CN107186533A - Drilling rod conveying robot based on truss - Google Patents
Drilling rod conveying robot based on truss Download PDFInfo
- Publication number
- CN107186533A CN107186533A CN201710255705.1A CN201710255705A CN107186533A CN 107186533 A CN107186533 A CN 107186533A CN 201710255705 A CN201710255705 A CN 201710255705A CN 107186533 A CN107186533 A CN 107186533A
- Authority
- CN
- China
- Prior art keywords
- drilling rod
- conveying robot
- mechanical arm
- rod conveying
- wrist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
This application discloses a kind of drilling rod conveying robot based on truss, including horizontal movement part, up and down motion part, retained part, wherein, the horizontal movement part is used to make the drilling rod conveying robot move horizontally along crossbeam (2), wherein, the up and down motion is attached partially to the horizontal component, the up and down motion part includes mechanical arm (4), for making the drilling rod conveying robot on the basis of described move horizontally, further moved up and down along the direction of the mechanical arm (4), wherein, the retained part includes wrist (5) and paw (6), and it is connected to the mechanical arm (4), rotation and holding action for carrying out wrist form.The manipulator has that simple in construction, easy to control, cost is low, floor space is small, scope of activities is big and the features such as highly versatile, it is adaptable to the automated handling production system such as lathe, machining center and production line.
Description
Technical field
The invention belongs to the technical field of automated machine equipment, and in particular to a kind of drilling rod handling machinery based on truss
Hand.
Background technology
In machinery manufacturing industry, workpiece can be transported to lathe exactly corresponding by manipulator as a kind of handbarrow
On position.Manipulator reduces cost of labor in the extensive use of production scene, improves productivity ratio, accelerates realization industry
The paces of the production automation.But most robot manipulator structures are complicated, cost is high, floor space is big, with specific purposes, it is impossible to full
The flexible production demand of sufficient small batch.
The content of the invention
There is provided a kind of simple in construction, cost is low, floor space for the problem of existing present invention aim to address prior art
Small, scope of activities is big, a kind of drilling rod conveying robot based on truss of highly versatile, and the manipulator has four-degree-of-freedom, work
Make very flexible, also, by changing corresponding paw, can also realize other workpiece of different shapes of carrying, it is adaptable to lathe,
The automated handling production system such as machining center and production line.
Embodiments in accordance with the present invention there is provided the drilling rod conveying robot based on truss, including horizontal movement part, on
Lower motion parts, retained part, wherein, the horizontal movement part is used to make the drilling rod conveying robot along crossbeam (2) water
Translation is dynamic, wherein, the up and down motion is attached partially to the horizontal component, and the up and down motion part includes mechanical arm (4),
For making the drilling rod conveying robot on the basis of described move horizontally, along the direction of the mechanical arm (4) further on
Lower movement, wherein, the retained part includes wrist (5) and paw (6), and is connected to the mechanical arm (4), for carrying out hand
The rotation of wrist form and holding action.
The manipulator has that simple in construction, easy to control, cost is low, floor space is small, scope of activities is big and highly versatile etc.
Feature, it is adaptable to the automated handling production system such as lathe, machining center and production line.
Brief description of the drawings
Fig. 1 is the schematic perspective view of the drilling rod conveying robot according to an embodiment of the invention based on truss；
Fig. 2 is the front view of drilling rod conveying robot according to an embodiment of the invention；
Fig. 3 is the left view of the drilling rod conveying robot according to an embodiment of the invention based on truss；
Fig. 4 is the profile of Fig. 3 section B-B
Fig. 5 is the front view and A-A of the paw of the drilling rod conveying robot according to an embodiment of the invention based on truss
Cross-sectional view；
Description of reference numerals is as follows in figure.
1：Frame；2：Crossbeam (X-axis)；3：Swinging joint (R axles)；4：Mechanical arm (Z axis)；5：Wrist (revolution W axles)；6：Hand
Pawl；10：First servomotor；11：X-axis pallet；12：First decelerator；14：Second decelerator；15：Second servomotor；16：
Mechanical arm seat；18：Gear rack straight guideway；19：Bevel gear pair；20：Wrist joint part；21：3rd servomotor；
22：3rd decelerator；31：Cylinder；32：Paw frame；33：Second connecting rod；34：Right folder；35：Zuo Jia；36：You Jiazhong ears；37：
Zuo Jiazhong ears；38：First connecting rod；39：Contiguous block；41：Flange.
Embodiment
Below, the implementation of technical scheme is described in further detail with reference to accompanying drawing.
Although it will be appreciated by those of skill in the art that the following description is related to many of embodiment for the present invention
Ins and outs, but be only for for illustrate the present invention principle example and do not mean that any limitation.The present invention can be applicable
Occasion outside different from ins and outs exemplified below, principle and spirit without departing from the present invention.
, may pair can be in description in this manual in addition, miscellaneous in order to avoid being limited to the description of this specification
The portion of techniques details obtained in prior art data has carried out the processing such as omission, simplification, accommodation, this technology for this area
It will be understood by for personnel, and this does not interfere with the open adequacy of this specification.
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Referring to Fig. 1 and Fig. 2, it is shown that the stereogram and main view of a kind of drilling rod conveying robot based on truss of the invention
Figure.
The linear motion unit component of the crossbeam 2 (X-axis) includes the first servomotor 10, the first decelerator 12, X-axis support
Disk 11 and gear rack straight guideway 18, crossbeam 2 are fixed in frame 1, and crossbeam 2 and mechanical arm 4 are connected by swinging joint 3
Connect, wrist 5 is connected with the end of mechanical arm 4, paw 6 is connected the motion for realizing manipulator in X-direction with wrist.
The linear motion unit component of the mechanical arm 4 (Z axis) and the linear motion unit component of crossbeam 2 and operation principle
It is identical, realize motion of the manipulator in Z-direction (above-below direction in figure).Specifically, by being fixed on mechanical arm seat 16
Servomotor, the first decelerator, gear rack straight guideway (not marked in figure), mechanical arm 4 can be relative to mechanical arm
16 (on the basis of them) of seat are moved up and down.
Referring to Fig. 2, the swinging joint 3 includes mechanical arm seat 16, the second servomotor 15 and the second decelerator 14, its
In, the second decelerator 14 is connected to mechanical arm seat 16 by propeller boss, is swung so as to driving mechanical arm seat 16, and further band
The dynamic swing of mechanical arm 4；Hereby it is achieved that using X-axis pallet as pedestal, mechanical arm seat 16 is swung around gyroaxis (R axles), i.e. machine
Tool arm 4 is pedestal, wraparound shaft swing with crossbeam 2.
Fig. 3 and Fig. 4 show that the left view and section B-B of a kind of drilling rod conveying robot based on truss of the present invention are cutd open
View.
The wrist 5 includes wrist joint part 20, the 3rd servomotor 21 and the 3rd decelerator 22；3rd servomotor
21 are connected with the 3rd decelerator 22, and the 3rd decelerator 22 is connected with wrist joint part 20；Wherein, wrist joint part 20 includes
Bevel gear pair 19 and flange 41, flange 41 are connected with paw 6, and the 3rd servomotor 21 drives, and are slowed down through the 3rd decelerator 22, are led to
Cross the transformation rotation direction of bevel gear pair 19 so that wrist joint part 20 is rotated around W axles and mechanical arm 4 (Z axis), realizes wrist
The pose adjustment of joint component.
Fig. 5 shows the front view and Section A-A of a kind of paw 6 of drilling rod conveying robot based on truss of the present invention
Profile, paw 6 includes cylinder 31, paw frame 32, left folder 35, right folder 34, first connecting rod 38, second connecting rod 33 and contiguous block
39, paw frame 32 is connected with wrist 5, and cylinder 31 is fixed on paw frame 32, and contiguous block 39 is connected with the cylinder head of cylinder 31, and first
Connecting rod 38 and second connecting rod 33 are hinged with contiguous block 39 respectively, it is left folder 35 and it is right folder 34 respectively with first connecting rod 38 and second connecting rod
33 are hinged, and Zuo Jiazhong ears 37 and You Jiazhong ears 36 are hinged with paw frame 32 respectively；Paw 6 belongs to Pneumatic paw, and it has
The features such as simple in construction, control reliable, good flexibility and high accuracy, it is adaptable to grip cylindric workpiece.
Finally, it will be appreciated by those of skill in the art that various modifications, change can be made to the above embodiment of the present invention
Type and replacement, it is each fallen within such as protection scope of the present invention defined in the appended claims.
Claims (9)
1. a kind of drilling rod conveying robot based on truss, including horizontal movement part, up and down motion part, retained part,
Wherein, the horizontal movement part is used to make the drilling rod conveying robot move horizontally along crossbeam (2),
Wherein, the up and down motion is attached partially to the horizontal component, and the up and down motion part includes mechanical arm (4), uses
In making the drilling rod conveying robot on the basis of described move horizontally, along the direction of the mechanical arm (4) it is further above and below
It is mobile,
Wherein, the retained part includes wrist (5) and paw (6), and is connected to the mechanical arm (4), for carrying out wrist
The rotation of form and holding action.
2. drilling rod conveying robot according to claim 1, in addition to swing part,
Wherein, the swing part is connected to the horizontal movement part, for making the drilling rod conveying robot in the water
On the basis of translation is dynamic, further swing；
Wherein, the up and down motion is attached partially to the swing part, and is connected to the level via the swing part
Part, for make the drilling rod conveying robot it is described move horizontally and the swing on the basis of, along the machine
The direction of tool arm (4) is further moved up and down.
3. drilling rod conveying robot according to claim 1, wherein, the horizontal movement part includes the first servomotor
(10), the first decelerator (12), horizontal base (11) and gear rack straight guideway (18), the crossbeam (2) are fixed on machine
On frame (1),
The gear rack straight guideway (18) is fixed in the frame (1), and the first servomotor (10) slows down with first
Device (12) connect, the gear rack straight guideway (18) respectively with first decelerator (12) and the horizontal base
Seat (11) connection, for the driving force of the first servomotor (10) to be driven into the horizontal base (11), so that the water
Flat bed (11) is moved horizontally.
4. drilling rod conveying robot according to claim 2, wherein, the swing part includes swinging joint (3), described
Crossbeam (2) and the mechanical arm (4) are connected by the swinging joint (3), the wrist (5) and the mechanical arm (4) end
Connection.
5. drilling rod conveying robot according to claim 4, wherein, the swinging joint (3) includes and the mechanical arm
(4) fixed mechanical arm seat (16), the second servomotor (15) and the second decelerator (14),
Wherein, the second decelerator (14) is connected to the mechanical arm seat (16) by propeller boss, so as to drive the mechanical arm
Seat (16) is swung, and is further driven to the mechanical arm (4) swing.
6. drilling rod conveying robot according to claim 1 or 2, wherein, the wrist (5) includes wrist joint part
(20), the 3rd servomotor (21) and the 3rd decelerator (22)；3rd servomotor (21) is connected with the 3rd decelerator (22), the
Three decelerators (22) are connected with the wrist joint part (20).
7. drilling rod conveying robot according to claim 6, wherein, the wrist joint part (20) includes bevel gear pair
(19),
Wherein, the driving force of the 3rd servomotor (21) is slowed down through the 3rd decelerator (22), is turned by bevel gear pair (19)
Become rotation direction so that wrist joint part (20) is rotated.
8. drilling rod conveying robot according to claim 7, wherein, the wrist joint part (20) also includes flange
(41), the flange (41) is connected with the paw (6).
9. drilling rod conveying robot according to claim 6, wherein, the paw (6) includes cylinder (31), paw frame
(32), left folder (35), right folder (34), first connecting rod (38), second connecting rod (33) and contiguous block (39),
Wherein, the paw frame (32) is connected with by flange (41) with the wrist (5), and the cylinder (31) is fixed on described
On paw frame (32), the contiguous block (39) is connected with the cylinder head of the cylinder (31), first connecting rod (38) and second connecting rod
(33) it is hinged respectively with contiguous block (39), left folder (35) and right folder (34) are cut with scissors with first connecting rod (38) and second connecting rod (33) respectively
Connect,
It is left folder (35) in ear (37) and it is right press from both sides (34) in ear (36) be hinged respectively with paw frame (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710255705.1A CN107186533A (en) | 2017-04-19 | 2017-04-19 | Drilling rod conveying robot based on truss |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710255705.1A CN107186533A (en) | 2017-04-19 | 2017-04-19 | Drilling rod conveying robot based on truss |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107186533A true CN107186533A (en) | 2017-09-22 |
Family
ID=59870988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710255705.1A Pending CN107186533A (en) | 2017-04-19 | 2017-04-19 | Drilling rod conveying robot based on truss |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186533A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664281A (en) * | 2019-01-10 | 2019-04-23 | 苏州智耀机电科技有限公司 | Moving multi manipulator |
| CN110653655A (en) * | 2019-10-23 | 2020-01-07 | 徐州通域空间结构有限公司 | Bolt ball feeding mechanism |
| CN111452162A (en) * | 2020-05-26 | 2020-07-28 | 东北林业大学 | Leaf-removing and skin-cutting scraping type straw skin and stalk separation device and separation method |
| CN113299578A (en) * | 2020-02-24 | 2021-08-24 | 沈阳新松机器人自动化股份有限公司 | Vertical furnace front end storage unit |
| CN113601105A (en) * | 2021-08-19 | 2021-11-05 | 襄阳华中科技大学先进制造工程研究院 | Spline torsion shaft tooth bottom rolling equipment system assembly |
| CN113618476A (en) * | 2021-08-19 | 2021-11-09 | 襄阳华中科技大学先进制造工程研究院 | A material loading transport mechanism for torsion shaft rolling equipment |
| CN115781713A (en) * | 2022-12-09 | 2023-03-14 | 青岛拓普斯智能科技有限公司 | Manipulator for column transplantation |
| CN115847161A (en) * | 2023-02-23 | 2023-03-28 | 广州市锐美汽车零部件有限公司 | Automatic truss system for spline machining of rotating shaft of driving motor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201792249U (en) * | 2010-09-15 | 2011-04-13 | 张锦民 | Double-arm synchronous feeding manipulator |
| CN203566406U (en) * | 2013-11-27 | 2014-04-30 | 广东和氏自动化技术有限公司 | Automatic truss type robot for deburring and polishing crank shaft |
| CN104908033A (en) * | 2015-05-28 | 2015-09-16 | 桂林电子科技大学 | High-speed light gantry truss mechanical arm |
| CN105082117A (en) * | 2015-09-23 | 2015-11-25 | 淄博纽氏达特机器人系统技术有限公司 | Gantry type double-arm truss robot and machining method for arc-shaped plate |
| CN105479457A (en) * | 2016-01-16 | 2016-04-13 | 芜湖安普机器人产业技术研究院有限公司 | Posture adjustment mechanism for articulated manipulator |
-
2017
- 2017-04-19 CN CN201710255705.1A patent/CN107186533A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201792249U (en) * | 2010-09-15 | 2011-04-13 | 张锦民 | Double-arm synchronous feeding manipulator |
| CN203566406U (en) * | 2013-11-27 | 2014-04-30 | 广东和氏自动化技术有限公司 | Automatic truss type robot for deburring and polishing crank shaft |
| CN104908033A (en) * | 2015-05-28 | 2015-09-16 | 桂林电子科技大学 | High-speed light gantry truss mechanical arm |
| CN105082117A (en) * | 2015-09-23 | 2015-11-25 | 淄博纽氏达特机器人系统技术有限公司 | Gantry type double-arm truss robot and machining method for arc-shaped plate |
| CN105479457A (en) * | 2016-01-16 | 2016-04-13 | 芜湖安普机器人产业技术研究院有限公司 | Posture adjustment mechanism for articulated manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 万晓鹏等: "基于ADAMS的钻杆夹持机械手的动力学仿真", 《机床与液压》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664281A (en) * | 2019-01-10 | 2019-04-23 | 苏州智耀机电科技有限公司 | Moving multi manipulator |
| CN110653655A (en) * | 2019-10-23 | 2020-01-07 | 徐州通域空间结构有限公司 | Bolt ball feeding mechanism |
| CN113299578A (en) * | 2020-02-24 | 2021-08-24 | 沈阳新松机器人自动化股份有限公司 | Vertical furnace front end storage unit |
| CN111452162A (en) * | 2020-05-26 | 2020-07-28 | 东北林业大学 | Leaf-removing and skin-cutting scraping type straw skin and stalk separation device and separation method |
| CN113601105A (en) * | 2021-08-19 | 2021-11-05 | 襄阳华中科技大学先进制造工程研究院 | Spline torsion shaft tooth bottom rolling equipment system assembly |
| CN113618476A (en) * | 2021-08-19 | 2021-11-09 | 襄阳华中科技大学先进制造工程研究院 | A material loading transport mechanism for torsion shaft rolling equipment |
| CN115781713A (en) * | 2022-12-09 | 2023-03-14 | 青岛拓普斯智能科技有限公司 | Manipulator for column transplantation |
| CN115847161A (en) * | 2023-02-23 | 2023-03-28 | 广州市锐美汽车零部件有限公司 | Automatic truss system for spline machining of rotating shaft of driving motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107186533A (en) | Drilling rod conveying robot based on truss | |
| KR101430908B1 (en) | The articulated robotic transfer system is equipped with a combination of a three-dimensional gantry structure | |
| CN104526685B (en) | Containing the redundant drive plane two-degree-of-freedoparallel parallel manipulator of parallelogram side chain | |
| KR101744962B1 (en) | System for processing wood member using multi-articulated robot | |
| CN204673623U (en) | Small-sized Multi-freedom-degreemanipulator manipulator | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN103921268B (en) | For transporation by plane containing prrpr side chain parallel institution punching system | |
| CN104708619A (en) | Three-degree-of-freedom transfer robot with movable support | |
| CN204566140U (en) | Robot and system of processing | |
| CN110722585A (en) | Multi-station robot clamping jaw | |
| CN104589340B (en) | A kind of six degree of freedom mechanical manipulators | |
| CN113319827A (en) | Five-degree-of-freedom complete parallel machining robot | |
| CN211682127U (en) | Novel robotic arm for robot | |
| CN204339778U (en) | A kind of universal manipulator for overturning transmission | |
| CN103895007A (en) | Two-translational-motion parallel robot | |
| CN103273482B (en) | Master-slave branch chain separate type two-translational motion parallel robot | |
| CN110976921A (en) | Feeding and discharging mechanical arm for lathe | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| CN105436976A (en) | Industrial robot for gear machining | |
| CN211490867U (en) | Movable carrier frame of polishing workstation | |
| CN209831628U (en) | Human-machine cooperation robot | |
| CN109664281A (en) | Moving multi manipulator | |
| CN203945364U (en) | Heavy duty transfer robot | |
| CN104626127A (en) | Multifunctional feeding robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170922 |
|
| RJ01 | Rejection of invention patent application after publication |