CN103406899A - Automatic die setting manipulator - Google Patents
Automatic die setting manipulator Download PDFInfo
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- CN103406899A CN103406899A CN2013103610368A CN201310361036A CN103406899A CN 103406899 A CN103406899 A CN 103406899A CN 2013103610368 A CN2013103610368 A CN 2013103610368A CN 201310361036 A CN201310361036 A CN 201310361036A CN 103406899 A CN103406899 A CN 103406899A
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- 230000005540 biological transmission Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 238000005260 corrosion Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 6
- 239000004568 cement Substances 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000000881 depressing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
The invention discloses an automatic die setting manipulator, comprising an X-axis truss, a Y-axis girder and a manipulator body, wherein the X-axis truss is provided with left and right guide longitudinal beams and support vertical stand columns, and each guide longitudinal beam is provided with a longitudinal linear guide rail and a longitudinal rack; the Y-axis girder is structurally provided with a gear, a transverse rack, a transverse linear guide rail, a slider and the manipulator body; the manipulator body is provided with a transverse driving mechanism and a longitudinal driving mechanism, as well as a lifting arm, a precise rotating air cylinder, a lifting gear and a lifting driving mechanism which are installed on a manipulator frame; an integrated execution claw is provided with a pneumatic gripper, a pressure pin cylinder and a nozzle. The automatic die setting manipulator is capable of improving the efficiency of a production line and increasing the precision of prefabricated cement members to 1mm, saves manpower by virtue of mechanical and automatic operation, and is controlled by a computer in a whole process so that real-time information and progress of production can be controlled easily and information production is realized.
Description
Technical field
The present invention relates to the constructional engineering machinery technical field, be specifically related to a kind of automatic die filling tool hand.
Background technology
While producing cement pre-fabricated panel, need to, according to the shape of prefabricated board, first be fixed on steel table top, then cast concrete to the mould rib.At present, most domestic producer is all that after manual measurement, rib is put in location, then adopts fixture or bolt to fix, and this process wastes time and energy, and easily produces artificial error and error, and efficiency is low and precision is not high.
Summary of the invention
Technical problem to be solved by this invention is: solve the problem that above-mentioned prior art exists; and a kind of automatic die filling tool hand is provided, Auto-mounting jig rib and the position line of drawing the modules such as door and window, line box at the steel table top, avoid human error; precision is good, and efficiency is high.
The technical solution used in the present invention is:
A kind of automatic die filling tool hand, comprise X-axis truss, bifurcation axle crossbeam and manipulator; Described X-axis truss has left and right guiding longeron and support post, and the support post upper end is connected and fixed with the guiding longeron, and the support post lower end fixes on the ground, on the guiding longeron, vertical line slideway and longitudinal rack is housed; The large girder construction of described bifurcation axle is that gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator are installed on crossbeam, transversal driving mechanism and longitudinal driving mechanism are installed on manipulator, slide block set is contained on vertical line slideway of guiding longeron, longitudinal driving mechanism is by the gear of drive link connection for transmission crossbeam termination, gear meshes with the longitudinal rack on the guiding longeron, transversal driving mechanism connection for transmission transverse gear, the horizontal tooth bar engagement on transverse gear and crossbeam; Described manipulator comprises on the manipulator frame installs lifting arm, precision rotation cylinder, lifter wheel and lift drive mechanism, integrated execution pawl is installed in the lower end of lifting arm, the side arm of lifting arm is installed lifting line slideway and lifter rack, lift drive mechanism connection for transmission lifter wheel, lifter wheel and lifter rack engagement; On described integrated execution pawl, gas pawl, pad cylinder and nozzle are installed, gas pawl mounted in pairs, connect to be driven by gas pawl cylinder, and the execution unit corresponding with gas pawl, pad cylinder is magnetic limit mould.
In technique scheme, described magnetic limit mould is made by corrosion resistant plate, is fixed with the reinforcement gusset, on the mould of magnetic limit, magnet and latch is installed, and magnetic limit mould and steel table top magnetic force are fixed.
In technique scheme, described transversal driving mechanism, longitudinal driving mechanism and lift drive mechanism all adopt the engagement of driven by servomotor wheel and rack, and servomotor is controlled by computer output, meanwhile, gas pawl cylinder, pad cylinder and nozzle on integrated execution pawl are controlled by electromagnetic gas valve, and electromagnetic gas valve is also controlled by computer output.
In technique scheme, on described integrated execution pawl, compensation mechanism also is installed.
Operation principle:
The present invention includes the motion of vertical X-axis, laterally Y-axis motion, vertically Z axis motion and around the rotation of Z axis; The driven by servomotor rack-and-pinion is adopted in the motion of X-axis, Y-axis, Z axis, is led by line slideway; Around Z axis, rotate and adopt precision rotation cylinder or driven by servomotor gear train; Executing agency mainly comprises gas pawl, nozzle, pad cylinder and compensation mechanism etc.
The X-axis truss comprises left and right guiding longeron, support post, and each several part adopts shaped steel to be welded, and utilizes bolt and nut that each is partly connected, and line slideway and rack gear arrangement are on the guiding longeron of left and right.
The Y-axis crossbeam is the horizontal lengthwise movement main element of whole equipment, comprises crossbeam, tooth bar, line slideway, slide block and driving mechanism.Driving mechanism comprises horizontal driving and vertically drives, and is all to adopt the driven by servomotor gear to move on tooth bar, by line slideway, is guaranteed the linearity of motion.
Manipulator comprises lifting arm, line slideway, tooth bar, driving mechanism and integrated execution pawl.Line slideway is contained on lifting arm, and lifting arm is moved on tooth bar by the driven by servomotor gear, by line slideway, is guaranteed the linearity of motion.Integrated execution pawl mainly comprises gas pawl, pad cylinder and nozzle etc., the gas pawl is used for pick-and-place magnetic limit mould, thereby the pad cylinder fixes Bian Mo and steel table top magnetic force for the magnet latch of depressing magnetic limit mould, nozzle is for spraying the position line of the modules such as door, window, line box, and all spools, valve body etc. are integrated in radome.
Whole installation fixed magnetic limit mould and line are controlled automatically by computer fully.By drawing typesetting on designer's computer, then by drawing driving device hand, automatically performed.
Advantageous effect:
The present invention has improved production line efficiency and cement prefab precision, and precision is up to 1mm, and the automatic and mechanical operation, saved manpower, and whole process is controlled by computer, easily grasps production real time information and progress, realizes e-manufacturing.
The accompanying drawing explanation
Fig. 1 is complete machine structure schematic diagram of the present invention;
Fig. 2 is bifurcation axle crossbeam structural representation;
Fig. 3 is magnetic limit mode structure schematic diagram;
Fig. 4 is the robot manipulator structure schematic diagram.
The accompanying drawing marking explanation:
1-X axle truss, the vertical line slideway of 2-, 3-longitudinal rack, 4-bifurcation axle crossbeam, 5-manipulator, Mo，7-limit, 6-magnetic limit mould bases, 8-steel table top, 9-ground, 10-crossbeam, 11-dual output servo deceleration motor, 12-drive link, 13-gear, 14-slide block, the horizontal tooth bar of 15-, the horizontal line slideway of 16-, 17-latch, 18-magnet, the 19-corrosion resistant plate, 20-strengthens gusset, 21-lifting arm, 22-lifting line slideway, the 23-radome, 24-gas pawl, 25-pad cylinder, 26-nozzle.
The specific embodiment
Referring to Fig. 1-Fig. 4, automatic die filling tool hand of the present invention, comprise X-axis truss 1, bifurcation axle crossbeam 4 and manipulator 5; Described X-axis truss 1 has left and right guiding longeron and support post, and the support post upper end is connected and fixed with the guiding longeron, and the support post lower end fixes on the ground, on the guiding longeron, vertical line slideway and longitudinal rack is housed; The large girder construction of described bifurcation axle is that gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator are installed on crossbeam, transversal driving mechanism and longitudinal driving mechanism are installed on manipulator, slide block set is contained on vertical line slideway of guiding longeron, longitudinal driving mechanism is by drive link connection for transmission crossbeam termination gear, gear meshes with the longitudinal rack on the guiding longeron, transversal driving mechanism connection for transmission transverse gear, the horizontal tooth bar engagement on transverse gear and crossbeam; Described manipulator comprises on the manipulator frame installs lifting arm, precision rotation cylinder, lifter wheel and lift drive mechanism, integrated execution pawl is installed in the lower end of lifting arm, the side arm of lifting arm is installed lifting line slideway and lifter rack, lift drive mechanism connection for transmission lifter wheel, lifter wheel and lifter rack engagement; On described integrated execution pawl, gas pawl, pad cylinder and nozzle are installed, gas pawl mounted in pairs, connect to be driven by gas pawl cylinder, and the execution unit corresponding with gas pawl, pad cylinder is magnetic limit mould.
Above-mentioned magnetic limit mould is made by corrosion resistant plate, is fixed with the reinforcement gusset, on the mould of magnetic limit, magnet and latch is installed, and magnetic limit mould and steel table top magnetic force are fixed.
Above-mentioned transversal driving mechanism, longitudinal driving mechanism and lift drive mechanism all adopt the engagement of driven by servomotor wheel and rack, and servomotor is controlled by computer output, meanwhile, gas pawl cylinder, pad cylinder and nozzle on integrated execution pawl are controlled by electromagnetic gas valve, and electromagnetic gas valve is also controlled by computer output.
On above-mentioned integrated execution pawl, compensation mechanism also is installed.
Claims (4)
1. an automatic die filling tool hand, is characterized in that: comprise X-axis truss, bifurcation axle crossbeam and manipulator; Described X-axis truss has left and right guiding longeron and support post, and the support post upper end is connected and fixed with the guiding longeron, and the support post lower end fixes on the ground, on the guiding longeron, vertical line slideway and longitudinal rack is housed; The large girder construction of described bifurcation axle is that gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator are installed on crossbeam, transversal driving mechanism and longitudinal driving mechanism are installed on manipulator, slide block set is contained on vertical line slideway of guiding longeron, longitudinal driving mechanism is by a gear of the large beam-ends of drive link connection for transmission, gear meshes with the longitudinal rack on the guiding longeron, transversal driving mechanism connection for transmission transverse gear, the horizontal tooth bar engagement on transverse gear and crossbeam; Described manipulator comprises on the manipulator frame installs lifting arm, precision rotation cylinder, lifter wheel and lift drive mechanism, integrated execution pawl is installed in the lower end of lifting arm, the side arm of lifting arm is installed lifting line slideway and lifter rack, lift drive mechanism connection for transmission lifter wheel, lifter wheel and lifter rack engagement; Gas pawl, pad cylinder and nozzle are installed on described integrated execution pawl, and gas pawl mounted in pairs, connected and driven by gas pawl cylinder, and the execution unit corresponding with gas pawl, pad cylinder is magnetic limit mould.
2. automatic die filling tool hand according to claim 1, it is characterized in that: described magnetic limit mould is made by corrosion resistant plate, is fixed with the reinforcement gusset, on the mould of magnetic limit, magnet and latch is installed, and magnetic limit mould and steel table top magnetic force are fixed.
3. automatic die filling tool hand according to claim 1; it is characterized in that: described transversal driving mechanism, longitudinal driving mechanism and lift drive mechanism all adopt the engagement of driven by servomotor wheel and rack; and servomotor is controlled by computer output; meanwhile; gas pawl cylinder, pad cylinder and nozzle on integrated execution pawl are controlled by electromagnetic gas valve, and electromagnetic gas valve is also controlled by computer output.
4. automatic die filling tool hand according to claim 1, is characterized in that: on described integrated execution pawl, compensation mechanism also is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310361036.8A CN103406899B (en) | 2013-08-19 | 2013-08-19 | Automatic die filling tool hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310361036.8A CN103406899B (en) | 2013-08-19 | 2013-08-19 | Automatic die filling tool hand |
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| Publication Number | Publication Date |
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| CN103406899A true CN103406899A (en) | 2013-11-27 |
| CN103406899B CN103406899B (en) | 2016-03-16 |
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| CN201310361036.8A Active CN103406899B (en) | 2013-08-19 | 2013-08-19 | Automatic die filling tool hand |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105313101A (en) * | 2014-08-21 | 2016-02-10 | 广东工业大学 | Deep groove grabbing and releasing mechanical arm |
| CN105479448A (en) * | 2015-12-29 | 2016-04-13 | 常熟市惠一机电有限公司 | Extensible manipulator with wider moving range |
| CN106426148A (en) * | 2016-10-17 | 2017-02-22 | 苏州新天将机械科技有限公司 | Intelligent mechanical arm |
| CN106976059A (en) * | 2017-02-13 | 2017-07-25 | 上海大学 | Prefabricated board assembly line autoset road marking and its control method |
| CN106976072A (en) * | 2017-04-28 | 2017-07-25 | 苏州三基铸造装备股份有限公司 | Electromagnetism inserts gripper equipment |
| CN107671834A (en) * | 2017-09-26 | 2018-02-09 | 河南东起机械有限公司 | Complete intelligent heavy mechanical hand |
| CN108326838A (en) * | 2018-02-11 | 2018-07-27 | 宁波中科莱恩机器人有限公司 | Truss manipulator |
| CN108908316A (en) * | 2018-09-25 | 2018-11-30 | 湖南宇环智能装备有限公司 | A kind of planer-type truss manipulator |
| CN109119901A (en) * | 2018-08-30 | 2019-01-01 | 南京国电南自电网自动化有限公司 | A kind of pressing plate Tou Tui mechanism of closing screen cabinet |
| CN109352802A (en) * | 2018-11-09 | 2019-02-19 | 中民筑友科技投资有限公司 | A kind of quick cloth mould method of preform production |
| CN109434805A (en) * | 2018-10-12 | 2019-03-08 | 章婧 | A kind of screening manipulator of low energy consumption |
| CN110683466A (en) * | 2019-07-26 | 2020-01-14 | 南通跃通数控设备股份有限公司 | Large-span crank arm gantry carrying robot for woodworking furniture |
| CN110820558A (en) * | 2019-11-01 | 2020-02-21 | 中铁四局集团第四工程有限公司 | Assembly type construction method of railway bridge floor member |
| CN111791254A (en) * | 2020-08-06 | 2020-10-20 | 西安航天自动化股份有限公司 | Rotary manipulator with stepless clamping size adjustment function |
| CN112351867A (en) * | 2018-04-10 | 2021-02-09 | 进化建设系统有限公司 | Robotized construction system |
| CN112428417A (en) * | 2020-11-24 | 2021-03-02 | 湖北宝业建筑工业化有限公司 | Formwork assembling system and method for edge formwork of steel bar truss precast slab |
| CN113910204A (en) * | 2021-11-25 | 2022-01-11 | 中航空管系统装备有限公司 | Three-degree-of-freedom composite parallel robot and working method thereof |
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| CN203401489U (en) * | 2013-08-19 | 2014-01-22 | 长沙远大住宅工业有限公司 | Automatic die-filling manipulator |
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| GB2157649A (en) * | 1984-04-18 | 1985-10-30 | Gca Corp | Robotic wrist assembly |
| CN1052360A (en) * | 1989-11-29 | 1991-06-19 | 格尔杜恩·特·布朗 | Gantry robot construction and driving mechanism |
| US20090266968A1 (en) * | 2008-04-29 | 2009-10-29 | Elematic Group Oy | Sidewall construction of a casting mold |
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| CN102922520A (en) * | 2012-11-28 | 2013-02-13 | 苏州久工自动化科技有限公司 | Structure of truss manipulator |
| CN102962841A (en) * | 2013-01-13 | 2013-03-13 | 中国船舶重工集团公司第七一六研究所 | Overloaded manipulator of ten-shaft double-gantry |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105313101B (en) * | 2014-08-21 | 2018-05-15 | 广东工业大学 | Deep trouth captures and release manipulator |
| CN105313101A (en) * | 2014-08-21 | 2016-02-10 | 广东工业大学 | Deep groove grabbing and releasing mechanical arm |
| CN105479448A (en) * | 2015-12-29 | 2016-04-13 | 常熟市惠一机电有限公司 | Extensible manipulator with wider moving range |
| CN106426148A (en) * | 2016-10-17 | 2017-02-22 | 苏州新天将机械科技有限公司 | Intelligent mechanical arm |
| CN106976059A (en) * | 2017-02-13 | 2017-07-25 | 上海大学 | Prefabricated board assembly line autoset road marking and its control method |
| CN106976072A (en) * | 2017-04-28 | 2017-07-25 | 苏州三基铸造装备股份有限公司 | Electromagnetism inserts gripper equipment |
| CN107671834A (en) * | 2017-09-26 | 2018-02-09 | 河南东起机械有限公司 | Complete intelligent heavy mechanical hand |
| CN108326838A (en) * | 2018-02-11 | 2018-07-27 | 宁波中科莱恩机器人有限公司 | Truss manipulator |
| CN112351867A (en) * | 2018-04-10 | 2021-02-09 | 进化建设系统有限公司 | Robotized construction system |
| CN109119901A (en) * | 2018-08-30 | 2019-01-01 | 南京国电南自电网自动化有限公司 | A kind of pressing plate Tou Tui mechanism of closing screen cabinet |
| CN109119901B (en) * | 2018-08-30 | 2024-02-13 | 南京国电南自电网自动化有限公司 | Pressing plate switching mechanism of closed screen cabinet |
| CN108908316A (en) * | 2018-09-25 | 2018-11-30 | 湖南宇环智能装备有限公司 | A kind of planer-type truss manipulator |
| CN109434805A (en) * | 2018-10-12 | 2019-03-08 | 章婧 | A kind of screening manipulator of low energy consumption |
| CN109352802A (en) * | 2018-11-09 | 2019-02-19 | 中民筑友科技投资有限公司 | A kind of quick cloth mould method of preform production |
| CN110683466A (en) * | 2019-07-26 | 2020-01-14 | 南通跃通数控设备股份有限公司 | Large-span crank arm gantry carrying robot for woodworking furniture |
| CN110820558A (en) * | 2019-11-01 | 2020-02-21 | 中铁四局集团第四工程有限公司 | Assembly type construction method of railway bridge floor member |
| CN111791254A (en) * | 2020-08-06 | 2020-10-20 | 西安航天自动化股份有限公司 | Rotary manipulator with stepless clamping size adjustment function |
| CN112428417A (en) * | 2020-11-24 | 2021-03-02 | 湖北宝业建筑工业化有限公司 | Formwork assembling system and method for edge formwork of steel bar truss precast slab |
| CN113910204A (en) * | 2021-11-25 | 2022-01-11 | 中航空管系统装备有限公司 | Three-degree-of-freedom composite parallel robot and working method thereof |
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| CN103406899B (en) | 2016-03-16 |
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Address after: 410205 Hunan province Changsha high and New Development Zone Lu Song road and Dongfang Red Road intersection Patentee after: Broad Homes Industrial International Co., Ltd. Address before: 410013 Changsha high tech Development Zone, Yuelu, Hunan Avenue, Changsha Yuanda Industrial Group Co., Ltd. Patentee before: CHANGSHA BROAD HOMES INDUSTRIAL INTERNATIONAL CO., LTD. |
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Effective date of registration: 20180425 Address after: 310000 Zhejiang, Hangzhou, Xiaoshan Linjiang Industrial Park two farms 448 houses Patentee after: Yuanda housing industry (Hangzhou) Co., Ltd. Address before: 410205 the intersection of Lu Song road and Dongfanghong road in Changsha hi tech Development Zone, Hunan Patentee before: Broad Homes Industrial International Co., Ltd. |