CN114131586A - High-automation truss machine - Google Patents
High-automation truss machine Download PDFInfo
- Publication number
- CN114131586A CN114131586A CN202111231129.XA CN202111231129A CN114131586A CN 114131586 A CN114131586 A CN 114131586A CN 202111231129 A CN202111231129 A CN 202111231129A CN 114131586 A CN114131586 A CN 114131586A
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- Prior art keywords
- truss
- lifting
- limiting
- fixedly arranged
- transverse
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a high-automation truss machine, and belongs to the technical field of truss machines. The truss machine solves the problem that the design reasonability of all aspects of the existing truss machine still has the property to be improved. The automatic truss machine comprises a plurality of transverse side-by-side arranged vertical frames, a truss fixed on the vertical frames, a transverse sliding rail fixedly arranged on the truss, a transverse sliding block arranged on the transverse sliding rail in a sliding mode, a walking drag chain arranged between the truss and the transverse sliding block, a manipulator assembly fixedly arranged on the transverse sliding block, an X-direction driving component arranged on the truss and used for driving the transverse sliding block to transversely slide back and forth on the transverse sliding rail, and a Z-direction driving component arranged on the transverse sliding block and used for driving a manipulator in the manipulator assembly to vertically slide back and forth relative to the transverse sliding block. Compared with the prior art, the high-automation truss machine has the advantages of high automation degree, high overall structure strength and better debugging of the compliance degree of the slide rail.
Description
Technical Field
The invention belongs to the technical field of truss machines, and relates to a high-automation truss machine.
Background
The truss machine is a full-automatic industrial device which is established on the basis of a rectangular X, Y, Z three-coordinate (or X, Z two-coordinate) system and is used for adjusting the station of a workpiece or realizing the functions of the workpiece such as track movement and the like. The control core is realized by an industrial controller (PLC or a singlechip). After the controller analyzes and processes various input signals and makes certain logic judgment, an execution command is issued to each output element to complete the joint motion between X, Y, Z three shafts (or X, Z two shafts), so that a whole set of full-automatic operation flow is realized.
The truss machine in the prior art still has a lot of factors that need to be improved, mainly reflects in that the design of slide rail, the design of stand are not in place yet, have resulted in the truss machine in the application, and the compliance of manipulator removal in-process, the intensity of support frame are good enough, and the rationality of the overall planning of truss machine also needs further optimization moreover.
Disclosure of Invention
The invention aims to provide a highly-automatic truss machine, which aims at solving the problem that the reasonability of the design of all aspects of the existing truss machine still has to be improved.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a high automatic truss machine which characterized in that: the vertical frame comprises a plurality of vertical frames which are transversely arranged side by side, trusses on which the fixed frames are arranged, transverse sliding rails fixedly arranged on the trusses, transverse sliding blocks arranged on the transverse sliding rails in a sliding mode, walking drag chains arranged between the trusses and the transverse sliding blocks, a manipulator assembly fixedly arranged on the transverse sliding blocks, an X-direction driving component arranged on the trusses and used for driving the transverse sliding blocks to transversely slide on the transverse sliding rails, a Z-direction driving component arranged on the transverse sliding blocks and used for driving a manipulator in the manipulator assembly to vertically slide back and forth relative to the transverse sliding blocks, a top plate, a bottom plate, a reinforcing rib, a top plate, a bottom plate, reinforcing ribs, a bolt, a bottom plate, a vertical support fixedly arranged on the transverse sliding blocks, a vertical support fixedly arranged on the bottom plate and the ground, a vertical support fixedly arranged on the transverse sliding blocks, a horizontal sliding block sliding, The lifting piece that the lifting slide set up on vertical support, the manipulator of setting in the lifting piece bottom, Z direction driver part sets up between vertical support and lifting piece and is used for driving the lifting slide of lifting piece on vertical support, it is equipped with two sets of spacing subassemblies still to symmetry on the vertical board, spacing subassembly sets up a plurality of spacing wheels on vertical board including upper and lower to its and mutual interval and free rotation, round arc annular has been seted up on the spacing wheel, the last symmetry of lifting piece is equipped with two and is columniform gag lever post, the plane of symmetry of two sets of spacing subassemblies and two gag lever posts is the same, the gag lever post pastes in rather than being in the arc annular of the spacing wheel of homonymy.
In the above-mentioned high automation truss machine, the Z direction drive unit include fixed lifting drive motor, the fixed lifting gear who sets up at lifting drive motor's main shaft tip, the lifting rack of fixed setting on the lift piece that sets up on vertical support, lifting drive motor's main shaft side direction sets up, lifting gear and lifting rack mesh.
In the highly automatic truss machine, the limiting wheels and the limiting rods are provided with friction layers with high friction coefficients outside.
In the above-mentioned high automation truss machine, there are three spacing wheels in two sets of spacing subassemblies.
In the highly automatic truss machine, a lifting drag chain is arranged between the vertical support and the lifting piece.
In the above-mentioned high automation truss machine, the X-direction driving component includes a moving driving motor fixedly disposed on the transverse sliding block, a moving gear fixedly disposed at a main shaft end of the moving driving motor, and a moving rack fixedly disposed on the truss, the main shaft of the moving driving motor is disposed downward, and the moving gear is engaged with the moving rack.
In the highly automatic truss machine, the two sides of the truss are provided with the detection heads, and the detection heads are used for limiting the moving process of the transverse sliding block.
In the highly automatic truss machine, the truss is further fixedly provided with a supporting plate, and the supporting plate is positioned below the walking drag chain and plays a role in supporting the bottom of the walking drag chain.
In the highly automatic truss machine, the truss is further provided with a plurality of support shafts in a freely rotating mode at intervals, and the upper inner end of the walking drag chain is erected on the support shafts.
In the above-mentioned high automation truss machine, the X-direction driving component includes a transverse rack fixedly disposed on the vertical frame, a stepping driving motor fixedly disposed on the manipulator, and a stepping gear fixedly disposed at an end of an output shaft of the stepping driving motor and engaged with the transverse rack.
Compared with the prior art, the high-automation truss machine has the advantages of high automation degree, high overall structure strength and better debugging of the compliance degree of the slide rail.
Drawings
FIG. 1 is a schematic structural view of the truss machine;
FIG. 2 is a schematic structural view from another perspective of the truss machine;
FIG. 3 is a schematic structural view of the stand;
FIG. 4 is a schematic structural view of a robot assembly;
FIG. 5 is a schematic view of the robot assembly after the elevator housing is hidden;
in the figure, 1, a stand; 2. a transverse slide rail; 3. a transverse slide block; 4. a walking drag chain; 5. A top plate; 6. a base plate; 7. reinforcing ribs; 8. a vertical support; 9. a lifting member; 10. a manipulator; 11. a limiting wheel; 12. an arc-shaped ring groove; 13. a limiting rod; 14. lifting a drag chain; 15. a detection head; 16. a support plate; 17. and supporting the shaft.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 and fig. 2, the high-automation truss machine includes a plurality of vertical frames 1 arranged side by side, a truss fixed on the vertical frames 1, a transverse slide rail 2 fixedly arranged on the truss, a transverse slide block 3 arranged on the transverse slide rail 2 in a sliding manner, a traveling tow chain 4 arranged between the truss and the transverse slide block 3, a manipulator assembly fixedly arranged on the transverse slide block 3, an X-direction driving component arranged on the truss and used for driving the transverse slide block 3 to slide back and forth transversely on the transverse slide rail 2, and a Z-direction driving component arranged on the transverse slide block 3 and used for driving a manipulator 10 in the manipulator assembly to slide back and forth vertically relative to the transverse slide block 3.
In the operation process, the transverse sliding block 3 is transversely moved relative to the truss through the moving power of the X-direction driving component, the process is the X-direction moving process of the manipulator 10, and then the vertical movement of the manipulator 10 relative to the transverse sliding block 3 is realized through the Z-direction driving component, and the process is the Z-direction moving process of the manipulator 10.
As shown in fig. 3, a top plate 5 and a bottom plate 6 are respectively vertically arranged at the upper end and the lower end of the vertical frame 1, a reinforcing rib 7 is laterally arranged between the vertical frame 1 and the top plate 5 and the bottom plate 6, the top plate 5 and the truss are fixed in a bolt manner, and the bottom plate 6 and the ground are also fixed in a screw manner.
As shown in fig. 4-5, the manipulator assembly includes a vertical support 8 fixedly arranged on the horizontal sliding block 3, a lifting member 9 arranged on the vertical support 8 is lifted and slid, a manipulator 10 arranged at the bottom of the lifting member 9, a Z-direction driving part is arranged between the vertical support 8 and the lifting member 9 and used for driving the lifting member 9 to lift and slide on the vertical support 8, two sets of limiting assemblies are symmetrically arranged on the vertical plate, each limiting assembly includes a plurality of limiting wheels 11 which are arranged on the vertical plate in an up-and-down manner, are spaced from each other and can rotate freely, a circle of arc-shaped annular groove 12 is formed in each limiting wheel 11, two limiting rods 13 which are cylindrical are symmetrically arranged on the lifting member 9, the symmetrical surfaces of the two sets of limiting assemblies and the two limiting rods 13 are the same, and the limiting rods 13 are attached to the arc-shaped annular groove 12 of the limiting wheel 11 which is positioned on the same side.
The limiting is completed by adopting the limiting wheels 11 and the limiting rods 13, the traditional sliding rail form is replaced, sliding friction is changed into rolling friction, the lifting process of the lifting piece 9 is more flexible, and the two limiting rods 13 are positioned at the inner sides of the two groups of limiting components, so that the limiting wheels 11 clamp the limiting rods 13.
The Z-direction driving part comprises a lifting driving motor fixedly arranged on the vertical support 8, a lifting gear fixedly arranged at the end part of a main shaft of the lifting driving motor and a lifting rack fixedly arranged on the lifting piece 9, the main shaft of the lifting driving motor is arranged in the lateral direction, and the lifting gear is meshed with the lifting rack.
The X-direction driving part comprises a moving driving motor fixedly arranged on the transverse sliding block 3, a moving gear fixedly arranged at the end part of a main shaft of the moving driving motor, and a moving rack fixedly arranged on the truss, wherein the main shaft of the moving driving motor is arranged downwards, and the moving gear is meshed with the moving rack.
And friction layers with high friction coefficients are arranged outside the limiting wheel 11 and the limiting rod 13. In order to ensure that the limit wheel 11 rolls rather than slips during the lifting of the limit rod 13, the contact surface of the two needs to have a certain friction coefficient.
Three limiting wheels 11 are arranged in the two groups of limiting components. At least two limiting wheels 11 are needed in the two groups of limiting assemblies, because the limiting rod 13 belongs to one line and the limiting wheels 11 belong to one point based on the principle that two points form a line, at least two limiting wheels 11 are needed to form one line, and the limiting rods 13 can be matched.
And a lifting drag chain 14 is arranged between the vertical bracket 8 and the lifting piece 9. The lifting drag chain 14 is used for placing a line, and the line is used for being in butt joint with the manipulator 10.
The two sides of the truss are provided with detection heads 15, and the detection heads 15 are used for limiting the moving process of the transverse sliding block 3. The detection head 15 necessarily refers to a detection body aligned with the detection head 15, when the transverse sliding block 3 slides to the two side edges on the transverse sliding rail 2, the detection head 15 will collide with the detection body on the transverse sliding block 3, and then the detection head 15 will send a signal to the industrial controller to drive the X-direction driving component to stop the transverse movement of the transverse sliding block 3, so that the protection effect is achieved.
The truss is further fixedly provided with a supporting plate 16, and the supporting plate 16 is positioned below the walking drag chain 4 and plays a role in supporting the bottom of the walking drag chain 4.
A plurality of supporting shafts 17 are arranged on the truss in a freely rotating mode at intervals, and the upper inner end of the walking drag chain 4 is erected on the supporting shafts 17.
It is to be understood that in the claims, the specification of the present invention, all "including … …" are to be interpreted in an open-ended sense, i.e., in a sense equivalent to "including at least … …", and not in a closed sense, i.e., in a sense not to be interpreted as "including only … …".
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a high automatic truss machine which characterized in that: comprises a plurality of vertical frames (1) which are transversely arranged side by side, a truss which is fixedly arranged on the vertical frames (1), a transverse slide rail (2) which is fixedly arranged on the truss, a transverse slide block (3) which is arranged on the transverse slide rail (2) in a sliding way, a walking drag chain (4) which is arranged between the truss and the transverse slide block (3), a manipulator assembly which is fixedly arranged on the transverse slide block (3), an X-direction driving part which is arranged on the truss and is used for driving the transverse slide block (3) to transversely and back slide on the transverse slide rail (2), a Z-direction driving part which is arranged on the transverse slide block (3) and is used for driving a manipulator (10) in the manipulator assembly to vertically and back slide relative to the transverse slide block (3), a top plate (5) and a bottom plate (6) are respectively and vertically arranged at the upper end and the lower end of the vertical frames (1), reinforcing ribs (7) are laterally arranged between the vertical frames (1), the top plate (5) and the bottom plate (6), the top plate (5) and the truss are fixed in a bolt mode, the bottom plate (6) and the ground are also fixed in a screw mode, the manipulator component comprises a vertical support (8) fixedly arranged on the transverse sliding block (3), a lifting piece (9) arranged on the vertical support (8) in a lifting sliding mode, and a manipulator (10) arranged at the bottom of the lifting piece (9), a Z-direction driving part is arranged between the vertical support (8) and the lifting piece (9) and used for driving the lifting piece (9) to lift and slide on the vertical support (8), two groups of limiting components are further symmetrically arranged on the vertical plate, each limiting component comprises a plurality of limiting wheels (11) which are vertically opposite to each other, are mutually spaced and freely and rotatably arranged on the vertical plate, a circle of arc-shaped annular groove (12) is formed in each limiting wheel (11), two cylindrical limiting rods (13) are symmetrically arranged on the lifting piece (9), the two groups of limiting components are the same as the symmetrical surfaces of the two limiting rods (13), and the limiting rods (13) are attached to the arc-shaped annular grooves (12) of the limiting wheels (11) which are positioned on the same side.
2. A highly automated truss machine as defined in claim 1 wherein: the Z-direction driving component comprises a lifting driving motor fixedly arranged on the vertical support (8), a lifting gear fixedly arranged at the end part of a main shaft of the lifting driving motor, and a lifting rack fixedly arranged on the lifting piece (9), wherein the main shaft of the lifting driving motor is arranged in the lateral direction, and the lifting gear is meshed with the lifting rack.
3. A highly automated truss machine as defined in claim 1 wherein: and friction layers with high friction coefficients are arranged outside the limiting wheel (11) and the limiting rod (13).
4. A highly automated truss machine as defined in claim 1 wherein: the two groups of limiting components are provided with three limiting wheels (11).
5. A highly automated truss machine as defined in claim 1 wherein: and a lifting drag chain (14) is arranged between the vertical bracket (8) and the lifting piece (9).
6. A highly automated truss machine as defined in claim 1 wherein: the X-direction driving part comprises a moving driving motor fixedly arranged on the transverse sliding block (3), a moving gear fixedly arranged at the end part of a main shaft of the moving driving motor, and a moving rack fixedly arranged on the truss, wherein the main shaft of the moving driving motor is arranged downwards, and the moving gear is meshed with the moving rack.
7. A highly automated truss machine as defined in claim 1 wherein: the detection heads (15) are arranged on two sides of the truss, and the detection heads (15) are used for limiting the moving process of the transverse sliding block (3).
8. A highly automated truss machine as defined in claim 1 wherein: the truss is further fixedly provided with a supporting plate (16), and the supporting plate (16) is located below the walking drag chain (4) and plays a role in supporting the bottom of the walking drag chain (4).
9. A highly automated truss machine as defined in claim 1 wherein: the truss is further provided with a plurality of supporting shafts (17) in a freely rotating mode at intervals, and the upper inner end of the walking drag chain (4) is erected on the supporting shafts (17).
10. A highly automated truss machine as defined in claim 1 wherein: the X-direction driving component comprises a transverse rack fixedly arranged on the stand (1), a stepping driving motor fixedly arranged on the manipulator (10) and a stepping gear fixedly arranged at the end part of an output shaft of the stepping driving motor and meshed with the transverse rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111231129.XA CN114131586A (en) | 2021-10-22 | 2021-10-22 | High-automation truss machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111231129.XA CN114131586A (en) | 2021-10-22 | 2021-10-22 | High-automation truss machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114131586A true CN114131586A (en) | 2022-03-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111231129.XA Pending CN114131586A (en) | 2021-10-22 | 2021-10-22 | High-automation truss machine |
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| Country | Link |
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| CN (1) | CN114131586A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114751152A (en) * | 2022-04-19 | 2022-07-15 | 西南交通大学 | Conveying and grabbing mechanism for detecting bearing saddle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104210842A (en) * | 2014-09-05 | 2014-12-17 | 杭州朝阳橡胶有限公司 | Tire blank taking device |
| CN105883398A (en) * | 2016-06-03 | 2016-08-24 | 江苏瑞莱克斯自动化科技有限公司 | Truss type three-freedom-degree double-pneumatic-gripper grabbing device |
| CN106429419A (en) * | 2016-11-18 | 2017-02-22 | 苏州鑫润旺精密机械有限公司 | Shifting mechanism of car door limiter |
| WO2017048127A1 (en) * | 2015-09-16 | 2017-03-23 | Kalkman Ip B.V. | Ultra large crane, mast section therefore, and method for erecting such hoisting device |
| CN107826737A (en) * | 2017-11-17 | 2018-03-23 | 中车洛阳机车有限公司 | A kind of Brake Discs component loading and unloading automatic catching robot |
| CN213949873U (en) * | 2020-11-04 | 2021-08-13 | 力行(天津)机器人科技有限公司 | Single-shaft truss manipulator |
-
2021
- 2021-10-22 CN CN202111231129.XA patent/CN114131586A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210842A (en) * | 2014-09-05 | 2014-12-17 | 杭州朝阳橡胶有限公司 | Tire blank taking device |
| WO2017048127A1 (en) * | 2015-09-16 | 2017-03-23 | Kalkman Ip B.V. | Ultra large crane, mast section therefore, and method for erecting such hoisting device |
| CN105883398A (en) * | 2016-06-03 | 2016-08-24 | 江苏瑞莱克斯自动化科技有限公司 | Truss type three-freedom-degree double-pneumatic-gripper grabbing device |
| CN106429419A (en) * | 2016-11-18 | 2017-02-22 | 苏州鑫润旺精密机械有限公司 | Shifting mechanism of car door limiter |
| CN107826737A (en) * | 2017-11-17 | 2018-03-23 | 中车洛阳机车有限公司 | A kind of Brake Discs component loading and unloading automatic catching robot |
| CN213949873U (en) * | 2020-11-04 | 2021-08-13 | 力行(天津)机器人科技有限公司 | Single-shaft truss manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114751152A (en) * | 2022-04-19 | 2022-07-15 | 西南交通大学 | Conveying and grabbing mechanism for detecting bearing saddle |
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