CN114274182B - Truss robot for stirring barrel assembly - Google Patents
Truss robot for stirring barrel assembly Download PDFInfo
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- CN114274182B CN114274182B CN202111666911.4A CN202111666911A CN114274182B CN 114274182 B CN114274182 B CN 114274182B CN 202111666911 A CN202111666911 A CN 202111666911A CN 114274182 B CN114274182 B CN 114274182B
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- truss
- block
- bearing frame
- axis truss
- mixing drum
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- 238000003756 stirring Methods 0.000 title abstract description 18
- 238000012423 maintenance Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 208000002925 dental caries Diseases 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 4
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 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
- 239000013072 incoming material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 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 stirring barrels, which relates to the technical field of transportation of stirring barrels and comprises a stand column, wherein a longitudinal axis truss is arranged at the top of the stand column, a transverse axis truss is arranged at the top end of the longitudinal axis truss, overhaul platforms are arranged on one sides of the longitudinal axis truss and the transverse axis truss, a vertical axis truss is arranged in the transverse axis truss, a mounting plate is arranged below the transverse axis truss and extends from the bottom end of the vertical axis truss, a bearing frame is arranged at the bottom end of the mounting plate, a plurality of buffer springs are arranged at the bottom end of the bearing frame, and annular electromagnets are arranged at the bottom ends of the buffer springs. According to the invention, through the positions of the block electromagnets, the stirring barrels with different diameters can be limited and clamped, and meanwhile, the angles of the block electromagnets can be adjusted through the regulator, so that the block electromagnets can be automatically adapted 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 assembling stirring barrels.
Background
The stirring barrel assembly truss is used for automatically transferring all cylinder sections of a stirring barrel in an incoming material area to all assembly area stations, so that related working efficiency can be improved, the stirring barrel needs to be rapidly conveyed in the working process, but related devices in the prior art cannot adapt to the shape of the stirring barrel well when limiting and clamping the stirring barrel, and cannot carry out good clamping and conveying on a spherical crown and a front cone part.
Disclosure of Invention
The invention aims to provide a truss robot for assembling stirring barrels, which aims to solve the problem that the stirring barrels cannot be rapidly limited and clamped in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a truss robot of agitator group pair, includes the stand, the vertical axis truss is installed at the top of stand, and the top of vertical axis truss installs the horizontal axis truss, one side of vertical axis truss and horizontal axis truss is provided with the maintenance platform, the internally mounted of horizontal axis truss has the vertical axis truss, and the bottom of vertical axis truss extends to the below of horizontal axis truss and install the mounting panel, the bearing frame is installed to the bottom of mounting panel, and the bottom of bearing frame installs a plurality of buffer spring, buffer spring's bottom installs annular electromagnet, the outer wall of bearing frame installs a plurality of stay tubes, and the top of bearing frame installs a plurality of connecting plates, the magnet mount pad is all installed to the one end of connecting plate, the cubic electromagnet is all installed on the top of connecting plate, and the one end of cubic electromagnet are connected to each other to the regulator both sides on connecting plate top, and the one end of regulating spring all is connected with the one end of cubic electromagnet, the internally provided with a plurality of cavitys inside, and the one end of cavity inside all has through bearing frame installs the inside taper connection piece, the inside of drive motor is all connected to the inside of drive motor through the bearing frame, the inside of drive motor is all connected to the inside of drive motor and the drive motor.
Preferably, the size of the driving bevel gear is larger than the size of the driven bevel gear, and the driving bevel gear and the driven bevel gear are meshed.
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 inside 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 screw thread respectively.
Preferably, the two ends of the connecting plate are provided with pin shafts, one ends of the pin shafts penetrate through one ends of the magnet mounting seats, and locking nuts are arranged on the outer walls of the pin shafts at one ends of the magnet mounting seats.
Preferably, one end of the block electromagnet is an arc-shaped surface.
Preferably, the block electromagnets are provided with four in total, and the block 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:
starting a servo motor, enabling the servo motor to rotate through the cooperation of a driving conical gear and a driven conical gear, enabling the rotating rod to rotate, enabling each movable block to move in the cavity, changing the position of a block electromagnet, enabling the movable block to carry out limit clamping on stirring barrels with different diameters, electrifying the block electromagnet and an annular electromagnet, carrying a middle barrel and a rear cone of the stirring barrels by means of the annular electromagnet, carrying a front cone and a spherical crown by the block electromagnet, adjusting the angle of the block electromagnet through a regulator, enabling the angle of the block electromagnet to be automatically adapted to different positions, guaranteeing clamping effects, and guaranteeing clamping stability of the device.
Drawings
FIG. 1 is a schematic view of a three-dimensional appearance structure of the present invention;
FIG. 2 is a schematic partial elevation view of the present invention;
FIG. 3 is a schematic view of a partial top view of the present invention;
FIG. 4 is a schematic cross-sectional side view of the carrier and mounting plate of the present invention;
fig. 5 is an enlarged schematic view of the structure of fig. 1 a according to the present invention.
In the figure: 1. a transverse axis truss; 2. a longitudinal axis truss; 3. a column; 4. a vertical axis truss; 5. a maintenance platform; 6. a pin shaft; 7. a lock nut; 8. a buffer spring; 9. an annular electromagnet; 10. a carrier; 11. a connecting plate; 12. a magnet mounting base; 13. a block electromagnet; 14. an adjusting block; 15. an adjusting spring; 16. a support tube; 17. a mounting plate; 18. a connecting block; 19. a servo motor; 20. a rotating rod; 21. a driving bevel gear; 22. a driven bevel gear; 23. a cavity; 24. a movable block.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples: referring to fig. 1-5, a truss robot for a mixing drum assembly includes a column 3, a longitudinal axis truss 2 is installed at the top of the column 3, a transverse axis truss 1 is installed at the top end of the longitudinal axis truss 2, a maintenance platform 5 is installed 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, a mounting plate 17 is installed at the bottom end of the mounting plate 17, a bearing frame 10 is installed at the bottom end of the bearing frame 10, a plurality of buffer springs 8 are installed at the bottom end of the buffer springs 8, an annular electromagnet 9 is installed at the bottom end of the buffer springs 8, a plurality of supporting tubes 16 are installed at 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, a magnet mounting seat 12 is installed at one end of each connecting plate 11, a block electromagnet 13 is installed at one end of each magnet mounting seat 12, a regulator 14 is installed at the top end of each connecting plate 11, one end of each regulator 14 is connected with one end of the block electromagnet 13, regulating springs 15 are installed at both sides of each regulator 14 at the top end of each block electromagnet 13, and one end is connected with each block electromagnet 13;
the two ends of the connecting plate 11 are provided with pin shafts 6, one end of each pin shaft 6 penetrates through one end of the corresponding magnet mounting seat 12, and a locking nut 7 is arranged on the outer wall of each pin shaft 6 at one end of the corresponding magnet mounting seat 12;
one end of the block electromagnet 13 is an arc surface;
the block electromagnets 13 are provided with four in total, and the block electromagnets 13 are distributed at equal angles with respect to the center of the mounting plate 17;
specifically, as shown in fig. 1, 2, 3 and 5, the block electromagnet 13 and the annular electromagnet 9 are electrified, the middle drum and the rear cone of the stirring barrel are carried by means of the annular electromagnet 9, the block electromagnet 13 carries the front cone and the spherical crown, and the angle of the block electromagnet 13 can be adjusted by the adjuster 14, so that the block electromagnet can be automatically adapted 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, rotary rods 20 are arranged at one end in the cavities 23 through bearings, driven conical gears 22 are arranged in the bearing frame 10, movable blocks 24 are arranged on the outer walls of the rotary rods 20 in the cavities 23, connecting blocks 18 are arranged at the top ends of the movable blocks 24, the top ends of the connecting blocks 18 are connected with the bottom ends of the connecting plates 11, servo motors 19 are arranged at the top ends of the inner parts of the mounting plates 17, and driving conical gears 21 are arranged in the inner parts of the bearing frame 10, wherein the output ends of the servo motors 19 extend to the inner parts 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 way, and the moving range of the movable block 24 is smaller than the length of the inside of the cavity 23;
the outer walls of the rotating rods 20 are provided with external threads, and the interiors 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 rotary rod 20 through the cooperation of the driving bevel gear 21 and the driven bevel gear 22, so that each movable block 24 moves in the cavity 23, and the position of the block electromagnet 13 is changed, so that the block electromagnet can limit and clamp stirring barrels with different diameters.
Working principle: during operation, each shaft is driven by a servo motor matched with a gear rack of a speed reducer, a servo encoder is used for positioning, a workpiece is grabbed by visual positioning, a transverse shaft truss 1 is driven by double servo, double speed reducers and double gear racks and is synchronized by electric control, a vertical 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, and motion on each shaft is realized by the servo motor and the gear rack through transmission, and a motion track is completed by electric control and three-shaft linkage;
before carrying, need carry out spacing centre gripping to relevant agitator, during the centre gripping, mounting panel 17 stretches into in the bucket, later carry out circular telegram to cubic electro-magnet 13 and annular electro-magnet 9, carry the well section of thick bamboo and back cone part of agitator with the help of annular electro-magnet 9, cubic electro-magnet 13 then carries preceding cone and spherical crown part, can adjust the angle of cubic electro-magnet 13 through regulator 14, make it adapt to different positions voluntarily, guarantee the centre gripping effect, still can start servo motor 19 simultaneously, make it pass through the cooperation of initiative conical gear 21 and driven conical gear 22, make rotary rod 20 rotatory, thereby make each movable block 24 remove in cavity 23 inside, thereby change the position of cubic electro-magnet 13, make it carry out spacing centre gripping to the agitator of different diameters, the load of device, be suitable for multiple agitator, high stability, and general type is strong, easy maintenance.
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 characteristics 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. Truss robot of agitator group pair, including stand (3), its characterized in that: the utility model discloses a device for adjusting the height of a steel wire rope, which comprises a vertical shaft truss (2) arranged at the top of a vertical column (3), a transverse shaft truss (1) arranged at the top of the vertical shaft truss (2), a maintenance platform (5) arranged at one side of the vertical shaft truss (2) and the transverse shaft truss (1), a vertical shaft truss (4) arranged at the inner part of the transverse shaft truss (1), a mounting plate (17) arranged below the transverse shaft truss (1) and extending to the bottom of the vertical shaft truss (4), a bearing frame (10) arranged at the bottom of the mounting plate (17), a plurality of buffer springs (8) arranged at the bottom of the bearing frame (10), a plurality of supporting tubes (16) arranged at the outer wall of the bearing frame (10), a plurality of connecting plates (11) arranged at the top of the bearing frame (10), a magnet mounting seat (12) arranged at one end of each connecting plate (11), a block electromagnet (13) arranged at one end of each connecting plate (11), a regulator (14) arranged at the top of each connecting plate (11), a plurality of buffer springs (8) arranged at the top ends of the two sides of the regulator springs (14) connected with the block electromagnet (13), and the one end of regulating spring (15) all is connected with the one end of cubic electro-magnet (13), a plurality of cavitys (23) have been seted up to the inside in carrier (10) outside, and the inside one end of cavity (23) all installs rotary rod (20) through the bearing, the internally mounted of rotary rod (20) all extends to carrier (10) has driven conical gear (22), and movable block (24) are all installed to the inside rotary rod (20) outer wall of cavity (23), connecting block (18) are all installed on the top of movable block (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 carrier (10) has initiative conical gear (21).
2. The truss robot of a mixing drum set of 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) and the driven bevel gear (22) are meshed.
3. The truss robot of a mixing drum set of 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 of the inside of the cavity (23).
4. The truss robot of a mixing drum set of claim 1, wherein: the outer wall of rotary rod (20) all is provided with the external screw thread, and the inside of movable block (24) is provided with rather than assorted internal screw thread respectively.
5. The truss robot of a mixing drum set of claim 1, wherein: the two ends of the connecting plate (11) are respectively provided with a pin shaft (6), one end of each pin shaft (6) penetrates through one end of each magnet mounting seat (12), and a locking nut (7) is arranged on the outer wall of each pin shaft (6) at one end of each magnet mounting seat (12).
6. The truss robot of a mixing drum set of claim 1, wherein: one end of the block electromagnet (13) is an arc-shaped surface.
7. The truss robot of a mixing drum set of claim 1, wherein: the number of the block electromagnets (13) is four, and the block electromagnets (13) are distributed at equal angles 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 CN114274182A (en) | 2022-04-05 |
| CN114274182B true CN114274182B (en) | 2024-04-05 |
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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.2017,(第13期),全文. * |
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| Publication number | Publication date |
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| CN114274182A (en) | 2022-04-05 |
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