CN108247612A - A kind of Intelligent Truss Structures robot - Google Patents
A kind of Intelligent Truss Structures robot Download PDFInfo
- Publication number
- CN108247612A CN108247612A CN201810147173.4A CN201810147173A CN108247612A CN 108247612 A CN108247612 A CN 108247612A CN 201810147173 A CN201810147173 A CN 201810147173A CN 108247612 A CN108247612 A CN 108247612A
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- Prior art keywords
- seat
- box set
- vertical
- plate
- gripping apparatus
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- 238000007906 compression Methods 0.000 claims description 6
- 210000005069 ears Anatomy 0.000 claims description 3
- 238000009432 framing Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 11
- 230000032258 transport Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 239000000725 suspension Substances 0.000 description 5
- 229910052751 metal Inorganic materials 0.000 description 4
- 210000002421 cell wall Anatomy 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 1
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- 230000002159 abnormal effect Effects 0.000 description 1
- 230000002421 anti-septic effect Effects 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 239000011651 chromium Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
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- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
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- 239000003973 paint Substances 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Intelligent Truss Structures robots, including day rail and support assembly, are transversely mounted frame, transmission device, hoisting mechanism, gripping apparatus；Support assembly includes the rectangular frame surrounded by longitudinal and cross beam and its sub-truss of downside, its rail is connected to longitudinal both sides of rectangular frame, the both ends for being transversely mounted frame are symmetrically connected with transmission device, the upper end of hoisting mechanism, which is connected to, to be transversely mounted on frame, gripping apparatus is connected to the lower end of hoisting mechanism, the transhipment fixture of gripping apparatus rigidity holding parts.Hoisting mechanism makes gripping apparatus move up and down, and transmission device makes to be transversely mounted frame along the longitudinal movement of day rail, is transversely mounted frame and is vertically moved together with the gripping apparatus and transhipment fixture of hoisting mechanism and its lower end, so as to fulfill the automatic transhipment of part.It is rigid connection between rigid mechanism, gripping apparatus and hoisting mechanism and transhipment fixture, and whether transhipment fixture is landed through pressure sensor automatic decision, realizes the automatic transhipment of part that hoisting mechanism, which is,.
Description
Technical field
The present invention relates to a kind of intelligent robots, and in particular to a kind of Intelligent Truss Structures robot.
Background technology
Metal parts will appear corrosion within the service life phase, so as to influence product quality, reduces the service life, influences zero
Part structural strength, so when part produces surface antirust treatment need to be carried out to it.
The antirust treatment of piece surface is generally using treatment measures, wherein PIP skills such as paint, nigrescence, chromium plating, PIP at present
Art is green pollution-free and a kind of excellent aseptic technic of antiseptic property, it uses kinds of processes method, by nonmetallic member
Element and minor metallic element penetrate into metal surface, form the MULTILAYER COMPOSITE being made of metal oxide and nonmetalloid and ooze
Layer, so as to make that anticorrosion antiwear layer is formed simultaneously inside and outside product entirety, is merged with metal surface completely.
When carrying out PIP techniques, a series of stove for high temperature and the gaseous volatilization that is corrosive being put by parts processed is needed
It is handled in slot, the transhipment of part at present is that staff is operated by traditional driving, since operating environment temperature is high and has
Corrosive gaseous volatilization, long-term place in this environment can generate human body certain harm.
When transporting part, part is placed on transhipment fixture, and the weight for transporting fixture is larger, especially for certain big
Type part, the weight for transporting fixture are even up to thousands of kilograms.Transhipment fixture is lifted using suspension hook by tradition driving at present,
Judge that transhipment fixture in place may there are errors in stove slot by human eye, that is to say, that transhipment fixture may really
Position, so when suspension hook is detached from transhipment fixture, transhipment fixture may generate impact to stove slot, and the safe handling of stove slot is made
Into influence.Also to ground, there may be impacts when part is transported after handling well.
When in addition transporting part, it is transported in next stove slot and must be completed in a short period of time from a stove slot, this
Require the speed of travel driven a vehicle quickly, the weight on the one hand transporting fixture is big, and the inertia in transport process is big, and suspension hook connects
The lower end of steel wire rope is connected to, suspension hook hooks transhipment fixture walking, and transhipment fixture in vehicle walking process of being expert at can generate larger shake
It shakes.And the gap very little between stove cell wall and transhipment fixture, so transhipment fixture is easy to strike stove cell wall pair when in place
It causes to damage, and influences the service life of stove slot.
Invention content
It is a primary object of the present invention to provide one kind handling execute-in-place without operating personnel, be avoided that part is transported
It rocks in the process, transhipment fixture can be avoided to generate the Intelligent Truss Structures robot of impact to stove slot or ground automatically.
This Intelligent Truss Structures robot provided by the invention including day rail and support assembly, is transversely mounted frame, transmission dress
It puts, hoisting mechanism, gripping apparatus；Support assembly includes the branch on the downside of the rectangular frame and rectangular frame that are surrounded by longitudinal and cross beam
Truss is supportted, day rail is connected to longitudinal both sides of rectangular frame, and the both ends for being transversely mounted frame are symmetrically connected with and achieve along day rail
The transmission device of longitudinal movement, the upper end of hoisting mechanism, which is connected to, to be transversely mounted on frame, and gripping apparatus is connected to hoisting mechanism
Lower end, the transhipment fixture of gripping apparatus rigidity holding parts.
The day rail includes the longitudinal rack and longitudinal rail that are connected to longeron medial and lateral；The frame that is transversely mounted includes
Two parallel arrangements are transversely mounted beam and the tie-beam between them, and the transmission device includes decelerating motor and its output gear
Wheel, decelerating motor, which is fixed on, to be transversely mounted on beam, and output gear engage respectively with longitudinal rack, is transversely mounted the both ends of beam along indulging
Direction guiding rail moves.
The hoisting mechanism include vertical mounting bracket, vertical guide, vertical take-up housing, vertical screw and servo motor, two
Root vertical guide is connected in parallel on vertical mounting bracket, and the both sides of vertical take-up housing are connect respectively with vertical guide, vertical screw
On vertical median plane between two vertical guides, servo motor is fixed on the upper end of vertical mounting bracket, and output shaft is with erecting
It is connected to the upper end of screw；Vertical mounting bracket is transversely mounted positioned at two between beam, and the upper end both sides are by mounting base respectively with two
It is transversely mounted beam connection.
The gripping apparatus includes gripping apparatus assembly and the safety device being attached to；Gripping apparatus assembly includes rectangle seat, grabs
Tool and power plant；Gripping apparatus includes two groups of gripper components for being symmetrically articulated with one offside of rectangle seat, and every group of gripper component includes two
A gripper, four grippers are arranged symmetrically in the four corners of rectangle seat；Power plant is telescopic device, and one end is articulated with
In rectangle seat, the other end is articulated on gripper component, and the folding of gripper component is realized by the stretching motion of power plant；Safety
Device includes upper adjusting seat, lower adjusting seat, pulling force sensor, plate pin and elastic spacing component；Upper adjusting seat includes top plate and company
The upper box set being connected on the downside of it, lower adjusting seat include bottom plate and the lower box set for being attached to side, and it is outer that lower box set is placed on box set
Wall；The lower part of lower box set is connected with the plate pin for traversing box set, is provided with vertically on the length direction median plane of plate pin
Rectangular opening；Pulling force sensor is located in upper box set, and upper end is connected on the top plate of box set, and lower end is connected with flap seat, flap seat
Lower end be connected with the horizontal pin shaft across rectangular opening on plate pin；Upper box set and lower box set can relatively move up and down, make horizontal pin
Axis can be moved up and down along the rectangular opening on plate pin, and vertically arranged elastic spacing component is connected between upper box set and lower box set；
The upper end of upper adjusting seat is connect with the bottom of vertical take-up housing, and the bottom plate of lower adjusting seat is fixed on the peace of rectangle seat middle position
In loading board.
The gripper component includes upper beam and is vertically connected at two vertical beams at its both ends, and the lower end of two vertical beams connects respectively
The gripper, the shape of gripper is L-type, has herringbone tie-beam between two vertical beams；One end antisymmetry of two upper beams stretches out in
Outside vertical beam；The rectangle seat is framing holder, and one is described to grab to being symmetrically welded with two groups of four gripping apparatus hinged seats on the outside of curb girder
It is articulated as one respectively by axis pin and each gripping apparatus hinged seat in the middle part of the vertical beam of claw assembly, vertical beam can be rotated around axis pin；It is described dynamic
Power apparatus has two sets, and antisymmetry is arranged in another offside of rectangle seat, one end of power plant and the section of stretching out of the upper beam
The hinged, other end and the curb girder of rectangle seat are hinged, and hinged ear mount is welded on the upside of the section of stretching out end of upper beam, rectangle seat
Side rail outer is welded with lower hinged ear mount；The pulling force sensor is square S-shaped pulling force sensor, and there is connection spiral shell at both ends respectively
Hole.
The upper box set and lower box set are rectangular sleeve, and the lower end of upper box set and the upper end of lower box set are openend；Institute
Pulling force sensor is stated to be located on the vertical median plane of two boxes set.
One end of the plate pin is vertically connected with end plate, and a pair of sidewalls lower part that lower box covers is provided with corresponding to plate pin size
Mounting hole, side-wall outer side corresponds to and connecting plate is both provided at mounting hole, sets corresponding mounting hole on connecting plate, the one of plate pin
End is inserted in the mounting hole in one side wall, and the other end is fastened by connecting plate and bolt；Upper box set side wall corresponds to the plate
Pin passes through place to be provided with the rectangular opening that size is more than plate pin size；A pair of sidewalls top of the lower box set is connected with guiding
Block, the outer end of guide pad are connected with installing plate, and the connecting plate of installing plate and lower box set side wall is fastened by bolts；Guide pad it is interior
The respective side walls across the upper box set are held, being provided with size on the side wall of upper box set is more than the vertical rectangle for being oriented to block size
Hole.
The elastic spacing component includes the pipe being fixed on the lower adjusting seat bottom plate and the pressure for being placed on circular tube external wall
Spring, the original length of compression spring are equal to the maximum distance between the upper adjusting seat top plate and lower adjusting seat bottom plate, the length of pipe
No more than the length of lower box set.
The flap seat includes fixed seat and sliding seat, and fixed seat and sliding seat are ears panel seat, and the top plate of fixed seat connects
It is connected to the lower end of the pulling force sensor, the lower part between two otic placodes is connected with articulated shaft, and the upper end of sliding seat passes through hinge hole
It is hung on the articulated shaft of fixed seat otic placode lower part, the horizontal pin shaft is connected between two otic placodes of sliding seat lower part.
The vertical take-up housing is L-type seat, the both sides of vertical backboard have the sliding block being connect respectively with the longitudinal rail,
Its horizonal base plate is connect with the top plate of the upper adjusting seat.
The present invention realizes the up and down motion of gripping apparatus by hoisting mechanism, and frame edge is transversely mounted by transmission device realization
The longitudinal movement of its rail is transversely mounted frame and is longitudinally moved together with the gripping apparatus and transhipment fixture of hoisting mechanism and its lower end
It is dynamic, so as to fulfill the transhipment of part.The movement for being transversely mounted frame and hoisting mechanism realizes that operating personnel are being controlled by control system
Room operation processed, between entering stove tank car, avoids harm of the prior art to operating personnel's body.Hoisting mechanism is firm
Property mechanism, connection between gripping apparatus and hoisting mechanism is rigid connection, and the connection of gripping apparatus and transhipment fixture is rigidity
Connection, and transport whether fixture is landed through pressure sensor automatic decision, so, it is avoided in the transport process of part existing
The swag phenomenon that technology occurs, so as to which transhipment fixture be avoided to generate the phenomenon that impacting to stove slot or ground.
Description of the drawings
Fig. 1 is the axis side structure schematic diagram of one embodiment of the invention.
Fig. 2 is the enlarged structure schematic diagram that Fig. 1 removes support assembly.
Fig. 3 is the left view schematic diagram figure of Fig. 2.
Fig. 4 is the elevational schematic view of Fig. 1.
Fig. 5 is the enlarged structure schematic diagram of gripping apparatus in Fig. 1.
Fig. 6 is the C-C schematic diagrames in Fig. 5.
Fig. 7 is the schematic top plan view of Fig. 5.
Fig. 8 is the axis side structure schematic diagram of gripping apparatus（Box set and lower box cover on safety device each two are concealed in figure
Block side plate）.
Fig. 9 is the enlarged structure schematic diagram of safety device in Fig. 5.
Figure 10 is the A-A schematic diagrames in Fig. 9.
Figure 11 is the B-B schematic diagrames in Fig. 9.
Figure 12 is the enlarged structure schematic diagram of upper adjusting seat in Fig. 9.
Figure 13 is the schematic side view of Figure 12.
Figure 14 is the enlarged structure schematic diagram of lower adjusting seat in Fig. 9.
Figure 15 is the schematic side view of Figure 14.
Specific embodiment
As shown in Figures 1 to 4, this Intelligent Truss Structures robot disclosed in the present embodiment, including rack 1, day rail 2, transverse direction
Mounting bracket 3, transmission device 4, hoisting mechanism 6, gripping apparatus 7.
Rack 1 includes the sub-truss 12 on the downside of the rectangular frame 11 and rectangular frame that are surrounded by longitudinal and cross beam.Its rail 2
Including being connected to the longitudinal rack 21 of longeron medial and lateral and longitudinal rail 22.
It is transversely mounted frame 3 and is transversely mounted beam 31 and the mounting rail 32 between them including two parallel arrangements, be transversely mounted
The both ends of beam 31 have and the 22 matched sliding block of side sliding slot of longitudinal rail.
Transmission device 4 have configuration it is identical, be arranged symmetrically two sets, often cover transmission device 4 respectively include decelerating motor 41 and
Its output gear 42, decelerating motor 41, which is fixed on, to be transversely mounted on beam 31, and output gear 42 engages respectively with longitudinal rack 21.
Hoisting mechanism 6 includes vertical mounting bracket 61, vertical guide 62, vertical take-up housing 63, vertical screw 64 and servo electricity
Machine 65, two vertical guides 62 are connected in parallel on vertical mounting bracket 61, the both sides of vertical take-up housing 63 respectively with vertical guide
62 connections, for vertical screw 64 on the vertical median plane between two vertical guides 62, servo motor 65 is fixed on vertical installation
The upper end of frame 61, output shaft are connect with the upper end of vertical screw 64.Vertical mounting bracket 61 between two are transversely mounted beam 31,
The upper end is transversely mounted beam 31 by mounting base 66 with two and connect respectively.
Gripping apparatus 7 is connected to the lower end of vertical take-up housing 63.
Gripping apparatus 7, which is can be seen that, with reference to Fig. 5 to Fig. 8 includes gripping apparatus assembly 71 and the safety device 72 being attached to.
Gripping apparatus assembly 71 includes rectangle seat 711, gripping apparatus 712 and power plant 713.Rectangle seat 711 is framing holder.Gripping apparatus
712 include symmetrically being articulated with two groups of gripper components 7121 of 711 1 offside of rectangle seat.Every group of gripper component 7121 is grabbed including two
Pawl, four grippers are arranged symmetrically in the four corners of rectangle seat 711.Power plant 713 is telescopic device.Gripper component
7121 include upper beam 71211 and are vertically connected at two vertical beams 71212 at its both ends, and the lower end of two vertical beams connects gripper respectively
71213, the shape of gripper is L-type, has herringbone tie-beam 71214 between two vertical beams.One end antisymmetry of upper beam 71211 is stretched
Outside for vertical beam 71212.Two groups of four gripping apparatus hinged seats 7111, gripper are symmetrically welded on the outside of a pair of of the curb girder of rectangle seat 711
The middle part of vertical beam 71212 of component 7121 is articulated as one respectively by axis pin and each gripping apparatus hinged seat 7111, and vertical beam 71212 can be around
Axis pin rotates.
Power plant 713 is arranged in another offside of rectangle seat 711 using a pair of of electric cylinders, two electric cylinders antisymmetry.Electric cylinders
The section of stretching out of one end and upper beam is hinged, the curb girder of the other end and rectangle seat is hinged.It is welded on the upside of the section of stretching out end of upper beam
There is upper hinged ear mount 7112, the side rail outer of rectangle seat is welded with lower hinged ear mount 7113.It is realized by the stretching motion of electric cylinders
The folding of two pairs of gripper components 7121.
Safety device 72, which is can be seen that, with reference to Fig. 9 to Figure 11 includes upper adjusting seat 721, lower adjusting seat 722, pull sensing
Device 723, plate pin 724, compression spring 725, pipe 726, fixed seat 727, sliding seat 728, guide pad 729, horizontal pin shaft 7210.
Upper adjusting seat 721 is can be seen that including top plate 7211 with reference to Fig. 9, Figure 10, Figure 12 and Figure 13 and is welded in its downside
Upper box set 7212.Top plate 7211 is rectangular slab, and upper box set 7212 is rectangular aperture set.Lower adjusting seat 722 includes bottom plate 7221
With the lower box set 7222 for welding side thereon.Bottom plate 7221 is rectangular slab, and lower box set 7222 is rectangular aperture set.
It can be seen that with reference to Fig. 5, Fig. 6 in the inner cavity of rectangle seat about symmetrical two companies of its length direction median plane
Beam 7114 is connect, the upside of two tie-beams 7114 is welded with rectangular slab 7115.The bottom plate 7221 of lower adjusting seat 722 is installed by bolt
In on rectangular slab 7115.
Lower box, which is can be seen that, with reference to Fig. 6, Figure 10, Figure 14 and Figure 15 covers 7222 outer walls for being placed on upper box set 7212.Lower box set
7222 lower part is connected with the plate pin 724 for traversing box set 7212, is provided on the length direction median plane of plate pin 724 along vertical
The rectangular opening 7241 in direction.
From fig. 10 it can be seen that 723 use side's S-shaped pulling force sensor of pulling force sensor of the present embodiment, both ends difference
There is connecting screw hole.Pulling force sensor 723 is located on the vertical median plane in upper box set 7212, and the upper end is bolted to
On the top plate 7211 of box set 7212, fixed seat 727, the lower end connection sliding seat 728 of fixed seat 727 is bolted in lower end.
Fixed seat 727 and sliding seat 728 are ears panel seat.The top plate of fixed seat 727 is connected to the lower end of pulling force sensor 723, and two
Lower part between otic placode is connected with articulated shaft.The upper end of sliding seat 728 is hung on the hinge of 727 otic placode lower part of fixed seat by hinge hole
In spindle, the lower part between two otic placode of sliding seat is connected with horizontal pin shaft 7210.Horizontal pin shaft 7210 passes through the square on plate pin 724
Shape hole 7241, the length of rectangular opening 7241 are more than the diameter of horizontal pin shaft 7210.
Pulling force sensor 723 is located on the vertical median plane in upper box set 7212, makes pulling force sensor stress equalization, both may be used
Unbalance loading is prevented, and structure space can be saved so that compact-sized, good appearance.
The upper end of pulling force sensor 723 is fixedly connected, and lower end flexible connection uses between fixed seat 727 and sliding seat 728
Hinged axis connection, is connect between sliding seat 728 and plate pin 724 by horizontal pin shaft 7210 vertically arranged with articulated shaft, such
Structure both can be with lateral stressed in elimination of level face, longitudinal stress that can also be in elimination of level face so that pulling force sensor
Only by the power of vertical direction, can be influenced to avoid by transverse load, so as to avoid pulling force sensor by signal interference.
The present embodiment sets the rectangular opening of size and 24 matched of plate pin in a pair of sidewalls of lower box set 7222, in lower box
Equal welded and installed plate, sets identical rectangular opening on a mounting board on the outside of the two side of set 722.One end vertical welding of plate pin 724
End plate is connect, the end-plate-free end of plate pin 724 is covered from lower box to be passed through in the rectangular opening in a pair of sidewalls, and the other end passes through end plate and lower box
The installing plate of set side wall is fastened by bolts.
Installing plate is respectively provided in a pair of sidewalls of lower box set 7222, so that the fixed-direction of plate pin 724 is more flexible.Upper box set
7212 two side respective panels pin 724 passes through place to be provided with the rectangular opening that size is more than 724 height dimension of plate pin, so that upper box
Set 7212 can move up and down.The lower guide member that plate pin 724 is moved up and down as upper box set 7212.
A pair of sidewalls top of lower box set 7222 symmetrically connects guide pad 729, and the outer end of guide pad 729 is connected with installation
Plate, the connecting plate that installing plate covers 7222 side walls with lower box are fastened by bolts.The inner end of guide pad 729 passes through upper box set 7212
Respective side walls, upper box cover the rectangular opening for size being set to be more than 729 size of guide pad on 7212 side wall, to the upper of upper box set 7212
The lower mobile top that provides is oriented to.Block 729 is preferably directed to be set perpendicular to the orientation of plate pin 724, makes box set 7212 in this way
It moves up and down more stable.
Upper box set 7212 is sleeved in lower box set 7222, makes upper and lower box set that can only move up and down, limit can be to avoid pull sensing
Device is influenced by transverse load.
Pair of horns of the present embodiment on 722 bottom plate of lower adjusting seat sets two pipes 726, is pressed on set on pipe 726
Spring 725 forms vertical elastic spacing component.During original state, the both ends of compression spring 725 are individually fixed in the bottom of lower adjusting seat 722
Between the top plate of plate and upper adjusting seat 721, the length of pipe 726 is less than the length of compression spring 725, and the length of pipe 726 is most
It is concordant with the upper end of lower box set 7222.Elastic spacing component causes box set 7212 to be in limes superiors position always in normal state
It puts, lower box set 7222 can have enough downlink spatials.
The upper adjusting seat of safety device has been connect with lower adjusting seat by pulling force sensor, flap seat, plate pin and horizontal pin shaft
Come, rectangular opening is provided on the length direction median plane of plate pin, the lower end of flap seat is connected with the level across rectangular opening on plate pin
Axis pin makes horizontal pin shaft that can be moved up and down in the rectangular opening on plate pin, and the rectangular opening of upper box set side wall, length is more than plate pin
Highly, it is sleeved in lower box set and slides up and down, and can also be in connection pulling force sensor and the spiral shell of upper adjusting seat so as to fulfill upper box
When bolt is surprisingly broken, it is ensured that upper box set will not be detached from lower box set, be played a very good protection.Upper box set and lower box
Vertically arranged elastic spacing component is connected between set so that upper box set, in upper limit, and has certain pre- with lower box set
Clamp force, such gripping apparatus will not run inertia force when no crawl weight and generate swing, and pulling force sensor will not
It is influenced by lateral force.
The upper end of upper adjusting seat 721 is connect with the bottom of vertical take-up housing 63, and the bottom plate of lower adjusting seat 722 is fixed on rectangle
On the installing plate of 711 middle positions of seat.
Gripping apparatus transports fixture by two pairs four rigid grippers come stable holding, and the upper end of gripping apparatus is also associated with
Rigid hoisting mechanisms.It avoids when the prior art transports fixture by steel wire rope and suspension hook handling and there is the defects of rocking, transhipment
When fixture is in place in stove slot, shock will not be generated to stove cell wall.
When the transhipment fixture that gripping apparatus clamping is loaded with part is promoted, the pulling force sensor tension of safety device, pulling force
The current signal that sensor exports is judged as promotion state to control system, when transport fixture land when, pulling force sensor not by
Power is exported without current signal, and control system is not received by the current signal of pulling force sensor at this time, is judged to transporting fixture
It is in place in stove slot or landed.Continue to decline if there is abnormal conditions gripping apparatus, at this time elastic spacing component
Spring compressed, upper box is sleeved on slide downward in lower box set, until sliding into lower limit in rectangular opening of the horizontal pin shaft in plate pin
Position during, sensor does not all stress, and control system can be prompted, if at this time operating personnel could not manual intervention promptly stop
Only, fixture also is continuing to decline, and pulling force sensor is pressurized at this time, and pulling force sensor sends out different current signals, control system
While alarm, the hoisting mechanism of gripping apparatus upper end can be lockked so that gripping apparatus stops declining, so as to protect well
Hoisting mechanism avoids it from being damaged.
The course of work of robot is as follows：When needing to transport part, the driving motor work of hoisting mechanism, vertical screw
Convert rotational motion be vertical take-up housing up and down motion, vertical take-up housing with gripping apparatus vertically screw up and down transport
Dynamic, after gripping apparatus is dropped at transhipment chucking position, two pairs of grippers for controlling gripping apparatus by its electric cylinders are opened, and then pass through electricity
The lifting frame of clamping transhipment fixture upper end is hooked in cylinder control gripper gathering, then the height of transhipment fixture is adjusted by hoisting mechanism
Degree finally controls left and right transmission operation, the output gear of transmission device is made to be moved along the longitudinal rack of frame upper end, because
Transmission device, which is installed on, to be transversely mounted on frame, is vertically moved so being transversely mounted frame with the hoisting mechanism connected thereon, simultaneously
Hoisting mechanism vertically moves together with the gripping apparatus and transhipment fixture of its lower end, by part be transported in stove slot processing or
The part handled well in stove slot is transported to the position specified.
The present embodiment is applied to the operating mode without changing transhipment fixture lateral position.It needs to change transhipment fixture when being used in
During the operating mode of lateral position, lateral the linear guide, lateral drive lead screw and horizontal drive motor are set on frame is transversely mounted, it will
The upper end of hoisting mechanism is connected on lateral drive lead screw.
Claims (10)
1. a kind of Intelligent Truss Structures robot, it is characterised in that：It include day rail and support assembly, be transversely mounted frame, transmission device,
Hoisting mechanism, gripping apparatus；Support assembly includes the support on the downside of the rectangular frame and rectangular frame that are surrounded by longitudinal and cross beam
Truss, day rail are connected to longitudinal both sides of rectangular frame, and the both ends for being transversely mounted frame are symmetrically connected with to achieve and are indulged along day rail
To mobile transmission device, the upper end of hoisting mechanism, which is connected to, to be transversely mounted on frame, and gripping apparatus is connected under hoisting mechanism
End, the transhipment fixture of gripping apparatus rigidity holding parts.
2. Intelligent Truss Structures robot as described in claim 1, it is characterised in that：The day rail is inside and outside including being connected to longeron
The longitudinal rack and longitudinal rail of side；The frame that is transversely mounted is transversely mounted beam and the company between them including two parallel arrangements
Beam is connect, the transmission device includes decelerating motor and its output gear, and decelerating motor, which is fixed on, to be transversely mounted on beam, output gear
It is engaged respectively with longitudinal rack, is transversely mounted the both ends guide rail movement along longitudinal direction of beam.
3. Intelligent Truss Structures robot as claimed in claim 2, it is characterised in that：The hoisting mechanism include vertical mounting bracket,
Vertical guide, vertical take-up housing, vertical screw and servo motor, two vertical guides are connected in parallel on vertical mounting bracket, are erected
It is connect respectively with vertical guide to the both sides of take-up housing, vertical screw is watched on the vertical median plane between two vertical guides
The upper end that motor is fixed on vertical mounting bracket is taken, output shaft is connect with the upper end of vertical screw；It is horizontal that vertical mounting bracket is located at two
Between mounting rail, the upper end both sides are transversely mounted beam with two respectively by mounting base and connect.
4. Intelligent Truss Structures robot as claimed in claim 3, it is characterised in that：The gripping apparatus includes gripping apparatus assembly and company
It is connected to safety device thereon；Gripping apparatus assembly includes rectangle seat, gripping apparatus and power plant；Gripping apparatus includes symmetrically being articulated with rectangle seat
Two groups of gripper components of one offside, every group of gripper component include two grippers, and four grippers are symmetrical in the four corners of rectangle seat
Arrangement；Power plant is telescopic device, and one end is articulated in rectangle seat, and the other end is articulated on gripper component, is passed through
The stretching motion of power plant realizes the folding of gripper component；Safety device includes upper adjusting seat, lower adjusting seat, pull sensing
Device, plate pin and elastic spacing component；Upper adjusting seat includes top plate and the upper box set being connected on the downside of it, and lower adjusting seat includes bottom plate
With the lower box set for being attached to side, lower box set is placed on box set outer wall；The lower part of lower box set is connected with the plate for traversing box set
It sells, rectangular opening vertically is provided on the length direction median plane of plate pin；Pulling force sensor is located in upper box set, upper end
It is connected on the top plate of box set, lower end is connected with flap seat, and the lower end of flap seat is connected with the horizontal pin across rectangular opening on plate pin
Axis；Upper box set and lower box set can relatively move up and down, make horizontal pin shaft that can be moved up and down along the rectangular opening on plate pin, upper box set and
Vertically arranged elastic spacing component is connected between lower box set；The upper end of upper adjusting seat is connect with the bottom of vertical take-up housing,
The bottom plate of lower adjusting seat is fixed on the installing plate of rectangle seat middle position.
5. Intelligent Truss Structures robot as claimed in claim 4, it is characterised in that：The gripper component is including upper beam and vertically
It is connected to two vertical beams at its both ends, the lower ends of two vertical beams connects the gripper respectively, and the shape of gripper is L-type, between two vertical beams
There is herringbone tie-beam；One end antisymmetry of two upper beams is stretched out in outside vertical beam；The rectangle seat is framing holder, and one is to curb girder
Outside be symmetrically welded with two groups of four gripping apparatus hinged seats, pass through axis pin and each gripping apparatus respectively in the middle part of the vertical beam of the gripper component
Hinged seat is articulated as one, and vertical beam can be rotated around axis pin；The power plant has two sets, and antisymmetry is arranged in the another of rectangle seat
Offside, the section of stretching out of one end of power plant and the upper beam is hinged, the curb girder of the other end and rectangle seat is hinged, upper beam
Hinged ear mount is welded on the upside of section of stretching out end, the side rail outer of rectangle seat is welded with lower hinged ear mount；The pull sensing
Device is square S-shaped pulling force sensor, and there is connecting screw hole at both ends respectively.
6. Intelligent Truss Structures robot as claimed in claim 4, it is characterised in that：The upper box set and lower box set are rectangle
Set, the lower end of upper box set and the upper end of lower box set are openend；The pulling force sensor is located at the vertical median plane of two boxes set
On.
7. Intelligent Truss Structures robot as claimed in claim 6, it is characterised in that：One end of the plate pin is vertically connected with end
Plate, a pair of sidewalls lower part of lower box set are provided with mounting hole corresponding with plate pin size, and side-wall outer side is corresponded to and is all provided at mounting hole
Connecting plate is equipped with, corresponding mounting hole is set on connecting plate, and one end of plate pin is inserted in the mounting hole in one side wall, another
End is fastened by connecting plate and bolt；Upper box set side wall corresponds to the plate pin and place is passed through to be provided with size be more than plate pin size
Rectangular opening；A pair of sidewalls top of the lower box set is connected with guide pad, and the outer end of guide pad is connected with installing plate, installing plate with
The connecting plate of lower box set side wall is fastened by bolts；The inner end of guide pad passes through the respective side walls of the upper box set, upper box set
Size is provided on side wall and is more than the vertical rectangular opening for being oriented to block size.
8. Intelligent Truss Structures robot as claimed in claim 4, it is characterised in that：The elastic spacing component includes being fixed on institute
It states the pipe on lower adjusting seat bottom plate and is placed on the compression spring of circular tube external wall, the original length of compression spring is equal to the upper adjusting seat top plate
Maximum distance between lower adjusting seat bottom plate, the length of pipe are not more than the length of lower box set.
9. Intelligent Truss Structures robot as claimed in claim 4, it is characterised in that：The flap seat includes fixed seat and sliding seat,
Fixed seat and sliding seat are ears panel seat, and the top plate of fixed seat is connected to the lower end of the pulling force sensor, between two otic placodes
Lower part be connected with articulated shaft, the upper end of sliding seat is hung on by hinge hole on the articulated shaft of fixed seat otic placode lower part, the water
Flat-sale axis connection is between two otic placodes of sliding seat lower part.
10. Intelligent Truss Structures robot as claimed in claim 4, it is characterised in that：The vertical take-up housing is L-type seat, is erected
There are the sliding block being connect respectively with the longitudinal rail, the top plate of its horizonal base plate and the upper adjusting seat to connect to the both sides of backboard
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147173.4A CN108247612A (en) | 2018-02-12 | 2018-02-12 | A kind of Intelligent Truss Structures robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147173.4A CN108247612A (en) | 2018-02-12 | 2018-02-12 | A kind of Intelligent Truss Structures robot |
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| Publication Number | Publication Date |
|---|---|
| CN108247612A true CN108247612A (en) | 2018-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810147173.4A Pending CN108247612A (en) | 2018-02-12 | 2018-02-12 | A kind of Intelligent Truss Structures robot |
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| Country | Link |
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| CN (1) | CN108247612A (en) |
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| CN110027979A (en) * | 2019-04-04 | 2019-07-19 | 航天工程装备（苏州）有限公司 | A kind of intelligent travelling crane and sling system |
| CN110329914A (en) * | 2019-06-19 | 2019-10-15 | 嘉兴悦珂贸易有限公司 | A kind of combined type Fast Installation photovoltaic plant corollary equipment |
| CN113415755A (en) * | 2021-08-25 | 2021-09-21 | 南通华众液压机械有限公司 | Front-end avoidance type cable clamp for shaft traction and avoidance method thereof |
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| CN113415755A (en) * | 2021-08-25 | 2021-09-21 | 南通华众液压机械有限公司 | Front-end avoidance type cable clamp for shaft traction and avoidance method thereof |
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