CN109108944A - A kind of double truss robots and its method for improving with service hoisting function - Google Patents
A kind of double truss robots and its method for improving with service hoisting function Download PDFInfo
- Publication number
- CN109108944A CN109108944A CN201811118753.7A CN201811118753A CN109108944A CN 109108944 A CN109108944 A CN 109108944A CN 201811118753 A CN201811118753 A CN 201811118753A CN 109108944 A CN109108944 A CN 109108944A
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- axis
- crossbeam
- cross beam
- column
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of double truss robots and its method for improving with service hoisting function, including first crossbeam, second cross beam, sliding equipment, supporting mechanism, the first power mechanism and the second power mechanism, the first crossbeam is located in same level and is parallel to each other with the second cross beam；It is equipped with X-axis guide rail on the upper surface of the first crossbeam and the second cross beam, the upper surface of the second cross beam is additionally provided with X-axis rack gear；The sliding equipment includes across the X-axis slide on the first crossbeam and second cross beam；Support plate is fixed on the X-axis slide, the side in the support plate is connected with Z axis column by guide rail slide block pair.This product has many advantages, such as that large carrying capacity, positioning accuracy are high, has important application prospect in the lower core field of the big core package of casting industry.
Description
Technical field
The present invention relates to the technical fields that robot installs and uses, more particularly to a kind of double with service hoisting function
Truss robot and its method for improving.
Background technique
Core setting is one of most important process in casting production process process, main to realize core packet from supplied materials region
It is moved to after crawl above mo(u)lding line, and puts the intracavitary predetermined position of type vertically downward.The verticality of lower core and position essence
Degree directly influences the quality of cast article.To guarantee to play the precision of core, under often being completed using gantry robot automatically
Core operation.Existing gantry robot be mostly classical single truss side fill wall-mounted structure type (see
CN201620287621.7).However for some medium-and-large-sized casting such as automobile engine cylinder-body, industrial machine human arm etc., by
The total weight maximum of Yu Qixin packet and fixture up to 700KG~800KG, unilateral wall-mounted truss structure using certain time limit it
The column that can cause vertical direction mobile because of the abrasion deformation of horizontal axis drive mechanism part afterwards generates inclining for certain angle
Tiltedly, it is difficult to guarantee the high verticality requirement of lower core, core operation application aspect has certain limitation under casting industry heavy duty.
Summary of the invention
The present invention is to solve technical problem present in above-mentioned background technique, is provided a kind of double with service hoisting function
Truss robot has the characteristics that large carrying capacity, positioning accuracy are high, and the lower core for being particularly suitable for the big core package of casting industry is made
Industry.
The invention adopts the following technical scheme: a kind of double truss robots with service hoisting function, including the first cross
Beam, second cross beam, sliding equipment, supporting mechanism, the first power mechanism and the second power mechanism, the first crossbeam and described the
Two crossbeams are located in same level and are parallel to each other；X is equipped on the upper surface of the first crossbeam and the second cross beam
Axis rail, the upper surface of the second cross beam are additionally provided with X-axis rack gear；
The sliding equipment includes across the X-axis slide on the first crossbeam and second cross beam；On the X-axis slide
It is fixed with support plate, the side in the support plate is connected with Z axis column by guide rail slide block pair.
Further, the side of Z axis column is equipped with cylinder；The one side of the Z axis column is equipped with two Z axis guide rails；The Z
Z axis rack gear is additionally provided on axis column, between two Z axis guide rails, the bottom end of the piston rod of the cylinder passes through the Z axis rack gear
Flexural pivot is connected to the trunnion on the Z axis column.
Further, the cylinder is connected on the support by shaft, and the support is fixed on the supporting plate.
Further, the other side that first power mechanism is mounted on support plate is used to control the movement of X-axis, and described the
One power mechanism includes the first speed reducer by being fixed on X-axis slide, is fixed with the first motor on the first speed reducer,
The input shaft of first speed reducer is connected with the output shaft of first motor.
Further, second power mechanism is used to control the movement of Z axis, and second power mechanism includes being fixed on
The second speed reducer in support plate is fixed with the second motor right above second speed reducer.
Further, the first crossbeam is fixed in the horizontal column by angled seat；The second cross beam passes through angled seat
It is fixed in the horizontal column.
Further, the supporting mechanism include simultaneously with first crossbeam and second cross beam more levels connected vertically
Column；The both ends of the horizontal column are respectively and fixedly provided with support post perpendicular to the ground.
Further, method for improving specifically includes: step 1: the gear of first motor operating, first reducing motors drives X
Movement of the axis slide in level；
Step 2: the operating of the second motor, the gear of second reducing motors rotate in Z axis guide rail, drive Z axis column or more
It is mobile, to control the left and right of double truss, move up and down；
Step 3: frock clamp carries out the crawl of core packet and puts operation.
Beneficial effects of the present invention: this product has many advantages, such as that large carrying capacity, positioning accuracy are high, in casting industry large size
The lower core field of core packet has important application prospect.
Detailed description of the invention
Fig. 1 is the structural scheme of mechanism of double truss robots of the invention.
Fig. 2 is the top view of double truss robots of the invention.
Fig. 3 is the left view of double truss robots of the invention.
Fig. 4 is the right view of double truss robots of the invention.
Fig. 5 is the structural schematic diagram in Fig. 2 at A.
Fig. 6 is the usage state diagram one of double truss robots of the invention.
Fig. 7 is the usage state diagram two of double truss robots of the invention.
Each mark of Fig. 1 to Fig. 7 are as follows: 1 first crossbeam, 2 second cross beams, 3X axis rail, 4X axis rack gear, 5X axis slide, 6
Fagging, 7Z axis column, 8 sliding blocks, 9 cylinders, 10Z axis rail, 11Z axis rack gear, 12 flexural pivots, 13 first motors, 14 first speed reducers,
15 second speed reducers, 16 second motors, 17 horizontal columns, 18 support posts, 19 angled seats, 20 supports, 21 frock clamps.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Embodiment 1
As shown in Fig. 1 to 5, a kind of double truss robots with service hoisting function, including first crossbeam 1, second are horizontal
Beam 2, sliding equipment, supporting mechanism, the first power mechanism and the second power mechanism, the first crossbeam 1 and the second cross beam 2
In same level and it is parallel to each other；X-axis is equipped on the first crossbeam 1 and the upper surface of the second cross beam 2 to lead
The upper surface of rail 3, the second cross beam 2 is additionally provided with X-axis rack gear 4；The sliding equipment includes across in 1 He of first crossbeam
X-axis slide 5 on second cross beam 2；The X-axis slide 5 can slide in the horizontal direction along guide rail 3.
Support plate 6 is fixed on the X-axis slide 5, the side in the support plate 6 is connected with Z by guide rail slide block pair
Axis column 7.The guide rail slide block pair includes sliding block 8 and Z axis guide rail 10.The sliding block 8 is fixed in support plate 6, and the Z axis is led
Rail 10 is fixed on Z axis column 7.Z axis rack gear 11 is additionally provided on the Z axis column 7, the Z axis rack gear 11 is located at two Z axis guide rails
Between 10.The side of the Z axis column 7 is equipped with cylinder 9, and the cylinder 9 is connected on support 20 by shaft, the support 20
It is fixed in support plate 6.The bottom end of the piston rod of the cylinder 9 is connected to the trunnion on the Z axis column 7 by flexural pivot 12.
The other side that first power mechanism is mounted on support plate 6 is used to control the movement of X-axis, first engine
Structure includes the first speed reducer 14 by being fixed on X-axis slide 5, is fixed with the first motor on first speed reducer 14
13, the input shaft of first speed reducer 14 is connected with the output shaft of first motor 13, the output of first speed reducer 14
Gear on axis is meshed with X-axis rack gear 4, forms rack-and-pinion.
Second power mechanism is used to control the movement of Z axis, and second power mechanism includes being fixed in support plate 6
The second speed reducer 15, the surface of second speed reducer 15 is fixed with the second motor 16.The output of second motor 16
The input axis connection of axis and second speed reducer 15, gear and Z axis rack gear 11 on the output shaft of second speed reducer 15
It is meshed, forms rack-and-pinion.
As shown in fig. 6, the supporting mechanism include simultaneously with 2 connected vertically two water of first crossbeam 1 and second cross beam
Flat column 17；The both ends of the horizontal column 17 are respectively and fixedly provided with support post 18 perpendicular to the ground.The first crossbeam 1 passes through angled seat
19 are fixed in the horizontal column 17；The second cross beam 2 is fixed in the horizontal column 17 by angled seat 19, and the Z axis is vertical
The mountable frock clamp 21 in the bottom end of column simultaneously does the movement on horizontal and vertical direction by sliding equipment, carries out the crawl of core packet
With put operation.
Embodiment 2
As shown in fig. 7, the supporting mechanism include simultaneously with 2 connected vertically three water of first crossbeam 1 and second cross beam
Flat column 17；The both ends of the horizontal column 17 are respectively and fixedly provided with support post 18 perpendicular to the ground.And first crossbeam 1 and second cross beam
Two groups of sliding equipments are provided between 2.The first crossbeam 1 is fixed in the horizontal column 17 by angled seat 19；Described second
Crossbeam 2 is fixed in the horizontal column 17 by angled seat 19.It is capable of the promotion of at least one real component simultaneously.The tooling folder
Tool is that existing machinery clamps the existing apparatus in field.
Method for improving specifically includes: step 1: the gear of first motor operating, first reducing motors drives X-axis slide to exist
Movement in level；
Step 2: the operating of the second motor, the gear of second reducing motors rotate in Z axis guide rail, drive Z axis column or more
It is mobile, to control the left and right of double truss, move up and down；
Step 3: frock clamp carries out the crawl of core packet and puts operation.
Claims (8)
1. a kind of double truss robots with service hoisting function, including first crossbeam, second cross beam, sliding equipment, support
Mechanism, the first power mechanism and the second power mechanism, which is characterized in that the first crossbeam is located at same with the second cross beam
On horizontal plane and it is parallel to each other；It is equipped with X-axis guide rail on the upper surface of the first crossbeam and the second cross beam, described second
The upper surface of crossbeam is additionally provided with X-axis rack gear；
The sliding equipment includes across the X-axis slide on the first crossbeam and second cross beam；It is fixed on the X-axis slide
There is support plate, the side in the support plate is connected with Z axis column by guide rail slide block pair.
2. a kind of double truss robots with service hoisting function according to claim 1, which is characterized in that Z axis is vertical
The side of column is equipped with cylinder；The one side of the Z axis column is equipped with two Z axis guide rails；It is additionally provided with Z axis rack gear on the Z axis column,
For the Z axis rack gear between two Z axis guide rails, the bottom end of the piston rod of the cylinder is connected to the Z axis column by flexural pivot
On trunnion.
3. a kind of double truss robots with service hoisting function according to claim 2, which is characterized in that the gas
Cylinder is connected on the support by shaft, and the support is fixed on the supporting plate.
4. a kind of double truss robots with service hoisting function according to claim 1, which is characterized in that described
The other side that one power mechanism is mounted on support plate is used to control the movement of X-axis, and first power mechanism includes passing through fixation
The first speed reducer on X-axis slide is fixed with the first motor, the input shaft of first speed reducer on the first speed reducer
It is connected with the output shaft of first motor.
5. a kind of double truss robots with service hoisting function according to claim 1, which is characterized in that described
Two power mechanisms are used to control the movement of Z axis, and second power mechanism includes fixed the second speed reducer on the supporting plate, institute
It states and is fixed with the second motor right above the second speed reducer.
6. a kind of double truss robots with service hoisting function according to claim 1, which is characterized in that described
One crossbeam is fixed in the horizontal column by angled seat；The second cross beam is fixed in the horizontal column by angled seat.
7. a kind of double truss robots with service hoisting function according to claim 1, which is characterized in that the branch
Support mechanism include simultaneously with first crossbeam and second cross beam more horizontal columns connected vertically；The both ends of the horizontal column are fixed
There is support post perpendicular to the ground.
8. a kind of method for improving of double truss robots with service hoisting function characterized by comprising
Step 1: first motor operating, the gear of first reducing motors drive movement of the X-axis slide in level；
Step 2: the operating of the second motor, the gear of second reducing motors rotate in Z axis guide rail, drive and move down on Z axis column
It is dynamic, to control the left and right of double truss, move up and down；
Step 3: frock clamp carries out the crawl of core packet and puts operation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820446319 | 2018-03-30 | ||
| CN2018204463190 | 2018-03-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109108944A true CN109108944A (en) | 2019-01-01 |
Family
ID=64856887
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821556191.XU Expired - Fee Related CN209125811U (en) | 2018-03-30 | 2018-09-25 | A kind of double truss robots with service hoisting function |
| CN201811118753.7A Withdrawn CN109108944A (en) | 2018-03-30 | 2018-09-25 | A kind of double truss robots and its method for improving with service hoisting function |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821556191.XU Expired - Fee Related CN209125811U (en) | 2018-03-30 | 2018-09-25 | A kind of double truss robots with service hoisting function |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN209125811U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591657A (en) * | 2020-06-18 | 2020-08-28 | 江苏环信机械工程有限公司 | Finishing line flaw detection sample rod storing and taking robot system |
| CN113250471A (en) * | 2021-05-24 | 2021-08-13 | 济南一建集团有限公司 | Double-beam heavy-load type multifunctional intelligent building construction platform and working method |
| CN115245892A (en) * | 2021-04-26 | 2022-10-28 | 上海宝信软件股份有限公司 | Truss-like steel pipe coupling painting device |
| CN116117778A (en) * | 2023-04-19 | 2023-05-16 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
-
2018
- 2018-09-25 CN CN201821556191.XU patent/CN209125811U/en not_active Expired - Fee Related
- 2018-09-25 CN CN201811118753.7A patent/CN109108944A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591657A (en) * | 2020-06-18 | 2020-08-28 | 江苏环信机械工程有限公司 | Finishing line flaw detection sample rod storing and taking robot system |
| CN115245892A (en) * | 2021-04-26 | 2022-10-28 | 上海宝信软件股份有限公司 | Truss-like steel pipe coupling painting device |
| CN115245892B (en) * | 2021-04-26 | 2024-04-09 | 上海宝信软件股份有限公司 | Truss type steel pipe coupling painting device |
| CN113250471A (en) * | 2021-05-24 | 2021-08-13 | 济南一建集团有限公司 | Double-beam heavy-load type multifunctional intelligent building construction platform and working method |
| CN116117778A (en) * | 2023-04-19 | 2023-05-16 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
| CN116117778B (en) * | 2023-04-19 | 2023-06-23 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN209125811U (en) | 2019-07-19 |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190101 |