CN103406899B - Automatic die filling tool hand - Google Patents
Automatic die filling tool hand Download PDFInfo
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- 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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- manipulator
- longitudinal
- crossbeam
- pawl
- line slideway
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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
- 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
- 239000004568 cement Substances 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 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
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
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.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN103406899A CN103406899A (en) | 2013-11-27 |
| CN103406899B true CN103406899B (en) | 2016-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310361036.8A Active CN103406899B (en) | 2013-08-19 | 2013-08-19 | Automatic die filling tool hand |
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| 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 |
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| 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 |
| ES2726921B2 (en) * | 2018-04-10 | 2020-05-25 | Evolution Construction System S L | ROBOTIZED CONSTRUCTION SYSTEM. |
| 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 |
| 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 |
| 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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| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI125405B (en) * | 2008-04-29 | 2015-09-30 | Elematic Oyj | Side construction of casting mold |
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2013
- 2013-08-19 CN CN201310361036.8A patent/CN103406899B/en active Active
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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 |
| 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 |
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| CN103406899A (en) | 2013-11-27 |
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Address after: 410013 Changsha high tech Development Zone, Yuelu, Hunan Avenue, Changsha Yuanda Industrial Group Co., Ltd. Applicant after: CHANGSHA BROAD HOMES INDUSTRIAL INTERNATIONAL CO., LTD. Address before: 410013 Changsha Yuanda residential industry Co., Ltd., Changsha 248, Yuelu District, Hunan, China Applicant before: Changsha Yuanda Residential Industrial Co., Ltd. |
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Free format text: CORRECT: APPLICANT; FROM: BROAD HOMES INDUSTRIAL CO., LTD. TO: CHANGSHA BROAD HOMES INDUSTRIAL GROUP CO., LTD. |
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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. |