CN114274182A - Truss robot for assembling stirring barrels - Google Patents
Truss robot for assembling stirring barrels Download PDFInfo
- Publication number
- CN114274182A CN114274182A CN202111666911.4A CN202111666911A CN114274182A CN 114274182 A CN114274182 A CN 114274182A CN 202111666911 A CN202111666911 A CN 202111666911A CN 114274182 A CN114274182 A CN 114274182A
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- truss
- block
- bearing frame
- electromagnet
- bevel gear
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- 238000003756 stirring Methods 0.000 title claims abstract description 16
- 230000000694 effects Effects 0.000 claims abstract description 5
- 230000001105 regulatory effect Effects 0.000 claims 2
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 125000004122 cyclic group Chemical group 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- Accessories For Mixers (AREA)
Abstract
The invention discloses a truss robot for assembling of a stirring barrel, and relates to the technical field of stirring barrel transportation. According to the invention, the stirring barrels with different diameters can be limited and clamped by the block-shaped electromagnet through the position of the block-shaped electromagnet, and meanwhile, the angle of the block-shaped electromagnet can be adjusted by the adjuster, so that the block-shaped electromagnet can automatically adapt to different positions, the clamping effect is ensured, and the clamping stability of the device is ensured.
Description
Technical Field
The invention relates to the technical field of stirring barrel transportation, in particular to a truss robot for stirring barrel assembly.
Background
The mixing drum pairing truss is used for automatically transferring each drum section of a mixing drum in a material receiving area to each pairing area station, and in order to improve related working efficiency, the mixing drum needs to be rapidly transferred in the working process.
Disclosure of Invention
The invention aims to provide a truss robot for stirring barrel assembly, which aims to solve the problem that the stirring barrel cannot be quickly limited and clamped in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a longitudinal axis truss is installed at the top of the stand column, a transverse axis truss is installed at the top end of the longitudinal axis truss, an overhauling platform is arranged on one side of the longitudinal axis truss and the transverse axis truss, a vertical axis truss is installed inside the transverse axis truss, the bottom end of the vertical axis truss extends to the lower portion of the transverse axis truss to be installed with a mounting plate, a bearing frame is installed at the bottom end of the mounting plate, a plurality of buffer springs are installed at the bottom end of the bearing frame, an annular electromagnet is installed at the bottom end of the buffer springs, a plurality of supporting tubes are installed on the outer wall of the bearing frame, a plurality of connecting plates are installed at the top end of the bearing frame, a magnet mounting seat is installed at one end of each connecting plate, a block-shaped electromagnet is installed at one end of each magnet mounting seat, an adjustor is installed at the top end of each connecting plate, and one end of the adjustor is connected with one end of the block-shaped electromagnet, adjusting spring is all installed to the regulator both sides on connecting plate top, and adjusting spring's one end all is connected with the one end of cubic electro-magnet, bear the inside in the outside and seted up a plurality of cavitys, and the inside one end of cavity all installs the rotary rod through the bearing, the one end of rotary rod all extends to the internally mounted who bears the frame and has driven bevel gear, and the inside rotary rod outer wall of cavity all installs the movable block, the connecting block is all installed on the top of movable block, and the top of connecting block all is connected with the bottom of connecting plate, servo motor is installed on the inside top of mounting panel, and servo motor's output extends to the internally mounted who bears the frame and has initiative bevel gear.
Preferably, the size of the driving bevel gear is larger than that of the driven bevel gear, and the driving bevel gear and the driven bevel gear are meshed with each other.
Preferably, the movable block is connected with the cavity in a sliding manner, and the moving range of the movable block is smaller than the length of the inner part of the cavity.
Preferably, the outer wall of rotary rod all is provided with the external screw thread, and the inside of movable block is provided with rather than assorted internal thread respectively.
Preferably, the both ends of connecting plate all are provided with the round pin axle, and the one end of round pin axle all runs through to the one end of magnet mount pad, lock nut is installed to the round pin axle outer wall of magnet mount pad one end.
Preferably, one end of the block-shaped electromagnet is an arc-shaped surface.
Preferably, the block-shaped electromagnets are arranged in four, and the block-shaped electromagnets are distributed at equal angles with respect to the center of the mounting plate.
Compared with the prior art, the invention has the beneficial effects that:
start servo motor, make its cooperation through initiative conical gear and driven conical gear, make the rotary rod rotatory, thereby make each movable block move inside the cavity, thereby change the position of cubic electro-magnet, make it can carry out spacing centre gripping to the agitator of different diameters, circular telegram to cubic electro-magnet and cyclic annular electro-magnet, carry the well section of thick bamboo and the back awl part of agitator with the help of cyclic annular electro-magnet, cubic electro-magnet then carries preceding awl and spherical crown part, the angle that can adjust cubic electro-magnet through the regulator, make its position that can adapt to different automatically, guarantee the centre gripping effect, make the clamping stability of device obtain the guarantee.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a partial front view of the present invention;
FIG. 3 is a schematic top view of a portion of the present invention;
FIG. 4 is a side sectional view of the carriage and mounting plate of the present invention;
fig. 5 is an enlarged schematic view of a portion a in fig. 1 according to the present invention.
In the figure: 1. a cross shaft truss; 2. a longitudinal axis truss; 3. a column; 4. a vertical axis truss; 5. overhauling the platform; 6. a pin shaft; 7. locking the nut; 8. a buffer spring; 9. an annular electromagnet; 10. a carrier; 11. a connecting plate; 12. a magnet mounting base; 13. a block-shaped electromagnet; 14. an adjusting block; 15. adjusting the spring; 16. supporting a tube; 17. mounting a plate; 18. connecting blocks; 19. a servo motor; 20. rotating the rod; 21. a driving bevel gear; 22. a driven bevel gear; 23. a cavity; 24. a movable block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): referring to fig. 1-5, a truss robot for a mixing tank assembly comprises an upright post 3, a longitudinal axis truss 2 is installed at the top of the upright post 3, a transverse axis truss 1 is installed at the top end of the longitudinal axis truss 2, an overhaul platform 5 is arranged at one side of the longitudinal axis truss 2 and one side of the transverse axis truss 1, a vertical axis truss 4 is installed inside the transverse axis truss 1, the bottom end of the vertical axis truss 4 extends to the lower side of the transverse axis truss 1 and is provided with an installation plate 17, a bearing frame 10 is installed at the bottom end of the installation plate 17, a plurality of buffer springs 8 are installed at the bottom end of the bearing frame 10, an annular electromagnet 9 is installed at the bottom end of the buffer springs 8, a plurality of support tubes 16 are installed on the outer wall of the bearing frame 10, a plurality of connection plates 11 are installed at the top end of the bearing frame 10, a magnet installation base 12 is installed at one end of each connection plate 11, and a block electromagnet 13 is installed at one end of each magnet installation base 12, the top end of the connecting plate 11 is provided with an adjuster 14, one end of the adjuster 14 is connected with one end of the blocky electromagnet 13, two sides of the adjuster 14 at the top end of the connecting plate 11 are provided with adjusting springs 15, and one end of each adjusting spring 15 is connected with one end of the blocky electromagnet 13;
two ends of the connecting plate 11 are both provided with a pin shaft 6, one end of each pin shaft 6 penetrates through one end of the magnet mounting seat 12, and the outer wall of the pin shaft 6 at one end of the magnet mounting seat 12 is provided with a locking nut 7;
one end of the block-shaped electromagnet 13 is an arc-shaped surface;
the block-shaped electromagnets 13 are arranged in four, and the block-shaped electromagnets 13 are distributed in an equal angle with respect to the center of the mounting plate 17;
specifically, as shown in fig. 1, 2, 3 and 5, the block-shaped electromagnet 13 and the annular electromagnet 9 are energized, the annular electromagnet 9 is used for conveying a middle cylinder and a rear cone part of the mixing drum, the block-shaped electromagnet 13 is used for conveying a front cone and a spherical crown part, and the angle of the block-shaped electromagnet 13 can be adjusted through the adjuster 14, so that the block-shaped electromagnet 13 can automatically adapt to different positions, and the clamping effect is ensured.
A plurality of cavities 23 are formed in the outer side of the bearing frame 10, a rotating rod 20 is mounted at one end of each cavity 23 through a bearing, one end of each rotating rod 20 extends to the inside of the bearing frame 10 and is provided with a driven bevel gear 22, a movable block 24 is mounted on the outer wall of each rotating rod 20 in each cavity 23, a connecting block 18 is mounted at the top end of each movable block 24, the top end of each connecting block 18 is connected with the bottom end of the corresponding connecting plate 11, a servo motor 19 is mounted at the top end of the inside of the corresponding mounting plate 17, and a driving bevel gear 21 is mounted at the output end of each servo motor 19 extending to the inside of the bearing frame 10;
the size of the driving bevel gear 21 is larger than that of the driven bevel gear 22, and the driving bevel gear 21 and the driven bevel gear 22 are meshed;
the movable block 24 is connected with the cavity 23 in a sliding manner, and the moving range of the movable block 24 is smaller than the length of the inner part of the cavity 23;
the outer walls of the rotating rods 20 are provided with external threads, and the inner parts of the movable blocks 24 are respectively provided with internal threads matched with the external threads;
specifically, as shown in fig. 1 and 4, the servo motor 19 is started to rotate the rotating rod 20 through the cooperation of the driving bevel gear 21 and the driven bevel gear 22, so that each movable block 24 moves inside the cavity 23, and the position of the block-shaped electromagnet 13 is changed, so that the stirring barrels with different diameters can be limited and clamped.
The working principle is as follows: when the robot works, all shafts are driven by a gear rack of a speed reducer matched with a servo motor, a servo encoder is used for positioning, a workpiece is grabbed by visual positioning, a transverse shaft truss 1 is driven by double servo motors, double speed reducers and double gear racks and realizes synchronization through electric control, a longitudinal shaft truss 2 is driven by a servo motor, a speed reducer and a gear rack, a vertical shaft truss 4 is driven by a band-type brake servo motor, a speed reducer and a gear rack, all shaft motions are driven by the servo motors, gear rack transmission is realized, and three shafts are linked through electric control to finish a motion track;
before carrying, the related mixing drum needs to be limited and clamped, during clamping, the mounting plate 17 extends into the drum, then the block-shaped electromagnet 13 and the annular electromagnet 9 are electrified, the middle drum and the rear cone part of the mixing drum are carried by means of the annular electromagnet 9, the front cone and the spherical crown part are carried by the block-shaped electromagnet 13, the angle of the block-shaped electromagnet 13 can be adjusted by the adjuster 14, so that the block-shaped electromagnet can automatically adapt to different positions, the clamping effect is ensured, meanwhile, the servo motor 19 can be started, the rotary rod 20 is rotated by the matching of the driving conical gear 21 and the driven conical gear 22, so that each movable block 24 moves in the cavity 23, the position of the block-shaped electromagnet 13 is changed, the mixing drum with different diameters can be limited and clamped, the device is suitable for various mixing drums, and has high stability, and the universal type is strong, and the maintenance is easy.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. The utility model provides a truss robot that agitator group was right, includes stand (3), its characterized in that: the vertical shaft truss structure is characterized in that a vertical shaft truss (2) is installed at the top of the stand column (3), a transverse shaft truss (1) is installed at the top end of the vertical shaft truss (2), an overhauling platform (5) is arranged on one side of the vertical shaft truss (2) and the transverse shaft truss (1), a vertical shaft truss (4) is installed inside the transverse shaft truss (1), a mounting plate (17) is installed below the bottom end of the vertical shaft truss (4) in a manner of extending to the transverse shaft truss (1), a bearing frame (10) is installed at the bottom end of the mounting plate (17), a plurality of buffer springs (8) are installed at the bottom end of the bearing frame (10), an annular electromagnet (9) is installed at the bottom end of each buffer spring (8), a plurality of support tubes (16) are installed on the outer wall of the bearing frame (10), a plurality of connecting plates (11) are installed at the top end of the bearing frame (10), and a magnet mounting seat (12) is installed at one end of each connecting plate (11), and massive electromagnet (13) is installed at one end of the magnet mounting seat (12), regulator (14) is installed at the top end of the connecting plate (11), one end of the regulator (14) is connected with one end of the massive electromagnet (13), regulating springs (15) are installed on two sides of the regulator (14) at the top end of the connecting plate (11), one end of each regulating spring (15) is connected with one end of the massive electromagnet (13), a plurality of cavities (23) are formed in the outer side of the bearing frame (10), a rotary rod (20) is installed at one end of each cavity (23) through a bearing, one end of each rotary rod (20) extends to the inner portion of the bearing frame (10) and is provided with a driven bevel gear (22), movable blocks (24) are installed on the outer wall of the rotary rod (20) in the cavity (23), and a connecting block (18) is installed at the top ends of the movable blocks (24), and the top of connecting block (18) all is connected with the bottom of connecting plate (11), servo motor (19) are installed on the inside top of mounting panel (17), and the internally mounted that the output of servo motor (19) extends to bearing frame (10) has initiative conical gear (21).
2. The truss robot for stirring barrel assembly pairs as claimed in claim 1, wherein: the size of the driving bevel gear (21) is larger than that of the driven bevel gear (22), and the driving bevel gear (21) is meshed with the driven bevel gear (22).
3. The truss robot for stirring barrel assembly pairs as claimed in claim 1, wherein: the movable block (24) is connected with the cavity (23) in a sliding mode, and the moving range of the movable block (24) is smaller than the length inside the cavity (23).
4. The truss robot for stirring barrel assembly pairs as claimed in claim 1, wherein: the outer wall of rotary rod (20) all is provided with the external screw thread, and the inside of activity piece (24) is provided with rather than assorted internal thread respectively.
5. The truss robot for stirring barrel assembly pairs as claimed in claim 1, wherein: the two ends of the connecting plate (11) are provided with pin shafts (6), one ends of the pin shafts (6) penetrate through one ends of the magnet mounting seats (12), and locking nuts (7) are mounted on the outer walls of the pin shafts (6) at one ends of the magnet mounting seats (12).
6. The truss robot for stirring barrel assembly pairs as claimed in claim 1, wherein: one end of the blocky electromagnet (13) is an arc-shaped surface.
7. The truss robot for stirring barrel assembly pairs as claimed in claim 1, wherein: the number of the block-shaped electromagnets (13) is four, and the block-shaped electromagnets (13) are distributed in an equal angle with respect to the center of the mounting plate (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111666911.4A CN114274182B (en) | 2021-12-31 | 2021-12-31 | Truss robot for stirring barrel assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111666911.4A CN114274182B (en) | 2021-12-31 | 2021-12-31 | Truss robot for stirring barrel assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114274182A true CN114274182A (en) | 2022-04-05 |
| CN114274182B CN114274182B (en) | 2024-04-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111666911.4A Active CN114274182B (en) | 2021-12-31 | 2021-12-31 | Truss robot for stirring barrel assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114274182B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1273407A1 (en) * | 2001-07-05 | 2003-01-08 | EBAWE Anlagentechnik GmbH | Robot for positioning magnets |
| CN109719713A (en) * | 2017-10-30 | 2019-05-07 | 亚威徕斯机器人制造（江苏）有限公司 | A kind of double gantry linear robots |
| CN110834962A (en) * | 2019-12-23 | 2020-02-25 | 江苏环信机械工程有限公司 | Section bar pile up neatly truss robot |
| CN112010038A (en) * | 2020-08-24 | 2020-12-01 | 亚威徕斯机器人制造（江苏）有限公司 | Novel stirring barrel carrying clamp |
| CN112520406A (en) * | 2020-12-11 | 2021-03-19 | 苏州通锦精密工业股份有限公司 | Novel gantry type truss carrying device |
| CN214651837U (en) * | 2020-12-18 | 2021-11-09 | 江苏博信机器人科技有限公司 | Robot for carrying toilet and bathroom |
-
2021
- 2021-12-31 CN CN202111666911.4A patent/CN114274182B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1273407A1 (en) * | 2001-07-05 | 2003-01-08 | EBAWE Anlagentechnik GmbH | Robot for positioning magnets |
| CN109719713A (en) * | 2017-10-30 | 2019-05-07 | 亚威徕斯机器人制造（江苏）有限公司 | A kind of double gantry linear robots |
| CN110834962A (en) * | 2019-12-23 | 2020-02-25 | 江苏环信机械工程有限公司 | Section bar pile up neatly truss robot |
| CN112010038A (en) * | 2020-08-24 | 2020-12-01 | 亚威徕斯机器人制造（江苏）有限公司 | Novel stirring barrel carrying clamp |
| CN112520406A (en) * | 2020-12-11 | 2021-03-19 | 苏州通锦精密工业股份有限公司 | Novel gantry type truss carrying device |
| CN214651837U (en) * | 2020-12-18 | 2021-11-09 | 江苏博信机器人科技有限公司 | Robot for carrying toilet and bathroom |
Non-Patent Citations (1)
| Title |
|---|
| 谭运生;张超;: "桁架式机械手在汽车零件生产中的应用", 科技创新导报, no. 13, 1 May 2017 (2017-05-01) * |
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| Publication number | Publication date |
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| CN114274182B (en) | 2024-04-05 |
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