CN207724298U - A kind of novel truss robot - Google Patents
A kind of novel truss robot Download PDFInfo
- Publication number
- CN207724298U CN207724298U CN201721753346.4U CN201721753346U CN207724298U CN 207724298 U CN207724298 U CN 207724298U CN 201721753346 U CN201721753346 U CN 201721753346U CN 207724298 U CN207724298 U CN 207724298U
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- China
- Prior art keywords
- shaft assemblies
- shaft
- assemblies
- racks
- small machine
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Abstract
The utility model discloses a kind of novel truss robots, including structural framing, control system, the structural framing includes more root posts and crossbeam, the crossbeam is equipped with X1 shaft assemblies and X2 shaft assemblies, the Y1 shaft assemblies and Y2 shaft assemblies being mutually parallel, the Z1 shaft assemblies being mutually parallel and Z2 shaft assemblies are respectively equipped on the X1 shaft assemblies and X2 shaft assemblies, the X1 shaft assemblies, Y1 shaft assemblies and Z1 shaft assemblies, which cooperate, forms big robot, and the X2 shaft assemblies, Y2 shaft assemblies and Z2 shaft assemblies, which cooperate, forms small machine people.The utility model can not only be solved as the widgets auxiliary operation work such as bar-mat reinforcement braiding, and it improves work efficiency, reduce production cost and the workload of worker, particular avoid the influence to product quality because of artificial skills involved in the labour or other subjective factors, it is convenient to use, effect is good, is worthy to be popularized.
Description
Technical field
The utility model is related to assemble technical field of buildings, and in particular to a kind of novel truss machine of PC casting systems
People.
Background technology
Currently, the central government and local governments at all levels, have put into effect many supports and incentives, quickly to assembled architecture
Ground pushes the development of " assembled architecture " industry, and building enterprise, be to Industry Policy it is very sensitive, some enterprises in order to
It gains the initiative, starts quickly to cut this industry, unquestionably become a hot word of building trade in recent years.Assembled is built
Build is technology upgrading as a result, in fact, the core of technology is to realize the means of assembled architecture, that is, designs, produces, building course
Industrialization with it is information-based, a critically important link is exactly PC casting systems in assembled architecture production process, is pouring
Truss manipulator acts as critically important role on system, and truss manipulator is a kind of establishes in right angle X, Y, Z system of 3 axes bases
On plinth, to workpiece carry out station adjustment, or realize workpiece track movement etc. functions full-automatic equipment, pass through industry
Controller control machinery hand completes X, the Union Movement between tri- axis of Y, Z, to realize a whole set of entire roboticized work flow, traditional PC
The truss manipulator of casting system includes a crossbeam or two crossbeams, and a truss manipulator, these purlins are set on each crossbeam
Frame manipulator is only to upper following mould or big structural member hoisting transportation, and as the widget group of the braiding of reinforced mesh etc.
Fill work, it is necessary to semi-automatic in this way after the completion of manually weaving, then by the specified position of truss manipulator hoisting transportation placement
Production not only affects production efficiency, increases the amount of labour of worker, improves production cost, and because of manual operation, deposit
It is influenced in the factors such as the maloperation of subjectivity and knack degree, it is possible to which the quality of production for influencing product is low to actual production
Bring prodigious puzzlement.Therefore how to solve the problems, such as this, become a brainstorm subject of the prior art.
Utility model content
To solve drawbacks described above, the purpose of this utility model is to provide a kind of novel truss robot, can not only solve picture
The widgets auxiliary operation work such as bar-mat reinforcement braiding, and improve work efficiency, production cost and the workload of worker are reduced,
The influence to product quality because of artificial skills involved in the labour or other subjective factors is particular avoided, convenient to use, effect
Fruit is good, is worthy to be popularized.
In order to achieve the above objectives, the technical solution adopted in the utility model is：A kind of novel truss robot, including structure
Frame, control system, the structural framing include more root posts and crossbeam, and the crossbeam is equipped with the X1 shaft assemblies being mutually parallel
With X2 shaft assemblies, Y1 shaft assemblies and Y2 shaft assemblies, the Z1 axis being mutually parallel is respectively equipped on the X1 shaft assemblies and X2 shaft assemblies
Component and Z2 shaft assemblies, the X1 shaft assemblies, Y1 shaft assemblies and Z1 shaft assemblies, which cooperate, forms big robot, the X2 axis group
Part, Y2 shaft assemblies and Z2 shaft assemblies, which cooperate, forms small machine people, and the big robot and small machine people pass through control system
Associated connection is realized non-interference when big robot and small machine people are cooperated with each other or worked independently；The X1 shaft assemblies
Including lateral X1 guide rails, X1 horizontal racks, X1 horizontal axis driving motor, X1 travel switches, the X2 shaft assemblies include transverse direction X2 guide rails,
X2 horizontal racks, X2 horizontal axis driving motor, X2 travel switches, the Y1 shaft assemblies include longitudinal direction Y1 sliding rails, Y1 racks, Y1 driving electricity
Machine, Y1 travel switches, the Y1 racks and Y1 driving motors are arranged on X1 shaft assemblies, and the Y2 shaft assemblies are slided including longitudinal direction Y2
Rail, Y2 racks, Y2 driving motors, Y2 travel switches, the Y2 racks and Y2 driving motors are arranged on Y1 shaft assemblies, the Z1
Shaft assembly includes vertical direction Z1 lifting beams, Z1 promotions servo motor, Z1 movable plates, Z1 travel switches, Z1 manipulators, the Z2
Shaft assembly includes vertical direction Z2 lifting beams, Z2 promotions servo motor, Z2 movable plates, Z2 travel switches, Z2 manipulators；The control
System processed acquires the input signal of travel switch by industrial control unit (ICU), to send instruction X1 shaft assemblies, X2 shaft assemblies, Y1 axis
Component, Y2 shaft assemblies, Z1 shaft assemblies, each executive component of Z2 shaft assemblies are gone to execute by set action.
Further, the big robot is located at the upper surface of small machine people, and the X1 shaft assemblies infeed stroke is more than X2 axis
Component infeed stroke, Y1 shaft assembly longitudinal strokes are more than Y2 shaft assembly longitudinal strokes, and Z1 shaft assembly vertical direction strokes are more than Z2
Shaft assembly vertical direction.
Further, the control system controls big robot and small machine people's associated connection by travel switch, ensures
The two can cooperating but also work independently and it is non-interference.
Further, the Z1 manipulators and Z2 manipulators are that vacuum cup is drawn, chuck grips, support takes, pin type fixture
It inserts and takes and mechanical grip takes.
Compared with prior art, the utility model, can not only be real by the mutual cooperation of big robot and small machine people
The transhipment of the big component article such as existing side mould, and the transhipment of widget can be carried out, it can especially solve to compile as bar-mat reinforcement
Equal widgets auxiliary operation work is knitted, and is improved work efficiency, production cost and the workload of worker is reduced, especially keeps away
The influence to product quality because of artificial skills involved in the labour or other subjective factors is exempted from, convenient to use, effect is good, is worth
It promotes.
Description of the drawings
Below according to accompanying drawings and embodiments, the structure and features of the utility model is further described.
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the vertical view of Fig. 1；
Fig. 4 is the partial enlarged view of X1 shaft assemblies；
Fig. 5 is the partial enlarged view of X2 shaft assemblies.
Specific implementation mode
It is the first embodiment of the utility model referring to attached drawing 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5.
A kind of novel truss robot, including structural framing, control system, the structural framing include 1 He of more root posts
Crossbeam 2, the crossbeam 2 is equipped with X1 shaft assemblies 3 and X2 shaft assemblies 4, the Y1 shaft assemblies 5 and Y2 shaft assemblies 6 being mutually parallel, described
The Z1 shaft assemblies 7 being mutually parallel and Z2 shaft assemblies 8, the X1 shaft assemblies 3, Y1 are respectively equipped on X1 shaft assemblies 3 and X2 shaft assemblies 4
Shaft assembly 5 and Z1 shaft assemblies 7, which cooperate, forms big robot 9,8 phase of the X2 shaft assemblies 4, Y2 shaft assemblies 6 and Z2 shaft assemblies
Interworking is combined into small machine people 10, and the big robot 9 and small machine people 10 realize big machine by control system associated connection
People 9 and small machine people 10 are non-interference when cooperating with each other or working independently；The X1 shaft assemblies 3 include transverse direction X1 guide rails
31, X1 horizontal racks 32, X1 horizontal axis driving motor 33, X1 travel switches, the X2 shaft assemblies 4 include transverse direction X2 guide rails 41, X2 cross
Rack 42, X2 horizontal axis driving motor 43, X2 travel switches, the Y1 shaft assemblies 5 include longitudinal direction Y1 sliding rails 51, Y1 racks 52, Y1
Driving motor 53, Y1 travel switches, the Y1 racks 52 and Y1 driving motors 53 are arranged on X1 shaft assemblies, the Y2 shaft assemblies
6 include longitudinal direction Y2 sliding rails 61, Y2 racks 62, Y2 driving motors 63, Y2 travel switches, the Y2 racks 62 and Y2 driving motors 63
It is arranged on Y1 shaft assemblies 5, the Z1 shaft assemblies 7 include vertical direction Z1 lifting beams 71, Z1 promotes servo motor 72, Z1 is moved
Plate 73, Z1 travel switches, Z1 manipulators 74, the Z2 shaft assemblies 8 include vertical direction Z2 lifting beams 81, Z2 promotion servo motors
82, Z2 movable plates 83, Z2 travel switches, Z2 manipulators 84；The control system acquires travel switch by industrial control unit (ICU)
Input signal, to send instruction X1 shaft assemblies 3, X2 shaft assemblies 4, Y1 shaft assemblies 5, Y2 shaft assemblies 6, Z1 shaft assemblies 7, Z2 shaft assemblies
8 each executive components are gone to execute by set action.
The big robot 9 is located at the upper surface of small machine people 10, and 3 infeed stroke of X1 shaft assemblies is more than X2 shaft assemblies 4
Infeed stroke, 5 longitudinal stroke of Y1 shaft assemblies are more than 6 longitudinal stroke of Y2 shaft assemblies, and 7 vertical direction stroke of Z1 shaft assemblies is more than Z2 axis
8 vertical direction of component ensures the component after small machine is manually made, can be captured by big robot.
The control system controls 10 associated connection of big robot 9 and small machine people by travel switch, has ensured the two both
Can cooperating can work independently and non-interference again.When ensureing big robot motion to small machine people's certain distance, small machine
Y2 shaft assemblies work in people, by being slided in Y2 sliding rails under Y2 racks and the effect of Y2 driving motors, slide into the side of crossbeam, no
It is collided as with big robot；After either small machine people moves to big robot certain distance, big robot Y1 shaft assembly works
Make, by being slided in Y1 sliding rails under Y1 racks and the effect of Y1 driving motors, slides into the side of crossbeam, avoid touching with small machine people
It hits.When big robot motion is to small machine people side, the two has common space tracking, robot big in this way and small machine people
It can cooperating.
The Z1 manipulators 74 and Z2 manipulators 84 be vacuum cup draw, chuck gripping, support take, pin type fixture insert take and
Mechanical grip takes.Ensure that big robot and small machine people can complete multiple motion actions, realizes more operative skills, make machine
People is more intelligent.
The utility model operating process is:
First, big machine man-hour, the transverse shifting of X1 shaft assemblies realization, the longitudinal movement of Y1 shaft assemblies, Z1 shaft assemblies
Realize vertical direction movement, and control machinery hand acts, and realizes multiple operations；Small machine man-hour, X2 shaft assemblies are real
Existing transverse shifting, the longitudinal movement of Y2 shaft assemblies, Z2 shaft assemblies realize vertical direction movement, and control machinery hand acts, and realize
Multiple operations；Then the component after the completion of small machine is manually made, big robot carry out crawl work again；Or work as big machine
When people moves to small machine people side, the two has a common space tracking, big robot and small machine people can cooperating,
The Component Intelligent operation being finally completed in PC casting systems.
Described above is only the preferred embodiment of the utility model, and above-mentioned specific embodiment is not to the utility model
Limitation, retouching, modification or the equivalent replacement that all those skilled in the art are made as described above belong to this reality
With novel protection domain.
Claims (4)
1. a kind of novel truss robot, including structural framing, control system, the structural framing includes more root posts and cross
Beam, it is characterised in that：The crossbeam is equipped with X1 shaft assemblies and X2 shaft assemblies, the Y1 shaft assemblies and Y2 shaft assemblies being mutually parallel,
The Z1 shaft assemblies being mutually parallel and Z2 shaft assemblies, the X1 shaft assemblies, Y1 are respectively equipped on the X1 shaft assemblies and X2 shaft assemblies
Shaft assembly and Z1 shaft assemblies, which cooperate, forms big robot, and the X2 shaft assemblies, Y2 shaft assemblies and Z2 shaft assemblies cooperate
Small machine people is formed, the big robot and small machine people realize big robot and small machine by control system associated connection
People is non-interference when cooperating with each other or working independently；The X1 shaft assemblies include transverse direction X1 guide rails, X1 horizontal racks, X1 horizontal axis
Driving motor, X1 travel switches, the X2 shaft assemblies include transverse direction X2 guide rails, X2 horizontal racks, X2 horizontal axis driving motor, X2 strokes
Switch, the Y1 shaft assemblies include longitudinal direction Y1 sliding rails, Y1 racks, Y1 driving motors, Y1 travel switches, and the Y1 racks and Y1 drive
Dynamic motor is arranged on X1 shaft assemblies, and the Y2 shaft assemblies are opened including longitudinal direction Y2 sliding rails, Y2 racks, Y2 driving motors, Y2 strokes
It closes, the Y2 racks and Y2 driving motors are arranged on Y1 shaft assemblies, and the Z1 shaft assemblies include vertical direction Z1 lifting beams, Z1
Servo motor, Z1 movable plates, Z1 travel switches, Z1 manipulators are promoted, the Z2 shaft assemblies include vertical direction Z2 lifting beams, Z2
Promote servo motor, Z2 movable plates, Z2 travel switches, Z2 manipulators；The control system acquires stroke by industrial control unit (ICU)
The input signal of switch, to send instruction X1 shaft assemblies, X2 shaft assemblies, Y1 shaft assemblies, Y2 shaft assemblies, Z1 shaft assemblies, Z2 axis groups
The each executive component of part is gone to execute by set action.
2. a kind of novel truss robot according to claim 1, it is characterised in that：The big robot is located at small machine
The upper surface of people, the X1 shaft assemblies infeed stroke are more than X2 shaft assembly infeed strokes, and Y1 shaft assembly longitudinal strokes are more than Y2 axis groups
Part longitudinal stroke, Z1 shaft assembly vertical direction strokes are more than Z2 shaft assembly vertical direction.
3. a kind of novel truss robot according to claim 1, it is characterised in that：The control system is opened by stroke
It closes and controls big robot and small machine people's associated connection.
4. a kind of novel truss robot according to claim 1, it is characterised in that：The Z1 manipulators and Z2 manipulators
It is that vacuum cup is drawn, chuck gripping, support takes, pin type fixture is inserted and taken and mechanical grip takes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721753346.4U CN207724298U (en) | 2017-12-15 | 2017-12-15 | A kind of novel truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721753346.4U CN207724298U (en) | 2017-12-15 | 2017-12-15 | A kind of novel truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207724298U true CN207724298U (en) | 2018-08-14 |
Family
ID=63098609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721753346.4U Expired - Fee Related CN207724298U (en) | 2017-12-15 | 2017-12-15 | A kind of novel truss robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207724298U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129444A (en) * | 2018-09-17 | 2019-01-04 | 康建华 | A kind of efficient CRACKING WALNUT machine people of three coordinates |
| CN112589823A (en) * | 2020-12-30 | 2021-04-02 | 珠海格力智能装备有限公司 | Motion, manipulator and automation line |
-
2017
- 2017-12-15 CN CN201721753346.4U patent/CN207724298U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129444A (en) * | 2018-09-17 | 2019-01-04 | 康建华 | A kind of efficient CRACKING WALNUT machine people of three coordinates |
| CN112589823A (en) * | 2020-12-30 | 2021-04-02 | 珠海格力智能装备有限公司 | Motion, manipulator and automation line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190618 Address after: 473000 Northeast corner of the intersection of Weishi Road and Zhongjing Road in Lihe Township, Wancheng District, Nanyang City, Henan Province Patentee after: Nanyang Seiko Craftsman Assembly Construction Technology Co.,Ltd. Address before: 473000 Weishi Road, Wancheng Eco-Industrial Park, Nanyang City, Henan Province Patentee before: HENAN JINXIA INTELLIGENT ASSEMBLING ARCHITECTURAL TECHNOLOGY CO.,LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180814 Termination date: 20211215 |