plate 20, filling ton bucket 21, balancing chest 22, bearing table frame 23, stand 24, electrolyte filling station, filling pipe warehouse rack, master transfer pipe, filling assembly, clamping unit, electrolyte filling station comprises filling station, filling ton bucket 21, bearing table frame 23, filling ton bucket 21 is installed on the top of filling station, filling station is equipped with two or more and all installs on the top of bearing table frame 23, electrolyte filling table is installed directly under truss top rail 1, the truss top rail 1 is fixedly arranged on the ground of a filling line through a stand column 24 and is mutually vertical, the total control box 2 is arranged on the ground of the filling line, the truss top rail 1 is provided with a transmission assembly, a truss robot 3 and a servo control cabinet 4, the transmission assembly comprises a transmission plate 17, the truss robot 3 is fixed with the servo control cabinet 4 through the transmission plate 17, the transmission plate 17 is in clearance fit with the track of the truss top rail 1, the truss robot 3 is provided with more than two sensors, the truss robot 3 is mechanically connected with the truss top rail 1 through the transmission plate 17 and is positioned on the same horizontal plane, the transfer forklift 5 is provided with a lifting mechanism 16, the transfer forklift 5 is mechanically connected with a filling ton barrel 21 through the lifting mechanism 16, the filling ton barrel 21 is mechanically connected with an electrolyte filling table through the lifting mechanism 16, the filling pipe warehouse is provided with a main conveying pipe and a filling assembly, the main conveying pipe and the filling assembly are mutually communicated, the filling assembly is composed of a straight-through pipe 6, a return pipe 7, a butt welding ball valve 8 and an inserting and shifting transfer pipe 9, the straight-through pipe 6 is mutually communicated with the return pipe 7 through the butt welding ball valve 8, the straight-through pipe 6 is mutually communicated with the return pipe 7, the butt welding ball valve 8 is fixed with the filling assembly through a connecting piece, the balance chest expander 22 is provided with more than two horizontal series-connected integrated bearing assemblies, the bearing assemblies are provided with two groups and are arranged left and right to form a bearing frame, the inserting and shifting transfer pipe 9 is provided with more than two bearing frames and is fixed with the filling assembly together through the bearing frame, the bearing frame 23 is electrically connected with the servo control cabinet 4 through a wire, the servo control cabinet 4 is mechanically connected with the truss robot 3 through a transmission assembly, the truss robot 3 is internally provided with more than two proximity sensors, the servo control cabinet 4 is electrically connected with the truss robot 3 through a wire, the truss robot 3 is mechanically connected with the insertion and shifting adapter tube 9, the insertion and shifting adapter tube 9 is fixed with the top of the axle center of the filling ton barrel 21 through the truss robot 3 and is mutually communicated, the truss top rail 1 is provided with two, the truss robot 3 is provided with more than two and is respectively arranged at the top of the left end and the right end of the truss top rail 1, the filling assembly is provided with more than two and is respectively arranged under the truss top rail 1, the butt welding joint 8 is an I-shaped ball valve structure with ball valves in the middle of the upper and lower belt flanges, the middle belt ball valves are conveniently matched with the flanges of the upper and lower pipelines, thereby forming the effect of auxiliary unloading filling switch operation of the ball valves, the utility model provides a compound ton staving structure of filling valve port is taken to filling ton staving 21 for enclosing the interior barrel formula top of pole frame groove, makes things convenient for the filling tonnage of fixed filling quantitative volume in the staving, makes things convenient for top valve convenient takeover homogeneity filling operation high-efficient, balanced chest expander 22 is the compound disc chest expander structure of knob built-in torsional spring dish frame, conveniently dock between total delivery pipe and the filling subassembly, forms the balanced unloading frame operation effect of pulling force of pipeline pressure, bearing table frame 23 is the compound horizontal bearing frame structure of division groove mesa area clamping piece, and convenient division groove cooperates transport fork truck 5 one by one through elevating system 16 lift installation to arrange filling ton staving 21 high-efficient, realizes regular range equidistance distribution, through truss day rail 1 and filling pipe storehouse frame combined work, can fill a plurality of filling ton staves 21 simultaneously, and truss day rail 1's setting can conveniently install truss robot 3 to install the jack-in 9 on every filling ton staving 21, and truss robot 3 detects jack-in 9 from the area proximity sensor lifting switch-in connection pipe, and the accurate control of total control cabinet 2 and integrated electronic control precision of whole automatic control device 4.
The mechanical transmission is combined with the electronic system by the action mode, so that the extension degree of the production line of the whole truss type robot framework is increased, the control can be comprehensively fed back in time, the orderly proceeding of each step and the higher density of the filling clusters are ensured, and the uniform and fixed measurement of filling is better.
The working flow is as follows: the equipment comprises at least one electrolyte filling station on an operating platform of a worker, wherein the electrolyte filling station comprises a plurality of filling stations, each filling station can accommodate at least one filling ton barrel 21 so as to fill electrolyte with preset mass or volume into the filling ton barrel 21, a truss overhead rail 1 is fixedly arranged on the ground of a filling line through a stand column 24, a total control box 2 is also arranged on the ground of the filling line, a transmission assembly, a truss robot 3 and a servo control cabinet 4 are arranged on the truss overhead rail 1, the transmission assembly drives the truss robot 3 and the servo control cabinet 4 to move along the track of the truss overhead rail 1, and a proximity sensor is arranged on the truss robot 3; a transferring forklift 5, wherein a lifting mechanism 16 is arranged on the transferring forklift 5, and the transferring forklift 5 is used for driving the electrolyte filling table to move up and down the filling ton barrel 21; a filling frame, on which a main conveying pipe and filling components are arranged, the filling components are communicated with the main conveying pipe and the filling ton barrels 21, and each filling component respectively fills electrolyte into one of the filling ton barrels 21; the filling assembly comprises a straight-through pipe 6, a return pipe 7, a butt-welding ball valve 8, a communicating pipe and an inserting and shifting switching pipe 9, wherein the straight-through pipe 6 and the return pipe 7 are respectively communicated with one butt-welding ball valve 8, the return pipe 7 is communicated with the straight-through pipe 6, and the butt-welding ball valve 8 is fixedly installed on a filling rack through a connecting piece; the insertion and shifting transfer pipes 9 are arranged in a plurality, the insertion and shifting transfer pipes 9 are fixedly installed on the filling rack through the bearing frame, after the filling ton barrel 21 is placed on the bearing table rack 23, the servo control cabinet 4 receives signals and drives the transmission assembly to drive the truss robot 3 to move until the proximity sensor detects the information of the insertion and shifting transfer pipes 9, the servo control cabinet 4 controls the truss robot 3 to move, and the truss robot 3 removes the insertion and shifting transfer pipes 9 on the bearing frame and fixedly connects the insertion and shifting transfer pipes with the insertion port of the filling ton barrel 21.
The specific operation steps are as follows:
step one: placing the filling ton barrel 21 on an electrolyte filling table by using a transfer forklift 5;
step two: the servo control cabinet 4 receives the weight signal and drives the transmission assembly to drive the truss robot 3 to move until the proximity sensor detects the information of the inserting and pulling transfer pipe 9, the servo control cabinet 4 controls the truss robot 3 to move, and the truss robot 3 dismantles the inserting and pulling transfer pipe 9 on the bearing frame and fixedly connects the inserting and pulling transfer pipe 9 with an inserting port of the filling ton barrel 21;
step three: the manual or machine connection of the insertion and shifting adapter tube 9 on the filling ton barrel 21 and the communicating tube realizes that the filling work of the truss type robot mechanism on the flexible production line starts to be carried out.
Embodiment two:
referring to fig. 1-8, the present invention provides a flexible production line of truss type robot architecture, which is otherwise the same as embodiment 1, except that:
referring to fig. 8, the truss robot 3 includes a clamping mechanism, the clamping mechanism includes a fixing plate 10, the fixing plate 10 is mechanically connected with a buffer plate 11 through a sliding block and is parallel to each other, the fixing plate 10 is mounted on the top of the buffer plate 11, a hydraulic cylinder 12 is mounted on the top of the buffer plate 11, a clamping component is mounted on the top of the fixing plate 10 and a pneumatic claw movable plate 13, the clamping component includes a pneumatic clamp 14, two clamping jaws 15 are arranged and are all mounted under the bottom of the pneumatic clamp 14, the pneumatic clamp 14 is mechanically connected with an inserting and pulling transfer tube 9 through clamping jaws 15, the clamping jaws 15 are of a composite locking tube clamp structure with right angle supporting frame blocks for an inner semicircular groove fastener, the operation effect of the inserting and pulling transfer tube 9 is achieved by conveniently combining a bilateral symmetry clamping jaw 15 with an upper mirror image clamping jaw 15 and a lower clamping and pulling transfer tube 9, and the buffer plate 11 is mounted on the fixing plate 10 to cooperate with the hydraulic cylinder 12 and the pneumatic claw movable plate 13 so as to drive the pneumatic clamp 14 to call the clamping jaw 14 to invoke 15 to insert and pull the clamping and pulling the transfer tube 9.
The action mode enables the assembly robot flexible production line which is formed by serially connecting the control electronics and the mechanical transmission, further expansion and stability of the production line are improved, filling means are improved, and labor force is liberated and the production line is efficient.
Referring to fig. 7, the transmission assembly includes a transmission plate 17, a transmission toothed plate 20 is disposed in a track of the truss ceiling rail 1, the driving motor 18 is mounted on top of the transmission toothed plate 20 and is perpendicular to each other, a rotation shaft of the driving motor 18 is mechanically connected with a transmission gear 19, the transmission gear 19 is mounted right below the transmission plate 17 and is on the same horizontal plane, the transmission gear 19 is meshed with the transmission toothed plate 20 and is perpendicular to each other, the transmission gear 19 is driven by a power source driving motor 18 to rotate, and then a plurality of transmission gears 19 form a gear set to rotate and mesh to the transmission toothed plate 20 to push and displace horizontally, so that the transmission toothed plate 20 links the transmission plate 17 and the fixed plate 10 to displace horizontally, thereby forming a double truss track working path operation effect.
The action mode ensures that the angular speed rotation between scales can push the linear speed on the rack by more accurately calling the gear engagement mode of mechanical transmission, thereby accurately grasping the traversing distance of the robot and the efficiency of equidistant assembly work.
Through the combination of the erection of the front truss top rail 1 and the filling pipe warehouse frame, then the flexible production line of the robot for controlling the filling is started, which is operated by the butt joint of the lead wires of the master control box 2 and the servo control cabinet 4, during the operation, the carrying and assembling operation of the inserting and shifting transfer pipe 9 is operated by the clamping mechanism of the truss robot 3, the buffer plate 11 is matched with the hydraulic cylinder 12 through the fixing plate 10, then the action of the butt joint hydraulic cylinder 12 is generated by the combination of the pneumatic gripper 13 and the pneumatic gripper 14, the clamping jaw 15 forms the pipe pulling and carrying and the pipe inserting, butt joint and filling operation effect of the left and right opening and closing clamping inserting and shifting transfer pipe 9, the whole truss robot 3 moves to drive the rotary transmission gear 19 through the butt joint driving motor 18 of the transmission plate 17, and the transmission gear 19 is meshed with the transmission toothed plate 20 to drive the transmission plate 17 to transversely displace the truss robot 3 to carry out the sensor detection operation of the inserting and shifting transfer pipe 9.
The action mode is a branch action effect explanation in the integral working principle, and also more shows the action effect of the clamping mechanism of the truss robot 3 assembled by the truss ceiling rail 1, so that the manipulator is not only limited to the operation of carrying stacks and locking hardware of a tool, but also can assemble pipelines into a filling system assembly line, the integral labor-saving effect is improved, and the working density and the working accuracy of the filling machine frame clusters in a factory are optimized.
According to the invention, through the mutual combination of the components, the truss day rail 1 is matched with the filling pipe warehouse rack, a plurality of filling ton barrels 21 can be filled at the same time, the truss day rail 1 can be arranged to conveniently install the truss robot 3, so that the plugging transfer pipe 9 is installed on a plugging port on each filling ton barrel 21, the truss robot 3 detects accurate information of the plugging transfer pipe 9 by a self-contained proximity sensor, the automatic control precision and the electronic density of the truss robot 3 by the integral integrated total control box 2 and the servo control cabinet 4 are improved, the flexible production line of the assembly robot for controlling the electronic and mechanical transmission series is conveniently improved, the further expansion and stability of the production line are improved, the filling means is improved, the labor force is high-efficient, the mechanical transmission is combined with an electronic system, the production line extensibility of the whole truss robot architecture is increased, the ordered implementation and the filling cluster density of each step are higher, the uniform measurement is better, the important part of the lithium electrolyte lithium salt serving as a lithium ion battery is ensured, the filling method is not influenced by the conventional filling method, the large-scale effect of the filling system is greatly influenced by the large-weight of the filling method, the filling system is also influenced by the conventional filling method, and the defects are large in time and the filling quality of the conventional filling method are easily caused.
The specific embodiments described herein are offered by way of example only. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the scope of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (9)
1. A flexible production line of truss-like robot architecture, its structure includes: truss top rail (1), total accuse case (2), truss robot (3), servo control cabinet (4), transport fork truck (5), straight-through pipe (6), back flow (7), butt welding ball valve (8), insert and dial switching pipe (9), fixed plate (10), buffer board (11), hydraulic cylinder (12), gas claw fly leaf (13), pneumatic holder (14), clamping jaw (15), elevating system (16), drive plate (17), driving motor (18), drive gear (19), transmission pinion rack (20), filling ton bucket (21), balanced chest expander (22), bearing platform frame (23), stand (24), electrolyte filling platform, filling station, filling pipe storehouse frame, total conveyer pipe, filling subassembly, clamping part, its characterized in that:
the electrolyte filling table consists of a filling station, a filling ton barrel (21) and a bearing table rack (23), wherein the filling ton barrel (21) is arranged on the top of the filling station, the filling station is provided with more than two electrolyte filling stations and is arranged on the top of the bearing table rack (23), the electrolyte filling table is arranged under a truss ceiling rail (1), the truss ceiling rail (1) is fixedly arranged on the ground of a filling line through a stand column (24), and the total control box (2) is arranged on the ground of the filling line;
the truss is characterized in that a transmission assembly, a truss robot (3) and a servo control cabinet (4) are arranged on the truss ceiling rail (1), the transmission assembly comprises a transmission plate (17), the truss robot (3) is fixed with the servo control cabinet (4) through the transmission plate (17), the transmission plate (17) is matched with a rail of the truss ceiling rail (1), the truss robot (3) is provided with more than two sensors, and the truss robot (3) is mechanically connected with the truss ceiling rail (1) through the transmission plate (17);
the transferring forklift (5) is provided with a lifting mechanism (16), the transferring forklift (5) is mechanically connected with a filling ton barrel (21) through the lifting mechanism (16), and the filling ton barrel (21) is mechanically connected with an electrolyte filling table through the lifting mechanism (16);
the filling pipe warehouse is provided with a main conveying pipe and a filling assembly, the main conveying pipe and the filling assembly are mutually communicated, the filling assembly consists of a straight-through pipe (6), a return pipe (7), a butt welding ball valve (8) and an inserting and shifting switching pipe (9), the straight-through pipe (6) is mutually communicated with the return pipe (7) through the butt welding ball valve (8), the straight-through pipe (6) is mutually communicated with the return pipe (7), the butt welding ball valve (8) is fixed with the filling assembly through a connecting piece, more than two balance pullers (22) are horizontally connected in series into a whole to form a bearing assembly, and the bearing assembly is provided with two groups of bearing frames which are arranged left and right and are arranged side by side to form a bearing frame;
insert and dial transfer tube (9) and be equipped with more than two and fix together with the filling subassembly through the carrier, bearing platform frame (23) are connected with servo control cabinet (4) electricity through the wire, servo control cabinet (4) are connected with truss robot (3) machinery through drive assembly, be equipped with more than two proximity sensor in truss robot (3), servo control cabinet (4) are connected with truss robot (3) electricity through the wire, truss robot (3) are in mechanical connection with inserting and dial transfer tube (9), it is in the same place with the top of filling ton bucket (21) axle center to insert and dial transfer tube (9) through truss robot (3).
2. A flexible production line for a truss type robotic architecture as defined in claim 1, wherein: truss sky rail (1) are equipped with two, truss robot (3) are equipped with more than two and all install on the top at truss sky rail (1) both ends about, the filling subassembly is equipped with more than two and all installs under truss sky rail (1).
3. A flexible production line for a truss type robotic architecture as defined in claim 1, wherein: truss robot (3) are including fixture, fixture includes fixed plate (10), fixed plate (10) are through slider and buffer board (11) mechanical connection, fixed plate (10) are installed on the top of buffer board (11), hydraulic cylinder (12) are installed on the top of buffer board (11), clamping part installs on the top of fixed plate (10) and gas claw fly leaf (13), clamping part includes pneumatic holder (14), clamping jaw (15) are equipped with two and all install in the right side of pneumatic holder (14) bottom, pneumatic holder (14) are through clamping jaw (15) and insert dial transfer tube (9) mechanical connection.
4. A flexible production line for a truss type robotic architecture as defined in claim 1, wherein: the transmission assembly comprises a transmission plate (17), a transmission toothed plate (20) is arranged in a track of the truss ceiling rail (1), a driving motor (18) is arranged on the top of the transmission toothed plate (20), a rotating shaft of the driving motor (18) is mechanically connected with a transmission gear (19), the transmission gear (19) is arranged under the transmission plate (17), and the transmission gear (19) is meshed with the transmission toothed plate (20).
5. A flexible production line for a truss type robotic architecture as defined in claim 1, wherein: the butt welding ball valve (8) is of an I-shaped ball valve structure with a ball valve in the middle of an upper flange plate and a lower flange plate.
6. A flexible production line of truss type robot architecture according to claim 1 or 3, characterized in that: the clamping jaw (15) is of a composite locking pipe clamp structure with right-angle support frame blocks on the inner semicircular groove fastener.
7. A flexible production line for a truss type robotic architecture as defined in claim 1, wherein: the filling ton barrel (21) is a composite ton barrel body structure with a barrel type top and a filling valve port in a surrounding rod frame groove.
8. A flexible production line for a truss type robotic architecture as defined in claim 1, wherein: the balance chest expander (22) is a composite disc chest expander structure with a knob and a torsion spring disc frame arranged in the knob.
9. A flexible production line for a truss type robotic architecture as defined in claim 1, wherein: the bearing table frame (23) is a composite horizontal bearing frame structure with clamping pieces on the table surface of the dividing groove.
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| CN202310954962.XA CN116692752B (en) | 2023-08-01 | 2023-08-01 | Flexible production line of truss type robot framework |
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| CN116692752A (en) | 2023-09-05 |
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