CN108147121A - Crusher roll insert automatic transportation equipment - Google Patents
Crusher roll insert automatic transportation equipment Download PDFInfo
- Publication number
- CN108147121A CN108147121A CN201810009159.8A CN201810009159A CN108147121A CN 108147121 A CN108147121 A CN 108147121A CN 201810009159 A CN201810009159 A CN 201810009159A CN 108147121 A CN108147121 A CN 108147121A
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- China
- Prior art keywords
- gantry
- traversing
- servo motor
- roller
- synchronizing wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Abstract
The invention belongs to crusher components production technical fields, are related to a kind of production equipment of crusher roll, and in particular to a kind of crusher roll insert automatic transportation equipment.Roller is placed on drive roll and passive guide roller, and the cylindrical surface edge at both ends is made to be pressed respectively against on drive roll external cylindrical surface and passive guide roller external cylindrical surface.Axially driving servo motor energization driving axial translation component is moved at roller insert to be welded.Gantry servo motor, which is powered to rotating, makes gantry component be translated along gantry the linear guide, and traversing servo motor, which is powered to rotating, makes traversing sliding block be moved along traversing the linear guide, Pneumatic clamping jaw is made to capture insert, and place insert, by robot automatic welding.Dynamic roller servo motor energization output shaft rotation, drives drive roll and passive guide roller rotation, next column position to be welded is upward.The labour of repeatability is greatly reduced in the present invention, it is no longer necessary to which workers carry and welding, the accuracy of welding improve, and labor intensity reduces, and recruitment cost reduces.
Description
Technical field
The invention belongs to crusher components production technical fields, are related to a kind of production equipment of crusher roll, specifically relate to
And a kind of crusher roll insert automatic transportation equipment.
Background technology
Crusher roll includes cylindrical cylinder, central shaft and is welded on multiple rectangular on cylindrical tube external surface
Bodily form insert, insert are regularly to arrange, arranged in columns along the direction for being parallel to axial line, multiple row is uniform around direction of axis line
Array.
The technique of traditional welding insert is such.It is artificial first to draw circumference in cylindrical tube external surface using chalk
Line and the straight line for being parallel to axial line, determine the position of the welding such as insert, an insert are then manually taken to be placed on circumference
On the crosspoint of straight line, artificial spot welding, then artificial full weld, an insert welding is completed.
The efficiency of conventional bonding technique is than relatively low, each roller will draw primary line, repeatedly work, human weld
Labor intensity is larger, and the artificial error randomness for placing insert is larger, and bad control, arrangement is not uniformly distributed, influences good appearance.
With attention of the people to health, young man less and less is ready to be engaged in electric welding cause, this to employ electric welding
The wages of work are higher and higher, recruitment difficulty, recruitment cost caused to improve to manufacturing enterprise.
Invention content
In place of improving the deficiencies in the prior art, one kind is provided and reduces repeated labor, save labor
The relatively low crusher roll insert automatic transportation equipment of power, the accuracy raising of welding, recruitment cost.
The present invention is achieved through the following technical solutions：
A kind of crusher roll insert automatic transportation equipment moves roll assembly, axially driving component, axial translation group including two pieces
Part, traversing sliding block, lifts cylinder of losing heart, the long cylinder of lifting, Pneumatic clamping jaw and insert disk at gantry component；
Dynamic roll assembly include dynamic roller support, drive roll, passive guide roller, drive sprocket, by movable sprocket, chain and dynamic roller servo motor；
Drive roll is revolving body, and including drive roll terminal block face and drive roll external cylindrical surface, drive roll terminal block face is perpendicular to the axis of drive roll
Heart line；Passive guide roller is revolving body, and including passive guide roller terminal block face and passive guide roller external cylindrical surface, passive guide roller terminal block face is perpendicular to passive guide roller
Axial line；The axis parallel and level of drive roll and passive guide roller, drive roll terminal block face and passive guide roller terminal block are in face of neat and court
To same direction, drive roll and passive guide roller form revolute pair with dynamic roller support respectively, and drive sprocket is fixedly connected with drive roll,
It is fixedly connected by movable sprocket with passive guide roller, chain with drive sprocket and passive sprocket engagement, moves the shell of roller servo motor respectively
Flange is fixedly connected with dynamic roller support, and the output shaft of dynamic roller servo motor is fixedly connected with drive roll, when dynamic roller servo motor leads to
When electricity output axis rotates, driving drive roll rotation, while drive further through drive sprocket-chain-by the combination of movable sprocket it is passive
Roller synchronous rotary in the same direction；
The drive roll terminal block face that two pieces moves roll assembly is positioned opposite, and roller is placed on simultaneously in two pairs of drive rolls-passive guide roller combination,
The cylindrical surface edge at both ends is pressed respectively against on drive roll external cylindrical surface and passive guide roller external cylindrical surface, and the end face edge at both ends is leaned on respectively
Tight drive roll terminal block face and passive guide roller terminal block face, under the effect of gravity roller be in equilibrium state, when two dynamic roller servo motors
Roller rotation is driven when starting synchronous rotary；
Axially driving component includes axially driving frame, axially driving servo motor, axial movement sliding block and axially driving gear, axis
It is fixedly connected respectively with axially driving frame with axial movement sliding block to the housing flange of driving servo motor, axially driving servo electricity
The output shaft of machine is fixedly connected with axially driving gear；
Axial translation component includes axial translation frame, gantry the linear guide, gantry driving synchronizing wheel, synchronizing wheel connecting shaft, gantry
Servo motor, the driven synchronizing wheel in gantry, gantry synchronous belt, axial translation the linear guide and axial translation rack；Axial translation is straight
Line guide rail and axial translation rack are separately fixed at the lower surface of axial translation frame, and axial translation the linear guide is slided with axial movement
Block forms line slideway auxiliary, and axially driving gear is engaged with axial translation rack, axially driving servo motor energization output shaft rotation
Turn, driving axial translation component is translated along the linear guide；Gantry the linear guide is fixedly connected with the upper surface of axial translation frame, dragon
Door the linear guide is parallel with axial translation the linear guide；First pair of gantry driving synchronizing wheel and the driven synchronizing wheel in gantry respectively with axis
It is connected to shiftable frame by revolute pair, it is driven same with gantry that first gantry synchronous belt surrounds first pair of gantry driving synchronizing wheel
Between step wheel, it is distributed in the first side of axial translation frame；Second pair of gantry driving synchronizing wheel and the driven synchronizing wheel in gantry respectively with
Axial translation frame is connected by revolute pair, and Article 2 gantry synchronous belt surrounds second pair of gantry driving synchronizing wheel and gantry is driven
Between synchronizing wheel, it is distributed in the second side of axial translation frame；Synchronizing wheel connecting shaft drives respectively with first and second gantry
Synchronizing wheel is fixedly connected, and the shell of gantry servo motor is fixedly connected with axial translation frame, the output shaft of gantry servo motor with
Gantry driving synchronizing wheel is fixedly connected；
Gantry component includes portal frame, gantry sliding block, gantry synchronous clamping, traversing servo motor, traversing driving synchronizing wheel, traversing
Driven synchronizing wheel, traversing synchronous belt and traversing the linear guide；Portal frame includes being fixed together two supporting legs and a horizontal stroke
Beam, two gantry sliding blocks and two gantry synchronous clampings are separately fixed at the lower end of two supporting legs, two gantry sliding blocks respectively and
Gantry the linear guide composition prismatic pair, two gantry synchronous clampings clamp two gantry synchronous belts respectively, then when gantry servo electricity
During machine energization rotation, two gantry drive synchronizing wheel synchronous rotaries, and two gantry synchronous belts synchronous operations are same by two gantry
Walk the two supporting legs translation for dragging portal frame respectively with folder, it is ensured that portal frame both sides synchronizing moving, without tilting；
The shell of traversing the linear guide and traversing servo motor is separately fixed at the lower surface of crossbeam, and traversing driving synchronizing wheel is fixed
On the output shaft of traversing servo motor, traversing driven synchronizing wheel is connect by revolute with crossbeam, and traversing synchronous belt surrounds
Between traversing driving synchronizing wheel and traversing driven synchronizing wheel；Traversing sliding block forms line slideway auxiliary with traversing the linear guide, traversing
Sliding block is fixedly connected by traversing synchronous clamping with traversing synchronous belt；
Cylinder is losed heart in lifting and the long cylinder of lifting is all twin shaft cylinder, and there are two piston and two piston rods, two work for twin shaft cylinder
The end of stopper rod is fixed together, and piston rod can only be translated along cylinder block, it is impossible to be rotated；Lift the piston rod end for cylinder of losing heart
End is fixedly connected with traversing sliding block, and the cylinder body for lifting cylinder of losing heart is fixedly connected with the cylinder body for lifting long cylinder, lifts long cylinder
Piston-rod end is fixedly connected with Pneumatic clamping jaw；The piston for lifting lose heart cylinder and the long cylinder of lifting translates along the vertical direction；
Insert disk includes disk body, is provided with multiple locating slots on disk body, the insert before multiple welding is located in locating slot；Disk
Be additionally provided with two location holes on body, on axial translation frame setting there are two positioning pin, two location holes respectively with two positioning pins
Cooperation makes disk body positioning be placed on axial translation frame.
The use process of the present invention is as described below.
1) roller for not welding insert is placed on drive roll and passive guide roller, the cylindrical surface edge at both ends is made to be pressed respectively against master
On dynamic roller external cylindrical surface and passive guide roller external cylindrical surface, the end face edge at both ends is close to drive roll terminal block face and passive guide roller terminal block respectively
Face.
2) the insert disk for filling insert is placed on axial translation frame, and make location hole and detent fit.
3) axially driving servo motor energization driving axial translation component is moved at roller insert to be welded.
4) gantry servo motor, which is powered to rotating, makes gantry component be translated along gantry the linear guide, and traversing servo motor, which is powered, to be revolved
Turn that traversing sliding block is made to move along traversing the linear guide, Pneumatic clamping jaw is finally made to be located at the surface of insert to be captured.
5) ensure Pneumatic clamping jaw be in extended state, make lifting lose heart cylinder extend, then two pawls of Pneumatic clamping jaw are placed exactly in
The both sides of insert to be captured, Pneumatic clamping jaw ventilation crawl insert, then make lifting lose heart cylinder shortening, then insert is grabbed by Pneumatic clamping jaw
It rises and leaves locating slot.
6) gantry servo motor, which is powered to rotating, makes gantry component be translated along gantry the linear guide, and traversing servo motor, which is powered, to be revolved
Turn that traversing sliding block is made to move along traversing the linear guide, finally make the insert being crawled be located at position to be welded on roller just on
Side.
7) stretch out the long cylinder of lifting, then insert has been placed on position to be welded on roller.
8) at this moment make welding robot spot welding connection insert and roller.
9) Pneumatic clamping jaw is stretched out, releases the clamping to insert, shrink the long cylinder of lifting, then Pneumatic clamping jaw is upward out
Insert.
10) gantry servo motor, which is powered to rotating, makes gantry component be translated along gantry the linear guide, and traversing servo motor is powered
Rotation makes traversing sliding block be moved along traversing the linear guide, and second insert to be captured of crawl is gone in Pneumatic clamping jaw movement.
11) axially driving servo motor energization driving axial translation component is moved on roller at second insert to be welded.
While first insert of welding robot full weld 12).
13) step 3) is repeated to 12), completes the welding of a row insert.
14) move the rotation of roller servo motor energization output shaft, driving drive roll rotation, while further through drive sprocket-chain-
Passive guide roller synchronous rotary in the same direction is driven by the combination of movable sprocket, then roller is driven to rotate under frictional force effect to be welded to next column
Position is upward.Step 3) is repeated to 13), completes the welding of next column insert.
15) when the insert in insert disk is finished, empty insert disk is removed, changes full insert disk, positioning is appropriate, so that it may
To continue.
16) step 3) is ceaselessly repeated to 14), is welded until completing insert all on entire roller.
Beneficial effects of the present invention：The labour of repeatability is greatly reduced, it is only necessary to primary line is accurately drawn in programming,
It is no longer needed for setting-out later.Using robot welding, then workers carry and welding no longer being needed, the accuracy of welding improves,
Labor intensity reduces, and it is difficult to solve the problems, such as that electric welder advertises for workers, recruitment cost reduces.
Description of the drawings
Fig. 1 is the three dimensional structure diagram of roller 10；
Fig. 2 is the three dimensional structure diagram of the embodiment of the present invention, treats working condition；
Fig. 3 is the three dimensional structure diagram of the embodiment of the present invention, installs the state of roller 10 and insert disk 9；
Fig. 4 is the three dimensional structure diagram of the embodiment of the present invention, and axial translation component 3 is moved at 10 insert 102 to be welded of roller
State；
Fig. 5 is the three dimensional structure diagram of the embodiment of the present invention, and Pneumatic clamping jaw 8 captures state during insert 102；
Fig. 6 is the three dimensional structure diagram of the embodiment of the present invention, and the insert 102 being crawled is shifted into position to be welded on roller 10
The state during surface put；
Fig. 7 is the three dimensional structure diagram of the embodiment of the present invention, and insert 102 has been placed on position to be welded on roller 10
State；
Fig. 8 is the three dimensional structure diagram of the embodiment of the present invention, and second insert 102 to be captured of crawl is gone in the movement of Pneumatic clamping jaw 8
State；
Fig. 9 is the three dimensional structure diagram of the embodiment of the present invention, and second insert 102 has been placed on to be welded on roller 10
The state of position；
Figure 10 is the three dimensional structure diagram of the embodiment of the present invention, completes the state of a row insert 102；
Figure 11 is the three dimensional structure diagram of the embodiment of the present invention, the state of processing secondary series insert 102；
Figure 12 is the three dimensional structure diagram of the embodiment of the present invention, the state of processing multiple row insert 102；
Figure 13 is the three dimensional structure diagram of axially driving component 2；
Figure 14 is the three dimensional structure diagram of roll assembly 1；
Figure 15 is the three dimensional structure diagram of drive roll 12；
Figure 16 is the three dimensional structure diagram of gantry component 4；
Figure 17 is that traversing sliding block 5- lifts the three dimensional structure diagram that the cylinder 6- that loses heart lifts long cylinder 7- Pneumatic clamping jaws 8；
Figure 18 is the three dimensional structure diagram at 3 first visual angle of axial translation component；
Figure 19 is the three dimensional structure diagram at 3 second visual angle of axial translation component；
Figure 20 is the three dimensional structure diagram of insert disk 9；
Shown in figure：1. dynamic roll assembly；11. dynamic roller support；12. drive roll；121. drive roll terminal block face；122. drive roll outer circle
Cylinder；13. passive guide roller；131. passive guide roller terminal block face；132. passive guide roller external cylindrical surface；14. drive sprocket；15. by movable sprocket；
16. chain；17. dynamic roller servo motor；2. axially driving component；21. axially driving frame；22. axially driving servo motor；23.
Move axially sliding block；24. axially driving gear；3. axial translation component；31. axial translation frame；311. positioning pin；32. gantry
The linear guide；33. gantry drives synchronizing wheel；34. synchronizing wheel connecting shaft；35. gantry servo motor；36. the driven synchronizing wheel in gantry；
37. gantry synchronous belt；38. axial translation the linear guide；39. axial translation rack；4. gantry component；41. portal frame；411. branch
Leg；412. crossbeam；42. gantry sliding block；43. gantry synchronous clamping；44. traversing servo motor；45. traversing driving synchronizing wheel；46.
Traversing driven synchronizing wheel；47. traversing synchronous belt；48. traversing the linear guide；5. traversing sliding block；51. traversing synchronous clamping；6. liter
Cylinder of losing heart drops；61. cylinder piston rod of losing heart；62. short cylinder block；7. the long cylinder of lifting；71. long cylinder block；72. long cylinder is lived
Stopper rod；8. Pneumatic clamping jaw；9. insert disk；91. disk body；92. locating slot；93. location hole；10. roller；101. cylinder；102. edge
Block；103. end face edge；104. cylindrical surface edge.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples：
Embodiment：Referring to Fig. 1 to Figure 20.
A kind of crusher roll insert automatic transportation equipment moves roll assembly 1 including two pieces, axially driving component 2, axially puts down
It moves component 3, gantry component 4, traversing sliding block 5, lift cylinder 6 of losing heart, the long cylinder 7 of lifting, Pneumatic clamping jaw 8 and insert disk 9；
Dynamic roll assembly 1 include dynamic roller support 11, drive roll 12, passive guide roller 13, drive sprocket 14, by movable sprocket 15,16 and of chain
Dynamic roller servo motor 17；Drive roll 12 is revolving body, including drive roll terminal block face 121 and drive roll external cylindrical surface 122, drive roll
Terminal block face 121 is perpendicular to the axial line of drive roll 12；Passive guide roller 13 is revolving body, including passive guide roller terminal block face 131 and passive guide roller
External cylindrical surface 132, passive guide roller terminal block face 131 is perpendicular to the axial line of passive guide roller 13；The axial line of drive roll 12 and passive guide roller 13
It is parallel and horizontal, drive roll terminal block face 121 and passive guide roller terminal block face 131 be aligned and towards same direction, drive roll 12 and by
Dynamic roller 13 forms revolute pair with dynamic roller support 11 respectively, and drive sprocket 14 is fixedly connected with drive roll 12, by movable sprocket 15 and quilt
Dynamic roller 13 is fixedly connected, and chain 16 engages respectively with drive sprocket 14 with by movable sprocket 15, moves the outer shell process of roller servo motor 17
Blue to be fixedly connected with dynamic roller support 11, the output shaft of dynamic roller servo motor 17 is fixedly connected with drive roll 12, when dynamic roller servo electricity
When 17 energization output shaft of machine rotates, driving drive roll 12 rotates, while further through drive sprocket 14- chains 16- by movable sprocket 15
Combination driving 13 synchronous rotary in the same direction of passive guide roller；
The drive roll terminal block face 121 that two pieces moves roll assembly 1 is positioned opposite, and it is passive that roller 10 is placed on two couples of drive roll 12- simultaneously
In the combination of roller 13, the cylindrical surface edge 104 at both ends is pressed respectively against on drive roll external cylindrical surface 122 and passive guide roller external cylindrical surface 132,
The end face edge 103 at both ends is close to drive roll terminal block face 121 and passive guide roller terminal block face 131 respectively, under the effect of gravity roller 10
In equilibrium state, roller 10 is driven to rotate when two dynamic roller servo motors 17 start synchronous rotary；
Axially driving component 2 includes axially driving frame 21, axially driving servo motor 22, axial movement sliding block 23 and axially driving
Gear 24, the housing flange of axially driving servo motor 22 is fixed with axial movement sliding block 23 with axially driving frame 21 respectively to be connected
It connects, the output shaft of axially driving servo motor 22 is fixedly connected with axially driving gear 24；
Axial translation component 3 includes axial translation frame 31, gantry the linear guide 32, gantry driving synchronizing wheel 33, synchronizing wheel connection
Axis 34, gantry servo motor 35, the driven synchronizing wheel 36 in gantry, gantry synchronous belt 37, axial translation the linear guide 38 and axial direction are flat
Move rack 39；Axial translation the linear guide 38 and axial translation rack 39 are separately fixed at the lower surface of axial translation frame 31, axis
Line slideway auxiliary, axially driving gear 24 and axial translation rack 39 are formed to translated linear guide rail 38 and axial movement sliding block 23
Engagement, axially driving 22 energization output shaft of servo motor rotation, driving axial translation component 3 are translated along the linear guide；Gantry is straight
Line guide rail 32 is fixedly connected with the upper surface of axial translation frame 31, and gantry the linear guide 32 and axial translation the linear guide 38 are flat
Row；First pair of gantry driving synchronizing wheel 36 driven with gantry of synchronizing wheel 33 is connected respectively with axial translation frame 31 by revolute pair,
First gantry synchronous belt 37 surrounds between first pair of gantry driving synchronizing wheel 33 and the driven synchronizing wheel 36 in gantry, is distributed in axis
To the first side of shiftable frame 31；Second pair of gantry driving synchronizing wheel 33 and the driven synchronizing wheel 36 in gantry respectively with axial translation frame 31
It is connected by revolute pair, Article 2 gantry synchronous belt 37 surrounds second pair of gantry driving synchronizing wheel 33 and the driven synchronizing wheel in gantry
Between 36, it is distributed in the second side of axial translation frame 31；Synchronizing wheel connecting shaft 34 drives respectively with first and second gantry
Synchronizing wheel 33 is fixedly connected, and the shell of gantry servo motor 35 is fixedly connected with axial translation frame 31, gantry servo motor 35
Output shaft is fixedly connected with gantry driving synchronizing wheel 33；
Gantry component 4 includes portal frame 41, gantry sliding block 42, gantry synchronous clamping 43, traversing servo motor 44, traversing driving together
Step wheel 45, traversing driven synchronizing wheel 46, traversing synchronous belt 47 and traversing the linear guide 48；Portal frame 41 includes being fixedly connected on one
Two supporting legs 411 and a crossbeam 412 are played, two gantry sliding blocks 42 and two gantry synchronous clampings 43 are separately fixed at two branch
The lower end of leg, two gantry sliding blocks 42 form prismatic pair with gantry the linear guide 32 respectively, and two gantry synchronous clampings 43 are distinguished
Two gantry synchronous belts 37 are clamped, then when gantry servo motor 35, which is powered, to be rotated, two gantry driving synchronizing wheels 33 synchronize rotation
Turn, two gantry synchronous belts 37 are run simultaneously, and drag two supporting legs of portal frame 41 respectively by two gantry synchronous clampings 43
411 translations, it is ensured that 41 both sides synchronizing moving of portal frame, without tilting；
The shell of traversing the linear guide 48 and traversing servo motor 44 is separately fixed at the lower surface of crossbeam 412, and traversing driving is same
Step wheel 45 is fixed on the output shaft of traversing servo motor 44, and traversing driven synchronizing wheel 46 is connect by revolute with crossbeam 412,
Traversing synchronous belt 47 surrounds between traversing driving synchronizing wheel 45 and traversing driven synchronizing wheel 46；Traversing sliding block 5 and traversing straight line
Guide rail 48 forms line slideway auxiliary, and traversing sliding block 5 is fixedly connected by traversing synchronous clamping 51 with traversing synchronous belt 47；
Cylinder 6 is losed heart in lifting and the long cylinder 7 of lifting is all twin shaft cylinder, and twin shaft cylinder is there are two piston and two piston rods, two
The end of piston rod is fixed together, and piston rod can only be translated along cylinder block, it is impossible to be rotated；Lift the piston for cylinder 6 of losing heart
Bar end is fixedly connected with traversing sliding block 5, and the cylinder body for lifting cylinder 6 of losing heart is fixedly connected with the cylinder body for lifting long cylinder 7, lifting length
The piston-rod end of cylinder 7 is fixedly connected with Pneumatic clamping jaw 8；It lifts and loses heart cylinder 6 and lift the piston of long cylinder 7 along the vertical direction
Translation；
Insert disk 9 includes disk body 91, is provided with multiple locating slots 92 on disk body 91, the insert 102 before multiple welding is located in
In locating slot 92；It is additionally provided with two location holes 93 on disk body 91, setting is there are two positioning pin 311 on axial translation frame 31, two
Location hole 93 coordinates respectively with two positioning pins 311, and the positioning of disk body 91 is made to be placed on axial translation frame 31.
The use process of the present embodiment is as described below.
1) roller 10 for not welding insert is placed on drive roll 12 and passive guide roller 13, makes the cylindrical surface edge 104 at both ends
It is pressed respectively against on drive roll external cylindrical surface 122 and passive guide roller external cylindrical surface 132, the end face edge 103 at both ends is close to actively respectively
Roller end block face 121 and passive guide roller terminal block face 131, as shown in Figure 3.
2) the insert disk 9 for filling insert 102 is placed on axial translation frame 31, and location hole 93 is made to match with positioning pin 311
It closes, as shown in Figure 3.
3) axially driving 22 energization driving axial of servo motor translation component 3 is moved at 10 insert 102 to be welded of roller, such as
Shown in Fig. 4.
4) gantry servo motor 35, which is powered to rotating, makes gantry component 4 be translated along gantry the linear guide 32, traversing servo motor
44, which are powered, which rotates, makes traversing sliding block 5 be moved along traversing the linear guide 48, and Pneumatic clamping jaw 8 is finally made to be located at insert 102 to be captured
Surface.
5) ensure that Pneumatic clamping jaw 8 is in extended state, extend lifting cylinder 6 of losing heart, then two pawls of Pneumatic clamping jaw 8 just position
In the both sides of insert 102 to be captured, then the ventilation crawl insert 102 of Pneumatic clamping jaw 8 shortens lifting cylinder 6 of losing heart, then insert
102 are picked up by Pneumatic clamping jaw 8 and leave locating slot 92.As shown in Figure 5.
6) gantry servo motor 35, which is powered to rotating, makes gantry component 4 be translated along gantry the linear guide 32, traversing servo motor
44, which are powered, which rotates, makes traversing sliding block 5 be moved along traversing the linear guide 48, and the insert being crawled 102 is finally made to be located on roller 10 and is treated
The surface of welding position, as shown in Figure 6.
7) stretch out the long cylinder 7 of lifting, then insert 102 has been placed on position to be welded on roller 10.
8) at this moment make welding robot spot welding connection insert 102 and roller 10.
9) stretch out Pneumatic clamping jaw 8, release the clamping to insert 102, shrink the long cylinder 7 of lifting, then Pneumatic clamping jaw 8 to
On leave insert 102.
10) gantry servo motor 35, which is powered to rotating, makes gantry component 4 be translated along gantry the linear guide 32, traversing servo motor
44, which are powered, which rotates, makes traversing sliding block 5 be moved along traversing the linear guide 48, and second insert to be captured of crawl is gone in the movement of Pneumatic clamping jaw 8
102。
11) axially driving 22 energization driving axial of servo motor translation component 3 moves to 10 second inserts to be welded of roller
At 102.
While first insert 102 of welding robot full weld 12).As shown in Figure 8.
13) step 3) is repeated to 12), completes the welding of a row insert, as shown in Figure 9 and Figure 10.
14) 17 energization output shaft rotation driving drive roll 12 of roller servo motor is moved to rotate, while further through drive sprocket 14-
Chain 16- drives 13 synchronous rotary in the same direction of passive guide roller by the combination of movable sprocket 15, then roller 10 is driven to revolve under frictional force effect
Go to next column position to be welded upward.Step 3) is repeated to 13), completes the welding of next column insert.
15) when the insert 102 in insert disk 9 is finished, empty insert disk 9 is removed, changes full insert disk 9, positioning is appropriate
When, it is possible to continue.
16) step 3) is ceaselessly repeated to 14), is welded until completing insert all on entire roller 10.
The advantageous effect of the present embodiment：The labour of repeatability is greatly reduced, it is only necessary to accurately be drawn in programming primary
Line is no longer needed for setting-out later.Using robot welding, then workers carry and welding are no longer needed, the accuracy of welding carries
Height, labor intensity reduce, and it is difficult to solve the problems, such as that electric welder advertises for workers, recruitment cost reduces.
Claims (1)
1. a kind of crusher roll insert automatic transportation equipment, which is characterized in that including two pieces move roll assembly, axially driving group
Part, gantry component, traversing sliding block, lifts cylinder of losing heart, the long cylinder of lifting, Pneumatic clamping jaw and insert disk at axial translation component；
Dynamic roll assembly include dynamic roller support, drive roll, passive guide roller, drive sprocket, by movable sprocket, chain and dynamic roller servo motor；
Drive roll is revolving body, and including drive roll terminal block face and drive roll external cylindrical surface, drive roll terminal block face is perpendicular to the axis of drive roll
Heart line；Passive guide roller is revolving body, and including passive guide roller terminal block face and passive guide roller external cylindrical surface, passive guide roller terminal block face is perpendicular to passive guide roller
Axial line；The axis parallel and level of drive roll and passive guide roller, drive roll terminal block face and passive guide roller terminal block are in face of neat and court
To same direction, drive roll and passive guide roller form revolute pair with dynamic roller support respectively, and drive sprocket is fixedly connected with drive roll,
It is fixedly connected by movable sprocket with passive guide roller, chain with drive sprocket and passive sprocket engagement, moves the shell of roller servo motor respectively
Flange is fixedly connected with dynamic roller support, and the output shaft of dynamic roller servo motor is fixedly connected with drive roll, moves the defeated of roller servo motor
Shaft driving drive roll rotation, while revolved further through drive sprocket-chain-by the combination driving passive guide roller of movable sprocket is synchronous in the same direction
Turn；
The drive roll terminal block face that two pieces moves roll assembly is positioned opposite, and roller is placed on simultaneously in two pairs of drive rolls-passive guide roller combination,
The cylindrical surface edge at both ends is pressed respectively against on drive roll external cylindrical surface and passive guide roller external cylindrical surface, and the end face edge at both ends is leaned on respectively
Tight drive roll terminal block face and passive guide roller terminal block face；
Axially driving component includes axially driving frame, axially driving servo motor, axial movement sliding block and axially driving gear, axis
It is fixedly connected respectively with axially driving frame with axial movement sliding block to the housing flange of driving servo motor, axially driving servo electricity
The output shaft of machine is fixedly connected with axially driving gear；
Axial translation component includes axial translation frame, gantry the linear guide, gantry driving synchronizing wheel, synchronizing wheel connecting shaft, gantry
Servo motor, the driven synchronizing wheel in gantry, gantry synchronous belt, axial translation the linear guide and axial translation rack；Axial translation is straight
Line guide rail and axial translation rack are separately fixed at the lower surface of axial translation frame, and axial translation the linear guide is slided with axial movement
Block forms line slideway auxiliary, and axially driving gear is engaged with axial translation rack, the output shaft rotation of axially driving servo motor,
Driving axial translation component is translated along the linear guide；Gantry the linear guide is fixedly connected with the upper surface of axial translation frame, gantry
The linear guide is parallel with axial translation the linear guide；First pair of gantry driving synchronizing wheel and the driven synchronizing wheel in gantry respectively with axial direction
Shiftable frame is connected by revolute pair, and it is driven synchronous with gantry that first gantry synchronous belt surrounds first pair of gantry driving synchronizing wheel
Between wheel, it is distributed in the first side of axial translation frame；Second pair of gantry driving synchronizing wheel and the driven synchronizing wheel in gantry respectively with axis
It is connected to shiftable frame by revolute pair, it is driven same with gantry that Article 2 gantry synchronous belt surrounds second pair of gantry driving synchronizing wheel
Between step wheel, it is distributed in the second side of axial translation frame；Synchronizing wheel connecting shaft is same with first and second gantry driving respectively
Step wheel is fixedly connected, and the shell of gantry servo motor is fixedly connected with axial translation frame, output shaft and the dragon of gantry servo motor
Door driving synchronizing wheel is fixedly connected；
Gantry component includes portal frame, gantry sliding block, gantry synchronous clamping, traversing servo motor, traversing driving synchronizing wheel, traversing
Driven synchronizing wheel, traversing synchronous belt and traversing the linear guide；Portal frame includes being fixed together two supporting legs and a horizontal stroke
Beam, two gantry sliding blocks and two gantry synchronous clampings are separately fixed at the lower end of two supporting legs, two gantry sliding blocks respectively and
Gantry the linear guide composition prismatic pair, two gantry synchronous clampings clamp two gantry synchronous belts respectively, and gantry servo motor leads to
Electricity rotation, two gantry drive synchronizing wheel synchronous rotary, and two gantry synchronous belt synchronous operations pass through two gantry synchronous clampings
Two supporting legs translation of dragging portal frame respectively；
The shell of traversing the linear guide and traversing servo motor is separately fixed at the lower surface of crossbeam, and traversing driving synchronizing wheel is fixed
On the output shaft of traversing servo motor, traversing driven synchronizing wheel is connect by revolute with crossbeam, and traversing synchronous belt surrounds
Between traversing driving synchronizing wheel and traversing driven synchronizing wheel；Traversing sliding block forms line slideway auxiliary with traversing the linear guide, traversing
Sliding block is fixedly connected by traversing synchronous clamping with traversing synchronous belt；
Cylinder is losed heart in lifting and the long cylinder of lifting is all twin shaft cylinder；It lifts the piston-rod end for cylinder of losing heart and traversing sliding block is fixed and connected
It connects, the cylinder body for lifting cylinder of losing heart is fixedly connected with the cylinder body for lifting long cylinder, lifts the piston-rod end and pneumatic clamps of long cylinder
Pawl is fixedly connected；The piston for lifting lose heart cylinder and the long cylinder of lifting translates along the vertical direction；
Insert disk includes disk body, and multiple locating slots are provided on disk body；Two location holes are additionally provided on disk body, on axial translation frame
Setting there are two positioning pin, two location holes respectively with two detent fits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009159.8A CN108147121A (en) | 2018-01-04 | 2018-01-04 | Crusher roll insert automatic transportation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009159.8A CN108147121A (en) | 2018-01-04 | 2018-01-04 | Crusher roll insert automatic transportation equipment |
Publications (1)
| Publication Number | Publication Date |
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| CN108147121A true CN108147121A (en) | 2018-06-12 |
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ID=62460917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810009159.8A Withdrawn CN108147121A (en) | 2018-01-04 | 2018-01-04 | Crusher roll insert automatic transportation equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108147121A (en) |
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| CN101559597A (en) * | 2009-05-12 | 2009-10-21 | 哈尔滨工程大学 | Multifunctional gantry type seven-shaft industrial robot |
| KR101430908B1 (en) * | 2014-01-21 | 2014-08-18 | 주식회사 맥스로텍 | The articulated robotic transfer system is equipped with a combination of a three-dimensional gantry structure |
| CN105500344A (en) * | 2016-01-19 | 2016-04-20 | 珠海格力电器股份有限公司 | Three-axis robot |
| CN205616228U (en) * | 2016-04-29 | 2016-10-05 | 广东科捷龙机器人有限公司 | Mold insert system of putting is got to full -automatic intelligence of injection molding machine based on remote control |
| CN206064522U (en) * | 2016-06-30 | 2017-04-05 | 山东鲁锐机械研发有限公司 | A kind of drum-type crusberscreen |
| CN107082276A (en) * | 2017-06-05 | 2017-08-22 | 北京李尔岱摩斯汽车系统有限公司 | A kind of automobile cushion automatic wire charging system |
| CN206679838U (en) * | 2017-03-01 | 2017-11-28 | 重庆嘉泰罗光电科技有限公司 | A kind of notebook glue frame feeding device |
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2018
- 2018-01-04 CN CN201810009159.8A patent/CN108147121A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101559597A (en) * | 2009-05-12 | 2009-10-21 | 哈尔滨工程大学 | Multifunctional gantry type seven-shaft industrial robot |
| KR101430908B1 (en) * | 2014-01-21 | 2014-08-18 | 주식회사 맥스로텍 | The articulated robotic transfer system is equipped with a combination of a three-dimensional gantry structure |
| CN105500344A (en) * | 2016-01-19 | 2016-04-20 | 珠海格力电器股份有限公司 | Three-axis robot |
| CN205616228U (en) * | 2016-04-29 | 2016-10-05 | 广东科捷龙机器人有限公司 | Mold insert system of putting is got to full -automatic intelligence of injection molding machine based on remote control |
| CN206064522U (en) * | 2016-06-30 | 2017-04-05 | 山东鲁锐机械研发有限公司 | A kind of drum-type crusberscreen |
| CN206679838U (en) * | 2017-03-01 | 2017-11-28 | 重庆嘉泰罗光电科技有限公司 | A kind of notebook glue frame feeding device |
| CN107082276A (en) * | 2017-06-05 | 2017-08-22 | 北京李尔岱摩斯汽车系统有限公司 | A kind of automobile cushion automatic wire charging system |
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Application publication date: 20180612 |
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