CN112045666A - Double-transverse-moving truss manipulator for drum brake pad hot press molding production line - Google Patents
Double-transverse-moving truss manipulator for drum brake pad hot press molding production line Download PDFInfo
- Publication number
- CN112045666A CN112045666A CN202010855821.9A CN202010855821A CN112045666A CN 112045666 A CN112045666 A CN 112045666A CN 202010855821 A CN202010855821 A CN 202010855821A CN 112045666 A CN112045666 A CN 112045666A
- Authority
- CN
- China
- Prior art keywords
- axis
- movable beam
- assembly
- drum brake
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C33/00—Moulds or cores; Details thereof or accessories therefor
- B29C33/56—Coatings, e.g. enameled or galvanised; Releasing, lubricating or separating agents
- B29C33/58—Applying the releasing agents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
- B29C43/34—Feeding the material to the mould or the compression means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
- B29C43/50—Removing moulded articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
- B29C43/50—Removing moulded articles
- B29C2043/5061—Removing moulded articles using means movable from outside the mould between mould parts
Abstract
The invention discloses a double-transverse-moving truss manipulator for a drum brake pad hot-press molding production line, which comprises: two sets of Y1 axle fixed beam components; an X-axis movable beam assembly supported by the Y1 axis fixed beam assembly and capable of axially moving along the Y1 axis fixed beam assembly; the Z-axis base assembly, the Z-axis mechanical arm assembly and the Y2-axis movable beam assembly can move axially along the X-axis movable beam assembly; the Z-axis mechanical arm assembly penetrates through the Z-axis base assembly and can move in the Z-axis base assembly, and meanwhile, the Z-axis base assembly drives the movable beam assembly to move axially along the X-axis; the Y2 axle movable beam component is arranged at the lower end of the Z axle mechanical arm component; the Y2 axis beam assembly is movable relative to the Z axis robot arm assembly. The truss manipulator is responsible for feeding, spraying release agent, scraping filler, taking out finished products, filling partition plates and other operations of each hot press in the production process of the drum brake pad, so that the movement speed is improved, the operation time is reduced, the movement space can be shortened, and the interference is avoided.
Description
Technical Field
The invention relates to a double-transverse-moving truss manipulator for a drum brake pad hot press molding production line, and belongs to the technical field of machinery.
Background
At present, manual operation or automatic feeding procedures are adopted in the drum brake hot-press forming process, single-machine production is adopted, an automatic production line is not formed, the production efficiency is low, the labor cost is high, and workers work in a high-temperature and high-dust environment and are not beneficial to body health. On the other hand, the manual filling of the partition plates is adopted, and gaps between the partition plates and the periphery of the mold cavity are large, so that the drum brake pad is low in forming precision, and the subsequent processing amount is increased. The manipulator replaces partial manual operation, and automatic feeding, partition filling and other operations are achieved. However, due to the technological requirements of drum brake hot press molding, the cantilever of the manipulator needs to extend into the hot press, the length of the cantilever is at least 850mm, if the cantilever shaft is made into one, the length of the cantilever shaft is too long, the rotating radius is large, collision interference is easy to occur, the moving speed is slow, the rigidity is poor, and the cantilever shaft is unstable.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a double-transverse-moving truss manipulator for a drum brake pad hot-press forming production line, which can meet the motion requirements of the manipulator under various functional requirements in the drum brake pad production process.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a double-transverse-moving truss manipulator for a drum brake pad hot-press molding production line,
the method comprises the following steps:
two sets of Y1 axle fixed beam components;
an X-axis movable beam assembly supported by the Y1 axis fixed beam assembly and capable of axially moving along the Y1 axis fixed beam assembly;
the Z-axis base assembly, the Z-axis mechanical arm assembly and the Y2-axis movable beam assembly can move axially along the X-axis movable beam assembly;
wherein the content of the first and second substances,
the Z-axis mechanical arm assembly penetrates through the Z-axis base assembly and can move in the Z-axis base assembly, and meanwhile, the Z-axis base assembly drives the X-axis movable beam assembly to move axially;
the Y2 axle movable beam component is arranged at the lower end of the Z axle mechanical arm component; the Y2 axis beam assembly is movable relative to the Z axis robot arm assembly.
Further, the movement of the X-axis movable beam assembly relative to the Y1 axis fixed beam assembly, the movement of the Z-axis base assembly relative to the X-axis movable beam assembly and the movement of the Z-axis mechanical arm assembly relative to the Y2 axis movable beam assembly are realized by adopting a gear driven by a motor arranged on the gear and a rack arranged on a relative moving object to be meshed with each other for transmission.
Furthermore, the Z-axis base assembly comprises a gear driven by a motor, the Z-axis mechanical arm assembly comprises a rack meshed with the gear for movement, and the Z-axis mechanical arm assembly moves in the Z-axis base assembly through meshing transmission of the rack and the gear.
Furthermore, the Z-axis mechanical arm assembly comprises a gear driven by a motor fixed on the Y2 shaft connecting plate, the Y2 shaft movable beam assembly comprises a rack arranged along the Y2 shaft movable beam, and the Y2 shaft movable beam assembly moves relative to the Z-axis mechanical arm assembly through the meshing transmission of the rack and the gear.
Further, a W-axis sliding plate capable of moving along the lower guide rail is arranged on the lower guide rail in the Y2-axis movable beam assembly,
a synchronous belt transmission system is arranged in the inner cavity of the Y2 shaft movable beam and comprises two synchronous belt wheels and a synchronous cog belt, wherein the two synchronous belt wheels are respectively arranged at two ends of the inner cavity of the Y2 shaft movable beam, and the synchronous cog belt is connected with the two synchronous belt wheels;
two sides of the Y2 shaft movable beam are provided with axial notches, one end of the fixed clamp is fixedly connected with the Y2 shaft connecting plate, and the other end of the fixed clamp penetrates through the notches to be fixedly connected with one side of a synchronous toothed belt in the inner cavity of the Y2 shaft movable beam; one end of the movable fixing clamp is fixedly connected with the W-axis sliding plate, and the other end of the movable fixing clamp penetrates through the notch to be fixedly connected with the other side of the synchronous toothed belt in the inner cavity of the Y2-axis movable beam.
Furthermore, a turntable driven by a rotary cylinder to rotate is arranged on the W-axis sliding plate.
Furthermore, in two synchronous pulleys at two ends of the inner cavity of the Y2 axle movable beam, the wheel axle of one synchronous pulley is fixedly connected with the Y2 axle movable beam, and the wheel axle of the other synchronous pulley is connected with the Y2 axle movable beam in a position adjustable mode through a tensioning block.
Furthermore, the tensioning block is fixed on the Y2 axle moving beam, and two end faces of the tensioning block are provided with long holes which can correspondingly accommodate two ends of another synchronous pulley axle to be adjusted in the long holes;
the side face of the end face of the tensioning block is provided with a through hole, and a tensioning screw penetrates through the through hole to be connected with the other synchronous pulley wheel shaft thread pair.
Furthermore, the X-axis movable beam assembly comprises an X-axis movable beam, and a hollow cutting groove capable of accommodating the Z-axis mechanical arm assembly is formed in the X-axis movable beam along the length direction.
The invention achieves the following beneficial effects:
the invention provides a double-transverse-moving truss manipulator for a drum brake pad hot-press forming production line, which can meet the motion requirements of the manipulator under various functional requirements in the drum brake pad production process. The multiple hot presses are provided with 1 truss manipulator, and the truss manipulator is responsible for feeding, spraying release agent, scraping filler, taking out finished products, filling partition plates and other operations of the hot presses in the production process of the drum brake pad, so that the movement speed is improved, the operation time is reduced, the movement space can be shortened, and the interference is avoided.
Drawings
Figure 1 is an isometric view of a truss robot;
FIG. 2 is an enlarged view of FIG. 1 at I of the truss robot;
FIG. 3 is an enlarged cutaway view at II of the truss robot of FIG. 1;
FIG. 4 is a three-dimensional model of the X-axis walking beam;
FIG. 5 is an enlarged cutaway view at III of the truss robot of FIG. 1;
in the figure:
51-a column; a 52-Y1 axle beam assembly; a 53-X axis walking beam assembly; 54-Z axis base assembly; a 55-Z axis robot arm assembly; 56-Y2 axle walking beam assembly;
5201-supporting beam; 5202-Y1 axle fixed beam; 5203-Y1 axle rack; 5204-Y1 axle guide.
5301-an X-axis walking beam; 53011-grooving; 5302-an X-axis guide; 5303-X axis rack; 5304-Y1 shaft motor; 5305-a connecting plate; 5306-a motor fixing plate; 5307-Y1 shaft slide; 5308-Y1 shaft gear;
5401-X axis slide; 5402-motor fixing plate; 5403-X axis motor; 5404-X axis gear; 5405-Z axis motor; 5406-Z axis gear; 5407-Z axis base;
5501-Z axis mechanical arm; 5502-Z axis guide rails; 5503-Z axis rack; 5504-Y2 shaft motor; 5505-Y2 axle connecting plate; 5506-Y2 shaft gear;
5601-Y2 axle walking beam; 56011-incision; 5602-fixing a fixing clip; 5603-Y2 axle rack; 5604-Y2 axle guide; 5605-synchronous toothed belt; 5606 moving fixation clamp; 5607-tensioning block; 5608-fixed block; 5609-synchronous belt drive system; 5610-tensioning screws; 5611-W axle guide; 5612-W axis slide plate; 5613-a rotary cylinder; 56131-carousel.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present embodiment, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature.
The truss manipulator in this embodiment has X, Y, Z axis linear motion in three directions, and also has rotational motion about the Z axis, i.e., the W axis.
In the production process of the drum brake pad, the X axis is responsible for operating different hot presses, the Y axis is responsible for feeding the hot presses, filling the partition plates, pushing finished products to a conveying line and the like, so that the stroke of the Y axis is longer and about 2000mm, the length of the cantilever is at least 850mm when the cantilever extends into the hot presses, if the Y axis is made into one Y axis, the length of the Y axis is too long, the radius of rotation around the Z axis is large, collision interference is easy to occur, and the movement speed is slow, so that the invention designs two Y1 and Y2 axes which are connected in series to realize double transverse movement, the movement speed can be improved, the operation time can be reduced, the movement space can be shortened, and the interference can be avoided. The truss manipulator is thus a five-axis manipulator.
In the production process of the drum brake pad, the truss manipulator has the functions of clamping a hopper, filling a partition plate, taking out a finished product, spraying a release agent and scraping the filler. If a plurality of manipulators are designed to complete the functions, the manipulators are easy to interfere with each other, the manufacturing cost is high, and the application and the popularization are difficult; if a robot is used to perform these functions, the end tool of which is designed as a rotatable gripper like the usual method, the size and weight of the end tool will be large, which will result in an increased requirement for the strength and rigidity of the entire truss structure, in particular the cantilever beam, and a reduced speed of movement. The invention designs a separable feeding device, the size, the clamping mode and the structure of the feeding device in the width direction are consistent with those of a mold partition plate, so that a pair of mechanical arm tail end clamps can be designed to realize the operations of clamping a hopper, filling the partition plate and taking out a finished product, and meanwhile, a mechanism for scraping filler is integrated on the feeding device.
As shown in fig. 1 and 2, the truss robot mainly comprises a vertical column 51, a Y1 axis fixed beam assembly 52, an X axis movable beam assembly 53, a Z axis base assembly 54, a Z axis mechanical arm assembly 55, and a Y2 axis movable beam assembly 56. Two ends of the supporting beam 5201 are respectively and fixedly connected with the upper end of a vertical post 51 vertically fixed on the ground, a Y1 axle fixed beam 5202 is fixedly arranged above the supporting beam 5201, and two groups of Y1 axle guide rails 5204 and a group of Y1 axle racks 5203 are fixed in the Y1 axle fixed beam 5202 in parallel.
The X-axis walking beam assembly 53 comprises an X-axis walking beam 5301, a connecting plate 5305, a Y1 shaft slide 5307 and the like, wherein the X-axis walking beam 5301 is fixedly connected with the Y1 shaft slide 5307 through the connecting plate 5305, the bottom surface of the Y1 shaft slide 5307 is slidably connected with the sliders of the two sets of Y1 shaft guide rails 5204, the Y1 shaft motor 5304 is fixed on the Y1 shaft slide 5307 through a motor fixing plate 5306, a Y1 shaft gear 5308 arranged on the Y1 shaft motor 5304 is meshed with a Y1 shaft rack 5203 in the Y1 shaft fixed beam assembly 52, and the Y1 shaft motor 5304 drives the X-axis walking beam assembly to move left and right to form a Y1 shaft. Two sets of X-axis guide 5302 and one set of X-axis rack 5303 are fixed in parallel inside the X-axis walking beam 5301.
Referring to fig. 3, 4 and 5, the Z-axis base assembly 54 includes an X-axis slide base 5401, a Z-axis base 5407, and the like, a bottom surface of the X-axis slide base 5401 is slidably connected to a slide block of the X-axis guide 5302, an X-axis motor 5403 is fixed to the X-axis slide base 5401 through a motor fixing plate 5402, and an X-axis gear 5404 mounted on the X-axis motor 5403 is in meshing transmission with the X-axis rack 5303 to drive the Z-axis base assembly 54 to move back and forth, thereby forming an X-axis.
The Z-axis base 5407 is provided with a plurality of plates which are fixedly connected to form a cavity with an upper opening and a lower opening, a bottom plate of the Z-axis base 5407 is fixedly connected with an X-axis sliding seat 5401, a Z-axis motor 5405 is fixedly installed on a front side plate of the Z-axis base 5407, a Z-axis mechanical arm assembly 55 is vertically arranged in the cavity of the Z-axis base 5407, Z-axis guide rails 5502 are fixedly arranged on the left side surface and the right side surface of the Z-axis mechanical arm 5501 in parallel along the arm length direction, a sliding block of the Z-axis guide rails 5502 is fixed on an inner side plate of the Z-axis base 5407, the Z-axis mechanical arm 5501 can vertically slide relative to the Z-axis base 5407, a Z-axis rack 5503 is fixedly arranged on the front side surface of the Z-axis mechanical arm 5501 along the arm length direction and is in. A notch 53011 is formed in the bottom surface of the X-axis movable beam 5301 along the longitudinal direction of the movable beam, and as shown in fig. 4, the Z-axis robot arm assembly 55 can move in the notch 53011 along the longitudinal direction of the movable beam without interference (a Z-axis robot arm is installed in the middle of the X-axis movable beam, and the purpose is that the Z-axis robot arm is located in the middle of the X-axis movable beam 5301, and is symmetrical in left and right structures, so that the stability of the Z-axis robot arm is improved).
The Y2 axle walking beam component 56 comprises a Y2 axle walking beam 5601, a W axle sliding plate 5612, a rotating cylinder 5613, a synchronous belt transmission system 5609 and the like, wherein two groups of Y2 axle guide rails 5604 and one group of Y2 axle rack 5603 are fixed on the upper surface of the Y2 axle walking beam 5601 in parallel, a slider of the Y2 axle guide rail 5604 is fixedly connected with a Y2 axle connecting plate 5505 fixedly arranged on the lower end surface of the Z axle mechanical arm 5501, a Y2 axle motor 5504 is fixedly connected to the Y2 axle connecting plate 5505, a Y2 axle gear 5506 arranged on the output end of the Y2 axle motor 5504 is in meshing transmission with the Y2 axle rack 5603 to drive the Y2 axle walking beam component 56 to move in the left and right directions to form an axle Y2.
Two groups of W-axis guide rails 5611 are also fixed on the lower surface of the Y2 axial dynamic beam 5601 in parallel, sliders of the guide rails are fixedly connected with a W-axis sliding plate 5612, a synchronous belt transmission system 5609 is installed in the height direction in the inner cavity of the Y2 axial dynamic beam 5601, a synchronous belt wheel shaft at one end is fixedly connected with the Y2 axial dynamic beam 5601 through a fixed block 5608, the other end is fixedly connected with the Y2 axial dynamic beam 5601 through a tensioning block 5607, a tensioning screw 5610 penetrates through a through hole in the end face of the tensioning block 5607 to be connected with a thread pair of the synchronous belt wheel shaft, and the tensioning screw 5610 can tension the synchronous cog belt 5605.
The front side and the rear side of the Y2 axial-dynamic beam 5601 are both provided with a notch 56011, one end of a fixing clamp 5602 is fixedly connected with the Y2 axial connecting plate 5505, and the other end of the fixing clamp 5602 is fixedly connected with one side of the synchronous toothed belt 5605 through the notch 56011; one end of the movable clamp 5606 is fixedly connected to the W-axis sliding plate 5612, the other end thereof passes through the slit 56011 and is fixedly connected to the other side of the timing belt 5605, when the Y2 axis moving beam 5601 moves rightward with respect to the Z axis robot arm 5501, it is possible to drive the timing belt 5605 to rotate, since the timing belt 5605 does not move at the fixed clamp 5602, the opposite timing belt 5605 and the mobile binding 5606 fixedly coupled thereto will also move rightward at twice the speed, the mobile clamp 5606 thus drives the W-axis slide plate 5612 to slide to the right at twice the speed with respect to the Y2 axis motion beam 5601, similar to a mobile pulley drive, when the Y2 axis walking beam 5601 moves from the left to the right of the Z axis robot 5501, the W axis slide plate 5612 also moves to the right of the Y2 axis walking beam 5601 and vice versa, and the middle positions of the W axis slide plate 5612 and the Y2 axis walking beam 5601 at the initial position are both located at the center of the lower end plate of the Z axis robot 5501. The movement of the W-axis slide plate 5612 constitutes the-Y2 axis moving in the opposite direction to the Y2 axis motion beam 5601, which is a non-independent axis controlled by the Y2 axis.
The W-axis sliding plate 5612 is fixedly connected to a cylinder body of a rotary cylinder 5613, and the rotary cylinder 5613 can drive the end clamp 6 fixedly installed on the turntable 56131 to rotate 180 degrees, so that the W-axis is formed.
The truss manipulator is a six-axis five-linkage manipulator (six moving axes, wherein five axes can move independently or simultaneously), is transversely provided with two axes of a Y1 axis and a Y2 axis, has double transverse moving functions, and has two purposes: firstly, the tail end clamp is required to extend into the hot press, a transverse (Y-direction) cantilever is longer, the stroke is also large, interference caused by too large turning radius when a single Y-axis is used for left-right direction adjustment of the operation of the hot press on opposite sides is avoided, when the double axes are arranged, the Y2 axis transversely moves from one end to the other end to realize left-right direction adjustment of the cross beam, the rotation of the cross beam is not required, and the transverse moving time is saved; and secondly, the transverse stroke is large (note: both sides reach 4 meters), the transverse operation is more, the transverse movement is frequent, the Y1 and Y2 shafts can transversely move simultaneously due to the double-shaft arrangement, the time can be shortened, and the production beat can be ensured.
The truss manipulator can move back and forth, up and down and left and right between different hot presses of the full-automatic hot-press molding production line of the brake pad, so that the functional requirements of feeding, taking out finished products and filling mold clapboards in the hot-press molding production process of the drum brake pad are met.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A double-transverse-moving truss manipulator for a drum brake pad hot-press molding production line is characterized in that,
the method comprises the following steps:
two sets of Y1 axle fixed beam components;
an X-axis movable beam assembly supported by the Y1 axis fixed beam assembly and capable of axially moving along the Y1 axis fixed beam assembly;
the Z-axis base assembly, the Z-axis mechanical arm assembly and the Y2-axis movable beam assembly can move axially along the X-axis movable beam assembly;
wherein the content of the first and second substances,
the Z-axis mechanical arm assembly penetrates through the Z-axis base assembly and can move in the Z-axis base assembly, and meanwhile, the Z-axis base assembly drives the X-axis movable beam assembly to move axially;
the Y2 axle movable beam component is arranged at the lower end of the Z axle mechanical arm component; the Y2 axis beam assembly is movable relative to the Z axis robot arm assembly.
2. The double-traversing truss manipulator for the drum brake pad hot-press forming production line as claimed in claim 1, wherein the movement of the X-axis movable beam component relative to the Y1-axis fixed beam component, the movement of the Z-axis base component relative to the X-axis movable beam component and the movement of the Z-axis mechanical arm component relative to the Y2-axis movable beam component are realized by adopting a gear driven by a motor arranged on the Z-axis movable beam component and a rack arranged on a relative moving object to be meshed with each other for transmission.
3. The double-traversing truss manipulator for the drum brake pad hot-press forming production line as claimed in claim 1, wherein the Z-axis base assembly comprises a gear driven by a motor, the Z-axis mechanical arm assembly comprises a rack engaged with the gear for movement, and the movement of the Z-axis mechanical arm assembly in the Z-axis base assembly is realized through the engagement transmission of the rack and the gear.
4. The double-traversing truss manipulator for the drum brake hot-forming production line as claimed in claim 1, wherein the Z-axis mechanical arm assembly comprises a gear driven by a motor fixed on a Y2 shaft connecting plate, the Y2-axis movable beam assembly comprises a rack arranged along the Y2-axis movable beam, and the movement of the Y2-axis movable beam assembly relative to the Z-axis mechanical arm assembly is realized through the meshing transmission of the rack and the gear.
5. The double-traverse truss manipulator for the drum brake hot-press molding production line as claimed in claim 4, wherein the lower guide rail of the Y2-axis movable beam assembly is provided with a W-axis sliding plate capable of moving along the lower guide rail,
a synchronous belt transmission system is arranged in the inner cavity of the Y2 shaft movable beam and comprises two synchronous belt wheels and a synchronous cog belt, wherein the two synchronous belt wheels are respectively arranged at two ends of the inner cavity of the Y2 shaft movable beam, and the synchronous cog belt is connected with the two synchronous belt wheels;
two sides of the Y2 shaft movable beam are provided with axial notches, one end of the fixed clamp is fixedly connected with the Y2 shaft connecting plate, and the other end of the fixed clamp penetrates through the notches to be fixedly connected with one side of a synchronous toothed belt in the inner cavity of the Y2 shaft movable beam; one end of the movable fixing clamp is fixedly connected with the W-axis sliding plate, and the other end of the movable fixing clamp penetrates through the notch to be fixedly connected with the other side of the synchronous toothed belt in the inner cavity of the Y2-axis movable beam.
6. The double-traversing truss manipulator for the drum brake pad hot-press forming production line as claimed in claim 5, wherein the W-axis sliding plate is provided with a turntable driven to rotate by a rotary cylinder.
7. The double-sideslip truss manipulator for the drum brake pad hot press molding production line as claimed in claim 5, wherein a wheel shaft of one synchronous pulley is fixedly connected with the Y2 axle movable beam, and a wheel shaft of the other synchronous pulley is connected with the Y2 axle movable beam in a position adjustable mode through a tensioning block, of two synchronous pulleys at two ends of an inner cavity of the Y2 axle movable beam.
8. The double-traverse truss manipulator for the drum brake pad hot-press forming production line as claimed in claim 7, wherein the tensioning block is fixed on the movable beam of the Y2 shaft, and two end faces of the tensioning block are provided with long holes for correspondingly accommodating two ends of the other synchronous pulley shaft to adjust in;
the side face of the end face of the tensioning block is provided with a through hole, and a tensioning screw penetrates through the through hole to be connected with the other synchronous pulley wheel shaft thread pair.
9. The double-traversing truss manipulator for the drum brake pad hot-press forming production line as claimed in claim 1, wherein the X-axis movable beam assembly comprises an X-axis movable beam, and the X-axis movable beam is provided with a hollow slot capable of accommodating the Z-axis mechanical arm assembly along the length direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010855821.9A CN112045666A (en) | 2020-08-24 | 2020-08-24 | Double-transverse-moving truss manipulator for drum brake pad hot press molding production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010855821.9A CN112045666A (en) | 2020-08-24 | 2020-08-24 | Double-transverse-moving truss manipulator for drum brake pad hot press molding production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112045666A true CN112045666A (en) | 2020-12-08 |
Family
ID=73600828
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010855821.9A Pending CN112045666A (en) | 2020-08-24 | 2020-08-24 | Double-transverse-moving truss manipulator for drum brake pad hot press molding production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112045666A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589823A (en) * | 2020-12-30 | 2021-04-02 | 珠海格力智能装备有限公司 | Motion, manipulator and automation line |
| CN112692477A (en) * | 2020-12-22 | 2021-04-23 | 天水锻压机床(集团)有限公司 | Movable truss girder applied to welding robot |
| CN113370199A (en) * | 2021-06-30 | 2021-09-10 | 哈尔滨科能熔敷科技股份有限公司 | Transmission structure of multi-arm manipulator |
| CN113386104A (en) * | 2021-08-17 | 2021-09-14 | 捷尔杰（天津）设备有限公司 | Turnover truss manipulator for aerial work platform |
| CN113478717A (en) * | 2021-07-30 | 2021-10-08 | 泉州山水源泉机械科技有限公司 | Rubber sole oil press capable of automatically feeding and discharging |
| CN115847161A (en) * | 2023-02-23 | 2023-03-28 | 广州市锐美汽车零部件有限公司 | Automatic truss system for spline machining of rotating shaft of driving motor |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02197143A (en) * | 1989-01-26 | 1990-08-03 | Tel Sagami Ltd | Transfer device |
| CN103659413A (en) * | 2012-09-14 | 2014-03-26 | 珠海格力电器股份有限公司 | Translational mechanism and transplant mechanical arm with the same |
| CN103896108A (en) * | 2014-03-27 | 2014-07-02 | 重庆市隆泰稀土新材料有限责任公司 | Automatic carrying system for H-shaped wheels of gantry-type wire stranding machine |
| CN203792356U (en) * | 2014-01-27 | 2014-08-27 | 施太郎 | Mechanical arm improving device |
| CN205290944U (en) * | 2016-01-15 | 2016-06-08 | 杭州景业智能科技有限公司 | Machinery grabber |
| CN105666464A (en) * | 2016-03-10 | 2016-06-15 | 中国电器科学研究院有限公司 | Material taking and releasing manipulator |
| CN107283436A (en) * | 2017-06-16 | 2017-10-24 | 湖北文理学院 | A kind of truss-like autonomous meal delivery robot |
-
2020
- 2020-08-24 CN CN202010855821.9A patent/CN112045666A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02197143A (en) * | 1989-01-26 | 1990-08-03 | Tel Sagami Ltd | Transfer device |
| CN103659413A (en) * | 2012-09-14 | 2014-03-26 | 珠海格力电器股份有限公司 | Translational mechanism and transplant mechanical arm with the same |
| CN203792356U (en) * | 2014-01-27 | 2014-08-27 | 施太郎 | Mechanical arm improving device |
| CN103896108A (en) * | 2014-03-27 | 2014-07-02 | 重庆市隆泰稀土新材料有限责任公司 | Automatic carrying system for H-shaped wheels of gantry-type wire stranding machine |
| CN205290944U (en) * | 2016-01-15 | 2016-06-08 | 杭州景业智能科技有限公司 | Machinery grabber |
| CN105666464A (en) * | 2016-03-10 | 2016-06-15 | 中国电器科学研究院有限公司 | Material taking and releasing manipulator |
| CN107283436A (en) * | 2017-06-16 | 2017-10-24 | 湖北文理学院 | A kind of truss-like autonomous meal delivery robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692477A (en) * | 2020-12-22 | 2021-04-23 | 天水锻压机床(集团)有限公司 | Movable truss girder applied to welding robot |
| CN112589823A (en) * | 2020-12-30 | 2021-04-02 | 珠海格力智能装备有限公司 | Motion, manipulator and automation line |
| CN113370199A (en) * | 2021-06-30 | 2021-09-10 | 哈尔滨科能熔敷科技股份有限公司 | Transmission structure of multi-arm manipulator |
| CN113478717A (en) * | 2021-07-30 | 2021-10-08 | 泉州山水源泉机械科技有限公司 | Rubber sole oil press capable of automatically feeding and discharging |
| CN113478717B (en) * | 2021-07-30 | 2023-05-02 | 泉州山水源泉机械科技有限公司 | Automatic go up rubber sole hydraulic press of unloading |
| CN113386104A (en) * | 2021-08-17 | 2021-09-14 | 捷尔杰（天津）设备有限公司 | Turnover truss manipulator for aerial work platform |
| CN115847161A (en) * | 2023-02-23 | 2023-03-28 | 广州市锐美汽车零部件有限公司 | Automatic truss system for spline machining of rotating shaft of driving motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112045666A (en) | Double-transverse-moving truss manipulator for drum brake pad hot press molding production line | |
| CN201186387Y (en) | Gantry type double rotary table NC milling machine | |
| KR101430047B1 (en) | Saddle for gantry roader and the gantry roader using the same | |
| EP3178582B1 (en) | Workpiece conveying apparatus for a pressing machine | |
| CN212144645U (en) | Multi-axis numerical control milling equipment | |
| CN201186393Y (en) | Moving beam type double drive gantry carving and milling machine | |
| CN106238980B (en) | Shot-blasting machine case weld accessory system assembly | |
| CN206455050U (en) | A kind of aluminum alloy pattern plate hole punched device | |
| CN213005307U (en) | Three-shaft truss manipulator | |
| CN210677934U (en) | Intelligent numerical control machining center | |
| CN217037567U (en) | PCB processingequipment | |
| CN114955717B (en) | Winding machine applicable to core moulds with various lengths | |
| CN112009015B (en) | Full-automatic hot-pressing forming production line for drum brake pads | |
| JP2708918B2 (en) | System for transferring workpieces through a series of processing stations | |
| CN210588153U (en) | Series-parallel connection perpendicularity self-adjustment five-axis linkage numerical control machine tool structure | |
| CN208843274U (en) | Glass pieces production line and its floor rail type manipulator | |
| CN1251790A (en) | 5-coordinate compound structure of numerically controlled machine-tool | |
| CN220783917U (en) | Truss manipulator structure for multi-machine tool feeding and discharging device | |
| CN111546082A (en) | Horizontal five-axis flap machining center with vertically moving workbench | |
| CN214816935U (en) | Lathe manipulator | |
| CN218426868U (en) | Vertical workbench horizontal machining center | |
| JP3108053B2 (en) | 2-spindle machining center | |
| JP3350496B2 (en) | Transfer device | |
| CN220260153U (en) | Engraving machine | |
| CN214559034U (en) | Three-position five-axis numerical control machining center |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201208 |