CN109571071A - A kind of multi-robot integrated system of cylinder crankshaft truss robot - Google Patents
A kind of multi-robot integrated system of cylinder crankshaft truss robot Download PDFInfo
- Publication number
- CN109571071A CN109571071A CN201811446747.4A CN201811446747A CN109571071A CN 109571071 A CN109571071 A CN 109571071A CN 201811446747 A CN201811446747 A CN 201811446747A CN 109571071 A CN109571071 A CN 109571071A
- Authority
- CN
- China
- Prior art keywords
- axis
- station
- robot
- column
- integrated system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/062—Work-clamping means adapted for holding workpieces having a special form or being made from a special material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/02—Features relating to transfer of work between machines
Abstract
The invention discloses a kind of multi-robot integrated systems of cylinder crankshaft truss robot, including column and right boring machining tool, crossbeam is welded on the upside of the column, X-axis is installed on the crossbeam, the X-axis is vertically installed with Y-axis, the Y-axis upper vertical is equipped with both arms Z axis, both arms Z axis lower end is equipped with hand-off disk, fixture is installed on the downside of the hand-off disk, the underside is provided with replacement fixture station, the side of the replacement fixture station is equipped with sampling observation station, the side of the sampling observation station is equipped with mark marking and discharge station, the side of the mark marking and discharge station is equipped with feeding station, the side of the feeding station is equipped with right boring machining tool, a kind of multi-robot integrated system of cylinder crankshaft truss robot of the present invention, it can carry out fast removal workpiece, main conveying automobile engine Gray iron, crankshaft, wheel hub etc., and can be used in a bad environment, such as noise is big, temperature is high, greasy dirt is relatively more, in the larger adverse circumstances of dust.
Description
Technical field
The present invention relates to motor cylinder block production technical field, the multi-robot of specifically a kind of cylinder crankshaft truss robot
Integrated system.
Background technique
Since 20th century, world car annual output first in terms of thousands of, tens of thousands of, after in terms of ten million, until 1978
Reach 42,490,000 or so.Auto industry has become the world's largest process industry.The eighties, in the world 20 maximum industry
Having 6 in enterprise is auto maker.1980, whole world car ownership was about 3.35 hundred million, and wherein car is 2.65
Hundred million, goods vehicle and car are 70,000,000.The production and use of automobile, the face being related to are very wide.The developmental research of automobile and
Structure is complicated for Operational preparation automobile, and most automobiles are bulk articles.If using item in complicated after automobile production
Earlier period damage is found under part or is not suitable with requirement, will result in the massive losses of user and manufactory.Therefore, the twenties with
Afterwards, gradually summing up experience forms design typification program and production preparation program before product puts into production.Truss manipulator
Be it is a kind of foundation on the basis of right angle X, Y, system of 3 axes, to workpiece carry out station adjustment, or realize workpiece track movement
Etc. functions full-automatic equipment.
There are problems that in existing motor cylinder block production technology: existing automobile engine cylinder-body production line automation
Under degree, it is not easy to carry out fast removal workpieces processing, and be not easy to than producing under relatively rugged environment.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-robot integrated systems of cylinder crankshaft truss robot, existing to solve
There is the problems in technology.
To achieve the above object, the invention provides the following technical scheme: a kind of multimachine tool of cylinder crankshaft truss robot
Hand integrated system, including column and right boring machining tool, the column upside are welded with crossbeam, are equipped with X-axis on the crossbeam,
The X-axis is vertically installed with Y-axis, and the Y-axis upper vertical is equipped with both arms Z axis, and both arms Z axis lower end is equipped with hand-off
Disk, the hand-off disk downside are equipped with fixture, and the underside is provided with replacement fixture station, the replacement fixture station
Side is equipped with sampling observation station, and the side of the sampling observation station is equipped with mark marking and discharge station, the mark marking and blanking
The side of station is equipped with feeding station, and the side of the feeding station is equipped with right boring machining tool, the column side installation
There is PLC control cabinet.
Further, it is fixedly welded with rack gear on the upside of the crossbeam, slider roller, the X is installed on the downside of the X-axis
Decelerating motor is installed in the middle part of axis, the shaft on the downside of the decelerating motor is through X-axis and is equipped with gear, and gear and rack gear phase
It is engaged.
Further, the column top is equipped with protective net by bolt close to the side of fixture, and protective net is arranged
Concavity.
Further, Y-axis linear guide is installed on the upside of the Y-axis, passes through tooth between Y-axis linear guide and both arms Z axis
Wheel is connected with rack-driving, and both arms Z axis side is equipped with servo motor.
Further, there are four the right boring machining tool is equidistantly installed, and right boring machining tool is being mounted on X-axis just
Lower section.
Further, the fixture includes the side wall connecting with hand-off disk, and the sidewall upper side is equipped with master unit,
Master unit both ends are equipped with clamping cylinder, and clamping cylinder one end is sequentially connected with clamping bar, and described clamping bar one end is equipped with
Clamp head, the side wall two sides are equipped with benchmark pin shaft.
Further, the upper end of the column side is equipped with maintenance platform, the maintenance platform side installation by bracket
There is drag chain.
Further, the column is arranged to L shape, and four turnings are equipped with pin on the downside of column.
Compared with prior art, the beneficial effects of the present invention are: the present invention can carry out fast removal workpiece, vapour is mainly transported
Car engine gray iron, crankshaft, wheel hub etc.；The high, repetitive positioning accuracy ± 0.05mm with repetitive positioning accuracy；Mobile speed
Degree is fast, and X/Z axis movement speed is usually in 100-150m/min；Range of bearing a heavy burden is wide, and bear a heavy burden range 0-100KG；Have a wide range of application, it can
To use in a bad environment, such as noise is big, temperature is high, greasy dirt is relatively more, in the larger adverse circumstances of dust.
Detailed description of the invention
Fig. 1 is overall structure main view of the invention；
Fig. 2 is overall structure top view of the invention；
Fig. 3 is pillar construction left view of the invention；
Fig. 4 is structure Fang great Tu at A of the invention；
Fig. 5 is clamp structure schematic diagram of the invention.
In figure: 1- column, 2- crossbeam, 3-X axis, 4-Y axis, 5- both arms Z axis, the hand-off disk of 6-, 7- fixture, 71- side wall, 72-
Master unit, 73- clamping bar, 74- clamp head, 75- benchmark pin shaft, 8- replacement fixture station, 9- sampling observation station, 10- mark marking
And discharge station, 11- feeding station, 12- right boring machining tool, 13- pin, 14- protective net, 15- maintenance platform, 16- drag chain,
17- servo motor, 18- rack gear, 19- slider roller, 20- gear, 21- decelerating motor.
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.
Please refer to Fig. 1-5, in the embodiment of the present invention, a kind of multi-robot integrated system of cylinder crankshaft truss robot,
Including column 1 and right boring machining tool, it is welded with crossbeam 2 on the upside of the column 1, X-axis 3, the X are installed on the crossbeam 2
Axis 3 is vertically installed with Y-axis 4, and 4 upper vertical of Y-axis is equipped with both arms Z axis 5, hand-off disk 6 and fixture 7 can be made to realize full side
The movement of position, consequently facilitating fast removal workpiece, 5 lower end of both arms Z axis is equipped with hand-off disk 6, pacifies on the downside of the hand-off disk 6
Equipped with fixture 7, it is convenient for clamping and dismantling workpiece progress loading and unloading, is provided with replacement fixture station 8 on the downside of the fixture 7,
It allows hand over different stations and carries out process operation, the side of the replacement fixture station 8 is equipped with sampling observation station 9, for inspecting by random samples
Whether the automobile engine cylinder-body of processing is qualified, and the side of the sampling observation station 9 is equipped with mark marking and discharge station 10, described
The side of mark marking and discharge station 10 is equipped with feeding station 11, is convenient for feeding, the side peace of the feeding station 11
Equipped with right boring machining tool 12,1 side of column is equipped with PLC control cabinet, and machine of the PLC control cabinet with multiple processes
It is electrically connected, for carrying out coordinated control entirety, automation control is easy to implement, more than 3 axis；Separate unit snatch weight >=
300kg；Movement speed >=75m/min；Guide rail linearity≤0.03mm/1000mm；Crossbeam straightness: ± 0.03mm/1000mm；
Drive gear backlass≤0.2mm；Kinematic axis repetitive positioning accuracy: ± 0.1mm.
Preferably, rack gear 18 is fixedly welded on the upside of the crossbeam 2, the downside of the X-axis 3 is equipped with slider roller 19,
Decelerating motor 21 is installed in the middle part of the X-axis 3, the shaft of 21 downside of decelerating motor through X-axis 3 and is equipped with gear 20,
And gear 20 and rack gear 18 are meshed setting, are easy to implement moving horizontally for X-axis 3.
Preferably, 1 top of column is equipped with protective net 14, and protective net 14 by bolt close to the side of fixture 7
Concavity is set, and the pore size of protective net 14 is 0.05-1mm, dust-proof processing is convenient for, so that larger equal severe in dust
It can work in environment.
Preferably, Y-axis linear guide is installed on the upside of the Y-axis 4, passes through tooth between Y-axis linear guide and both arms Z axis 5
Wheel is connected with rack-driving, and 5 side of both arms Z axis is equipped with servo motor 17, moves up convenient for both arms Z axis 5 in Y-axis linear guide
It is dynamic.
Preferably, there are four the right boring machining tool 12 is equidistantly installed, and right boring machining tool 12 is mounted on X-axis 3
Underface, can satisfy the process requirements of different processes.
Preferably, the fixture 7 includes the side wall 71 connecting with hand-off disk 6, and the 71 upper end side of side wall is equipped with master
Unit 72,72 both ends of master unit are equipped with clamping cylinder, and clamping cylinder one end is sequentially connected with clamping bar 73, the clamping bar
73 one end are equipped with clamp head 74, and 71 two sides of side wall are equipped with benchmark pin shaft 75, by clamping cylinder and clamping bar 73 into
Row clamping workpiece to be processed.
Preferably, the 1 upper end side of column is equipped with maintenance platform 15,15 side of the maintenance platform peace by bracket
Equipped with drag chain 16, it is convenient for maintenance operation.
Preferably, the column 1 is arranged to L shape, and 1 downside of column, four turnings are equipped with pin 13, and 1 stability of column is high
Be conducive to improve job stability.
Working principle: automobile engine cylinder-body to be processed is placed on feeding station 11, by controlling mobile X-axis 3
On Y-axis 4 and move down the fixture 7 of 5 lower end of both arms Z axis grip automobile engine cylinder-body, subsequent moving automobile hair
Motivation cylinder body is processed on right boring machining tool 12, then by replacement fixture station 8 can replace different
Station carries out repetition processing, carries out sampling observation finally by sampling observation station 9 and mark marking and discharge station 10 and blanking is completed to add
Work, this process have PLC control cabinet to carry out coordinated control entirety, to carry out fast removal workpiece, mainly transport car engine
Machine gray iron, crankshaft, wheel hub etc.；The high, repetitive positioning accuracy ± 0.05mm with repetitive positioning accuracy；Movement speed is fast, X/
Z axis movement speed is usually in 100-150m/min；Range of bearing a heavy burden is wide, and bear a heavy burden range 0-100KG；Have a wide range of application, can be used
In a bad environment, such as noise is big, temperature is high, greasy dirt is relatively more, in the larger adverse circumstances of dust.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (8)
1. a kind of multi-robot integrated system of cylinder crankshaft truss robot, including column (1) and right boring machining tool, special
Sign is: being welded with crossbeam (2) on the upside of the column (1), is equipped with X-axis (3) on the crossbeam (2), the X-axis (3) is vertical
It is equipped with Y-axis (4), Y-axis (4) upper vertical is equipped with both arms Z axis (5), and both arms Z axis (5) lower end is equipped with hand-off
Disk (6), hand-off disk (6) downside are equipped with fixture (7), and replacement fixture station (8), institute are provided on the downside of the fixture (7)
State replacement fixture station (8) side be equipped with sampling observation station (9), it is described sampling observation station (9) side be equipped with mark mark and under
Expect station (10), the side of the mark marking and discharge station (10) is equipped with feeding station (11), the feeding station (11)
Side be equipped with right boring machining tool (12), column (1) side is equipped with PLC control cabinet.
2. a kind of multi-robot integrated system of cylinder crankshaft truss robot according to claim 1, it is characterised in that:
It is fixedly welded with rack gear (18) on the upside of the crossbeam (2), slider roller (19), the X-axis is installed on the downside of the X-axis (3)
(3) middle part is equipped with decelerating motor (21), and the shaft on the downside of the decelerating motor (21) is through X-axis (3) and is equipped with gear
(20), and gear (20) and rack gear (18) are meshed setting.
3. a kind of multi-robot integrated system of cylinder crankshaft truss robot according to claim 1, it is characterised in that:
Column (1) top is equipped with protective net (14) close to the side of fixture (7) by bolt, and protective net (14) be arranged to it is recessed
Shape.
4. a kind of multi-robot integrated system of cylinder crankshaft truss robot according to claim 1, it is characterised in that:
Y-axis linear guide is installed on the upside of the Y-axis (4), passes through gear and rack-driving between Y-axis linear guide and both arms Z axis (5)
Connection, and both arms Z axis (5) side is equipped with servo motor (17).
5. a kind of multi-robot integrated system of cylinder crankshaft truss robot according to claim 1, it is characterised in that:
There are four the right boring machining tool (12) is equidistantly installed, and right boring machining tool (12) is mounted on the underface of X-axis (3).
6. a kind of multi-robot integrated system of cylinder crankshaft truss robot according to claim 1, it is characterised in that:
The fixture (7) includes the side wall (71) connecting with hand-off disk (6), and side wall (71) the upper end side is equipped with master unit
(72), master unit (72) both ends are equipped with clamping cylinder, and clamping cylinder one end is sequentially connected with clamping bar (73), the clamping
Bar (73) one end is equipped with clamp head (74), and side wall (71) two sides are equipped with benchmark pin shaft (75).
7. a kind of multi-robot integrated system of cylinder crankshaft truss robot according to claim 1, it is characterised in that:
Column (1) the upper end side is equipped with maintenance platform (15) by bracket, and maintenance platform (15) side is equipped with drag chain
(16)。
8. a kind of multi-robot integrated system of cylinder crankshaft truss robot according to claim 1, it is characterised in that:
The column (1) is arranged to L shape, and four turnings are equipped with pin (13) on the downside of column (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446747.4A CN109571071A (en) | 2018-11-29 | 2018-11-29 | A kind of multi-robot integrated system of cylinder crankshaft truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446747.4A CN109571071A (en) | 2018-11-29 | 2018-11-29 | A kind of multi-robot integrated system of cylinder crankshaft truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109571071A true CN109571071A (en) | 2019-04-05 |
Family
ID=65925498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811446747.4A Pending CN109571071A (en) | 2018-11-29 | 2018-11-29 | A kind of multi-robot integrated system of cylinder crankshaft truss robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109571071A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201381161Y (en) * | 2008-07-01 | 2010-01-13 | 宁波合力模具科技股份有限公司 | Core setting hoisting fixture used for automatic core setter for casting engine cylinder body |
| CN201736132U (en) * | 2010-05-21 | 2011-02-09 | 零八一电子集团四川天源机械有限公司 | Pick-and-place clamp for engine cylinder body |
| CN202952122U (en) * | 2012-11-08 | 2013-05-29 | 东风本田发动机有限公司 | Engine cylinder block and cylinder cover multi-variety flexible aerial robot automatic transportation production line |
| KR20140094107A (en) * | 2013-01-21 | 2014-07-30 | (주) 청원 | Turning equipment for engine block using wire rope |
| CN203843848U (en) * | 2014-05-09 | 2014-09-24 | 广州市番禺科腾工业有限公司 | Manipulator clamp for carrying automobile engine cylinder block |
| CN205685095U (en) * | 2016-06-13 | 2016-11-16 | 新昌县三特自动化科技有限公司 | A kind of double spindle Lathe automatic assembly line |
| CN106239058A (en) * | 2016-08-30 | 2016-12-21 | 安徽全柴动力股份有限公司 | Technique cylinder cap removes equipment and technique cylinder cap dismounting circulation line |
| CN205967439U (en) * | 2016-06-13 | 2017-02-22 | 新昌县三特自动化科技有限公司 | Three degree of freedom truss manipulators suitable for lathe |
-
2018
- 2018-11-29 CN CN201811446747.4A patent/CN109571071A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201381161Y (en) * | 2008-07-01 | 2010-01-13 | 宁波合力模具科技股份有限公司 | Core setting hoisting fixture used for automatic core setter for casting engine cylinder body |
| CN201736132U (en) * | 2010-05-21 | 2011-02-09 | 零八一电子集团四川天源机械有限公司 | Pick-and-place clamp for engine cylinder body |
| CN202952122U (en) * | 2012-11-08 | 2013-05-29 | 东风本田发动机有限公司 | Engine cylinder block and cylinder cover multi-variety flexible aerial robot automatic transportation production line |
| KR20140094107A (en) * | 2013-01-21 | 2014-07-30 | (주) 청원 | Turning equipment for engine block using wire rope |
| CN203843848U (en) * | 2014-05-09 | 2014-09-24 | 广州市番禺科腾工业有限公司 | Manipulator clamp for carrying automobile engine cylinder block |
| CN205685095U (en) * | 2016-06-13 | 2016-11-16 | 新昌县三特自动化科技有限公司 | A kind of double spindle Lathe automatic assembly line |
| CN205967439U (en) * | 2016-06-13 | 2017-02-22 | 新昌县三特自动化科技有限公司 | Three degree of freedom truss manipulators suitable for lathe |
| CN106239058A (en) * | 2016-08-30 | 2016-12-21 | 安徽全柴动力股份有限公司 | Technique cylinder cap removes equipment and technique cylinder cap dismounting circulation line |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20190405 |