CN103406899B - Automatic die filling tool hand - Google Patents

Automatic die filling tool hand Download PDF

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Publication number
CN103406899B
CN103406899B CN201310361036.8A CN201310361036A CN103406899B CN 103406899 B CN103406899 B CN 103406899B CN 201310361036 A CN201310361036 A CN 201310361036A CN 103406899 B CN103406899 B CN 103406899B
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CN
China
Prior art keywords
manipulator
longitudinal
crossbeam
pawl
line slideway
Prior art date
Application number
CN201310361036.8A
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Chinese (zh)
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CN103406899A (en
Inventor
张剑
陈韶临
刘超
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长沙远大住宅工业集团有限公司
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Priority to CN201310361036.8A priority Critical patent/CN103406899B/en
Publication of CN103406899A publication Critical patent/CN103406899A/en
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Publication of CN103406899B publication Critical patent/CN103406899B/en

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Abstract

A kind of automatic die filling tool hand, comprises X-axis truss, bifurcation axle crossbeam and manipulator; Described X-axis truss has left and right guiding longeron and support post, and guiding longeron is equipped with longitudinal line slideway and longitudinal rack, and described bifurcation axle crossbeam structure is crossbeam is provided with gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator; Described manipulator is installed transversal driving mechanism and longitudinal driving mechanism; Described manipulator also comprises in mechanical hand cradle installs lifting arm, precision rotation cylinder, lifter wheel and lift drive mechanism; Described integrated execution pawl installs gas pawl, pad cylinder and nozzle.Invention increases production line efficiency and cement prefab precision, precision is up to 1mm, and automatic and mechanical operation, saves manpower, omnidistance by conputer controlled, easily grasps production real time information and progress, realizes e-manufacturing.

Description

Automatic die filling tool hand
Technical field
The present invention relates to constructional engineering machinery technical field, be specifically related to a kind of automatic die filling tool hand.
Background technology
When producing cement pre-fabricated panel, need the shape according to prefabricated board, first mould rib is fixed on steel table top, then cast concrete.At present, most domestic producer is all that after manual measurement, rib is put in location, and then adopt fixture or bolt to fix, 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 above-mentioned prior art Problems existing; and provide a kind of automatic die filling tool hand, Auto-mounting jig rib and draw the position line of the module such as door and window, line box at 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, comprises X-axis truss, Y-axis crossbeam and manipulator; Described X-axis truss has left and right guiding longeron and support post, and support post upper end is connected and fixed with guiding longeron, and support post lower end fixes on the ground, and guiding longeron is equipped with longitudinal line slideway and longitudinal rack; Described Y-axis crossbeam structure is crossbeam is provided with gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator, manipulator is installed transversal driving mechanism and longitudinal driving mechanism, slide block set is contained on longitudinal line slideway of guiding longeron, longitudinal driving mechanism is by the gear of drive link connection for transmission crossbeam termination, gear engages with the longitudinal rack on guiding longeron, transversal driving mechanism connection for transmission transverse gear, transverse gear engages with the horizontal tooth bar on crossbeam; Described manipulator comprises in mechanical hand cradle 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 installs lifting line slideway and lifter rack, lift drive mechanism connection for transmission lifter wheel, lifter wheel engages with lifter rack; Described integrated execution pawl is provided with gas pawl, pad cylinder and nozzle, gas pawl mounted in pairs, connected by gas pawl cylinder and drive, the execution unit corresponding with gas pawl, pad cylinder is magnetic limit mould.
In technique scheme, described magnetic limit mould is made up of corrosion resistant plate, is fixed with reinforcement gusset, and magnetic limit mould is provided with magnet and latch, 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 driven by servomotor wheel and rack to engage, and servomotor exports control by computer, meanwhile, gas pawl cylinder, pad cylinder and nozzle on integrated execution pawl control by electromagnetic gas valve, and electromagnetic gas valve also exports control by computer.
In technique scheme, described integrated execution pawl is also provided with compensation mechanism.
Operation principle:
The present invention includes the motion of longitudinal X-axis, the motion of horizontal Y-axis, vertically Z axis motion and the rotation around Z axis; The motion of X-axis, Y-axis, Z axis adopts driven by servomotor rack-and-pinion, is led by line slideway; Rotate around Z axis and adopt precision rotation cylinder or driven by servomotor gear train; Executing agency mainly comprises gas pawl, nozzle, pad cylinder and compensation mechanism etc.
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 each part to be connected, and line slideway and rack gear arrangement are on the guiding longeron of left and right.
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 laterally driving and zigzag tread patterns, is all to adopt driven by servomotor gear to move on tooth bar, is ensured the linearity of motion by line slideway.
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 driven by servomotor gear, is ensured the linearity of motion by line slideway.Integrated execution pawl mainly comprises gas pawl, pad cylinder and nozzle etc., gas pawl is used for pick-and-place magnetic limit mould, pad cylinder is for depressing the magnet latch of magnetic limit mould thus making Bian Mo and steel table top magnetic force fix, 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 completely.By drawing typesetting on designer's computer, then automatically performed by drawing driving device hand.
Advantageous effect:
Invention increases production line efficiency and cement prefab precision, precision is up to 1mm, and automatic and mechanical operation, saves manpower, omnidistance by conputer controlled, easily grasps production real time information and progress, realizes e-manufacturing.
Accompanying drawing explanation
Fig. 1 is complete machine structure schematic diagram of the present invention;
Fig. 2 is bifurcation axle crossbeam structure schematic diagram;
Fig. 3 is magnetic limit mode structure schematic diagram;
Fig. 4 is robot manipulator structure schematic diagram.
Accompanying drawing mark illustrates:
1-X axle truss, the longitudinal line slideway of 2-, 3-longitudinal rack, 4-Y axle crossbeam, 5-manipulator, 6-magnetic limit mould, 7-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, 19-corrosion resistant plate, 20-strengthens gusset, 21-lifting arm, and 22-is elevated line slideway, 23-radome, 24-gas pawl, 25-pad cylinder, 26-nozzle.
Detailed description of the invention
See Fig. 1-Fig. 4, automatic die filling tool hand of the present invention, comprises X-axis truss 1, Y-axis crossbeam 4 and manipulator 5; Described X-axis truss 1 has left and right guiding longeron and support post, and support post upper end is connected and fixed with guiding longeron, and support post lower end fixes on the ground, and guiding longeron is equipped with longitudinal line slideway and longitudinal rack; Described Y-axis crossbeam structure is crossbeam is provided with gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator, manipulator is installed transversal driving mechanism and longitudinal driving mechanism, slide block set is contained on longitudinal line slideway of guiding longeron, longitudinal driving mechanism is by drive link connection for transmission crossbeam termination gear, gear engages with the longitudinal rack on guiding longeron, transversal driving mechanism connection for transmission transverse gear, transverse gear engages with the horizontal tooth bar on crossbeam; Described manipulator comprises in mechanical hand cradle 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 installs lifting line slideway and lifter rack, lift drive mechanism connection for transmission lifter wheel, lifter wheel engages with lifter rack; Described integrated execution pawl is provided with gas pawl, pad cylinder and nozzle, gas pawl mounted in pairs, connected by gas pawl cylinder and drive, the execution unit corresponding with gas pawl, pad cylinder is magnetic limit mould.
Above-mentioned magnetic limit mould is made up of corrosion resistant plate, is fixed with reinforcement gusset, and magnetic limit mould is provided with magnet and latch, 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 driven by servomotor wheel and rack to engage, and servomotor exports control by computer, meanwhile, gas pawl cylinder, pad cylinder and nozzle on integrated execution pawl control by electromagnetic gas valve, and electromagnetic gas valve also exports control by computer.
Above-mentioned integrated execution pawl is also provided with compensation mechanism.

Claims (1)

1. an automatic die filling tool hand, comprises X-axis truss, Y-axis crossbeam and manipulator; Described X-axis truss has left and right guiding longeron and support post, and support post upper end is connected and fixed with guiding longeron, and support post lower end fixes on the ground, and guiding longeron is equipped with longitudinal line slideway and longitudinal rack; Described Y-axis crossbeam structure is crossbeam is provided with gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator, manipulator is installed transversal driving mechanism and longitudinal driving mechanism, slide block set is contained on longitudinal line slideway of guiding longeron, longitudinal driving mechanism is by the gear of drive link connection for transmission crossbeam termination, gear engages with the longitudinal rack on guiding longeron, transversal driving mechanism connection for transmission transverse gear, transverse gear engages with the horizontal tooth bar on crossbeam; It is characterized in that: described manipulator comprises lifting arm, precision rotation cylinder, lifter wheel and lift drive mechanism that mechanical hand cradle is installed, integrated execution pawl is installed in the lower end of lifting arm, the side arm of lifting arm installs lifting line slideway and lifter rack, lift drive mechanism connection for transmission lifter wheel, lifter wheel engages with lifter rack; Described integrated execution pawl comprises gas pawl, pad cylinder and nozzle, gas pawl mounted in pairs, connected by gas pawl cylinder and drive, the execution unit corresponding with gas pawl, pad cylinder is magnetic limit mould, described magnetic limit mould is made up of corrosion resistant plate, be fixed with reinforcement gusset, magnetic limit mould is provided with magnet and latch, magnetic limit mould and steel table top magnetic force are fixed; Described lift drive mechanism adopts the engagement of driven by servomotor wheel and rack, and servomotor exports control by computer, meanwhile, gas pawl cylinder, pad cylinder and nozzle on integrated execution pawl control by electromagnetic gas valve, and electromagnetic gas valve also exports control by computer.
CN201310361036.8A 2013-08-19 2013-08-19 Automatic die filling tool hand CN103406899B (en)

Priority Applications (1)

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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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CN103406899B true CN103406899B (en) 2016-03-16

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Families Citing this family (6)

* Cited by examiner, † Cited by third party
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
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
CN109352802B (en) * 2018-11-09 2020-06-09 中民筑友科技投资有限公司 Rapid die distribution method for prefabricated part production
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

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN201645628U (en) * 2010-04-22 2010-11-24 潍坊恒远建材设备有限公司 Concave side plate
CN201702776U (en) * 2010-02-09 2011-01-12 东莞朗诚模具有限公司 Manipulator for full-automatic sheet discharging machine
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
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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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI125405B (en) * 2008-04-29 2015-09-30 Elematic Oyj Side construction of casting mold

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN201702776U (en) * 2010-02-09 2011-01-12 东莞朗诚模具有限公司 Manipulator for full-automatic sheet discharging machine
CN201645628U (en) * 2010-04-22 2010-11-24 潍坊恒远建材设备有限公司 Concave side plate
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
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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