CN203343793U - Truss walking guide rail for hoisting robot - Google Patents
Truss walking guide rail for hoisting robot Download PDFInfo
- Publication number
- CN203343793U CN203343793U CN 201320326818 CN201320326818U CN203343793U CN 203343793 U CN203343793 U CN 203343793U CN 201320326818 CN201320326818 CN 201320326818 CN 201320326818 U CN201320326818 U CN 201320326818U CN 203343793 U CN203343793 U CN 203343793U
- Authority
- CN
- China
- Prior art keywords
- truss
- robot
- installing plate
- guide rail
- pair
- 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.)
- Expired - Lifetime
Links
Images
Abstract
The utility model discloses a truss walking guide rail for hoisting a robot. The truss walking guide rail for hoisting the robot expands the range of operation of the robot, and can improve the utilization rate of the production site. The truss walking guide rail for hoisting the robot comprises a truss, a pair of guide rail bodies, a rack and at least one robot installing mechanism, wherein the robot installing mechanism comprises an installing plate, a drive mechanism, a lubrication device and a dragging mechanism. The truss is installed at the upper end of a supporting frame, and comprises two rectangular steel pipes and two connecting steel plates, wherein one connecting steel plate is fixed between the upper ends of the two rectangular steel pipes, and the other connecting steel plate is fixed between the lower ends of the two rectangular steel pipes, the guide rails are installed on the lower end face of the truss, the rack is installed on the lower end face of the truss, and is arranged between the guide rails in a parallel mode, a plurality of pairs of sliding blocks which correspond to the guide rails are installed on the upper end face of the installing plate, the robot is arranged on the lower end face of the installing plate in a hoisted mode, the drive mechanism comprises a servo motor, a speed reducer and a gear meshed with the rack, the servo motor is installed on the lower end face of the installing plate, the lubrication device is installed on the installing plate, and the dragging mechanism is a drag chain installed on the truss.
Description
Technical field
The utility model relates to a kind of automatic production line for robot, is specifically related to a kind of truss walking guide rail that lifts robot.
Background technology
In at present domestic robot application, while for needs, using many process equipments to work, be generally to use many robots to complete required work simultaneously.Many robots work on a streamline, need a lot of auxiliary equipment, will increase the purchase cost of equipment, and fault rate can increase, and production efficiency can not guarantee, floor space is also larger.
At home in machining industry and part of automobile engine manufacturing enterprise, generally adopt and manually the workpiece of machining center (lathe) is carried out the carrying of loading and unloading at present.The operating personnel that need due to this operating type by artificial loading and unloading are many, and operating personnel's labour intensity is large, and automaticity is low, therefore can not meet modern enterprise fast, the needs of intelligence, Flexible Production.
The utility model content
The purpose of this utility model is in order to overcome the deficiencies in the prior art, and a kind of truss walking guide rail that lifts robot is provided, and it can make robot have the function of air walk, has expanded the job area of robot, and can improve the utilization rate of production site.
A kind of technical scheme that realizes above-mentioned purpose is: a kind of truss walking guide rail that lifts robot, comprise truss, pair of guide rails, a tooth bar, at least a set of robot installing mechanism, every cover robot installing mechanism includes installing plate, driving mechanism, lubricating arrangement and tractor, wherein, described truss is arranged on the upper end of a bracing frame, and this truss comprises two rectangular steel pipes and two junction steel plates that are separately fixed at two upper and lower sides between rectangular steel pipe; Described pair of guide rails is arranged on the lower surface of described truss; Described tooth bar is arranged on the lower surface of described truss also abreast between pair of guide rails; On the upper surface of described installing plate, corresponding described pair of guide rails is installed somely to slide block, and installing plate is slidably mounted on described pair of guide rails; Described robot is lifted on the lower surface of described installing plate; Described driving mechanism comprises that one is arranged on the reductor on the output shaft that servomotor, on the lower surface of described installing plate is connected to servomotor and is arranged on the output shaft of described reductor and is positioned at upper surface and the described tooth bar meshed gears of installing plate; Described lubricating arrangement provides lubricating oil and is arranged on described installing plate for described guide rail and slide block; Described tractor is one to be arranged on the drag chain on described truss, and the mobile terminal of this drag chain is connected on described installing plate.
The truss walking guide rail of above-mentioned lifting robot, wherein, support frame as described above at least comprises a pair of door frame, and described truss is fixed on the middle part of lower surface of the crossbeam of described door frame by connector, and described drag chain is arranged on trailing flank or the leading flank of described truss by a dee.
The truss of above-mentioned lifting robot walking guide rail, wherein, be positioned at and connect one by two needle beams respectively on the lateral surface of two single columns of door frame at support frame as described above two ends and reinforce column.
The truss walking guide rail of above-mentioned lifting robot, wherein, support frame as described above is a pair of single column, the lateral surface of this pair of single column be connected respectively a cross-brace with trailing flank, described truss is connected across between the upper surface of a pair of single column, and described drag chain is arranged on the upper surface of described truss by a dee.
The truss walking guide rail of above-mentioned lifting robot, wherein, the bottom of described single column is arranged on respectively on a large base plate, and this large base plate is fixedly connected with mattess by chemical anchor bolts.
The truss walking guide rail of above-mentioned lifting robot, wherein, a walking limiting buffer device is installed respectively in the centre of two outer faces of described truss, and described truss is being respectively equipped with the spacing collision block of a surpassed distance near on the leading flank of two outer end.
The truss walking guide rail of above-mentioned lifting robot, wherein, the leading flank of described installing plate is provided with a surpassed distance limit switch, the first collision block is installed in the middle of one outer end of this installing plate, the first collision limit switch is installed in the middle of another outer end of this installing plate, and in one side of this first collision limit switch, one collision bumper also is installed.
The truss walking guide rail of above-mentioned lifting robot, wherein, on described installing plate, the rear side of an end of corresponding described the first collision block is installed the second collision limit switch, and on this installing plate, the rear side of another outer end of corresponding the first collision limit switch is installed the second collision block.
The truss walking guide rail of above-mentioned lifting robot, wherein, described lubricating arrangement comprises oil tank, oil pump, pressure switch, oil filter, quantitative oil syringe and the unloader be arranged on a support.
The technical scheme of the truss walking guide rail of lifting of the present utility model robot has following characteristics:
1, adopt truss walking guide rail lifting robot to carry out the carrying of process equipment automatic loading/unloading, make robot there is the air walk function, expanded the job area of robot, make a robot can complete the loading and unloading transport operation of many process equipments;
2, can take full advantage of the solid space of production site, can place other production equipment or, as logistics corridor, improve the utilization rate of production site below the truss guide rail;
3, realize that robot replaces manually carrying out the carrying of process equipment automatic loading/unloading, can alleviate workman's labour intensity, reduce operative employee's quantity, improve production automation level, enhance productivity, improve Business Economic Benefit.
4, truss adopts in the centre of two rectangular steel pipes and presss from both sides up and down steel plate and carries out welded structure, improved the bending resistant section modulus value of truss, improved the counter-bending ability of truss, even when larger column spacing (10 meters), the bending of truss (deflection value) is still less.
The accompanying drawing explanation
The first embodiment stereogram of the truss walking guide rail that Fig. 1 is lifting of the present utility model robot;
The sectional view of truss in the truss walking guide rail that Fig. 2 is lifting of the present utility model robot;
The stereogram of robot installing mechanism in the truss walking guide rail that Fig. 3 is lifting of the present utility model robot;
The front view of robot installing mechanism in the truss walking guide rail that Fig. 4 is lifting of the present utility model robot;
The stereogram of lubricating arrangement in the truss walking guide rail that Fig. 5 is lifting of the present utility model robot;
The rearview of lubricating arrangement in the truss walking guide rail that Fig. 6 is lifting of the present utility model robot;
The stereogram of the second embodiment of the truss walking guide rail that Fig. 7 is lifting of the present utility model robot;
The stereogram of the third embodiment of the truss walking guide rail that Fig. 8 is lifting of the present utility model robot.
The specific embodiment
In order to be understood the technical solution of the utility model better, below by embodiment particularly, be described in detail:
Refer to Fig. 1 to Fig. 6, the truss walking guide rail of lifting of the present utility model robot, comprise truss 1 bracing frame 2, pair of guide rails 3, tooth bar 4 and at least a set of robot installing mechanism.
Pair of guide rails 3 is arranged on the lower surface of truss 1;
Tooth bar 4 is arranged on the lower surface of truss 1 also abreast between pair of guide rails 3;
Every cover robot installing mechanism includes installing plate 5, driving mechanism, lubricating arrangement 7 and tractor, wherein,
On the upper surface of installing plate 5, corresponding pair of guide rails 3 is installed somely to slide block 50, and installing plate 5 is slidably mounted on pair of guide rails 3; While below truss walking guide rail, lifting two above robots, the leading flank of installing plate 5 is provided with a surpassed distance limit switch 51, the first collision block 52 is installed in the middle of one outer end of this installing plate 5, the first collision limit switch 53 is installed in the middle of another outer end of this installing plate 5, and in one side of this first collision limit switch 53, one collision bumper 54 also is installed; On installing plate 5, the rear side of an end of corresponding the first collision block 52 is installed the second collision limit switch 55, and the rear side of another outer end of corresponding the first collision limit switch 53 is installed the second collision block 56;
Driving mechanism comprises that a servomotor 61, that is arranged on the lower surface of installing plate 5 is connected to the reductor 62 on the output shaft of servomotor 61 and is arranged on the output shaft of reductor 62 and is positioned at upper surface and tooth bar 4 meshed gears 63 of installing plate 5;
Tractor is one to be arranged on the drag chain 8 on truss 1, and this drag chain 8 is arranged on trailing flank or the leading flank of truss 1 by a dee 80, and the mobile terminal of this drag chain 8 is connected on installing plate 5;
Robot 9 is lifted on the lower surface of installing plate 5.
The length of truss 1 is according to user's actual production layout, and robot captures, the distance range of carrying workpiece needs and determines, generally between 5 meters～40 meters.Will consider the fulcrum of bracing frame when truss 1 length is greater than 10 meters, if not, the deflection value of the excessive truss 1 of spacing of truss two fulcrums just strengthens, and robot is walked and easily has a negative impact at a high speed.
Refer to again Fig. 7, the figure illustrates the truss walking guide rail that the second of the present utility model lifts robot, truss 1 length of this walking guide rail is over 30 meters, the guide rails assembling step surface of each section truss splicing place, the spacing dimension of tooth bar erecting bed terrace must guarantee wide (being that guide rail one side or tooth bar one side datum clamp face must guarantee wide) if fruit light by two door frames as bracing frame, the spacing of two fulcrums of truss 1 is excessive, the deflection value of truss 1 just strengthens, robot is walked and easily has a negative impact at a high speed, therefore bracing frame has four door frames to form, wherein be positioned on the medial surface of two single columns 21 of a pair of door frame at bracing frame two ends respectively and connect one by two needle beams 23 and reinforce columns 24 and reinforced, double swerve occurs in truss 1 when preventing that robot 9 from walking at a high speed, truss 1 place, below is left machine tool for and is used or logistics corridor, can improve the service efficiency in place, workshop.
Refer to again Fig. 8, the figure illustrates the truss walking guide rail of the third lifting robot of the present utility model, truss 1 length of this walking guide rail only has 10 meters, so bracing frame is only a pair of single column 25, the lateral surface of this pair of single column 25 be connected respectively a cross-brace 26 with trailing flank; Truss 1 is connected across between the upper surface of a pair of single column 25, and drag chain 8 is arranged on the upper surface of truss 1 by a dee 80.
The truss walking guide rail of lifting of the present utility model robot, provide driving power by servomotor 61 and accurate retarding machine 62, by gear 63, tooth bar 4 transferring power, use high-precision line slideway 3 to be led, can make the installing plate 5 of robot move fast and accurately on line slideway 3.When installing plate 5 moves to two, front and back of line slideway 3, the spacing collision block of surpassed distance on truss 1 is encountered surpassed distance limit switch 51, this surpassed distance limit switch 51 passes to control system by signal makes servomotor 61 out of service, and then makes the installing plate 5 of robot stop mobile.Walking limiting buffer device 13 and the second collision block 56 can make installing plate 5 stop reposefully.While below truss walking guide rail, lifting two above robots, the first collision block 52 on installing plate 5 and the first collision limit switch 53 can prevent from clashing between robot and robot
On installing plate 5, different robot 9 can be installed as required; also can be as required; on truss walking guide rail, Liang Tai and three robots are installed; by the first collision block 52 of hardware and surpassed distance limit switch 51 and the control system of first collision limit switch 53, collision bumper 54 and software, can make many robots be protected in zone separately; realize the mutual coordinated movement of various economic factors of many robots, complete relevant work.
The operation principle of lubricating arrangement: set at first in advance program controller, set the work tempo (setting oil pump capacity) of oil pump 72, when robot 9 brings into operation, this device carries out work simultaneously.Under the control of program controller, oil pump 72 regularly starts, and the grease of 71 li of oil tanks is extracted out, along pipeline flow through Pressure gauge, oil filter 74, quantitative oil syringe 75, oil storage when quantitatively oil syringe 75 pressurizes, when oil storage reaches quantitative, while along with system pressure, increasing to setting, pressure switch 73 is fired, unloader 76 starts off-load, now quantitatively oil syringe 75 starts oiling after system unloaded, and grease is delivered in slide block 50, and lubricating system completes an oil injecting lubricating job.As for one day needs oil injecting lubricating how many times, each how many amounts, got final product automatic operation after being set by program controller.
This drag chain 8 is for the robot private cable on lifting-line robot installing mechanism, cable for paw, tracheae, sensor signal lines and with installing plate 5 motions;
Those of ordinary skill in the art will be appreciated that, above embodiment is only for the utility model is described, and not be used as restriction of the present utility model, as long as in connotation scope of the present utility model, to variation, the modification of the above embodiment, all will drop in claims scope of the present utility model.
Claims (9)
1. a truss walking guide rail that lifts robot, comprise truss, pair of guide rails, a tooth bar, at least a set of robot installing mechanism, and every cover robot installing mechanism includes installing plate, driving mechanism, lubricating arrangement and tractor, it is characterized in that,
Described truss is arranged on the upper end of a bracing frame, and this truss comprises two rectangular steel pipes and two junction steel plates that are separately fixed at two upper and lower sides between rectangular steel pipe;
Described pair of guide rails is arranged on the lower surface of described truss;
Described tooth bar is arranged on the lower surface of described truss also abreast between pair of guide rails;
On the upper surface of described installing plate, corresponding described pair of guide rails is installed somely to slide block, and installing plate is slidably mounted on described pair of guide rails;
Described robot is lifted on the lower surface of described installing plate;
Described driving mechanism comprises that one is arranged on the reductor on the output shaft that servomotor, on the lower surface of described installing plate is connected to servomotor and is arranged on the output shaft of described reductor and is positioned at upper surface and the described tooth bar meshed gears of installing plate;
Described lubricating arrangement provides lubricating oil and is arranged on described installing plate for described guide rail and slide block;
Described tractor is one to be arranged on the drag chain on described truss, and the mobile terminal of this drag chain is connected on described installing plate.
2. the truss of lifting according to claim 1 robot walking guide rail, it is characterized in that, support frame as described above at least comprises a pair of door frame, described truss is fixed on the middle part of lower surface of the crossbeam of described door frame by connector, described drag chain is arranged on trailing flank or the leading flank of described truss by a dee.
3. the truss of lifting according to claim 2 robot walking guide rail, is characterized in that, is positioned to connect one by two needle beams respectively on the lateral surface of two single columns of door frame at support frame as described above two ends and reinforce column.
4. the truss of lifting according to claim 1 robot walking guide rail, it is characterized in that, support frame as described above is a pair of single column, the lateral surface of this pair of single column be connected respectively a cross-brace with trailing flank, described truss is connected across between the upper surface of a pair of single column, and described drag chain is arranged on the upper surface of described truss by a dee.
5. according to the truss walking guide rail of claim 3 and 4 any one described lifting robots, it is characterized in that, the bottom of described single column is arranged on respectively on a large base plate, and this large base plate is fixedly connected with mattess by chemical anchor bolts.
6. according to the truss walking guide rail of claim 1,2,4 any one described lifting robots, it is characterized in that, a walking limiting buffer device is installed respectively in the centre of two outer faces of described truss, and described truss is being respectively equipped with the spacing collision block of a surpassed distance near on the leading flank of two outer end.
7. the truss of lifting according to claim 1 robot walking guide rail, it is characterized in that, the leading flank of described installing plate is provided with a surpassed distance limit switch, the first collision block is installed in the middle of one outer end of this installing plate, the first collision limit switch is installed in the middle of another outer end of this installing plate, and in one side of this first collision limit switch, one collision bumper also is installed.
8. the truss of lifting according to claim 7 robot walking guide rail, it is characterized in that, on described installing plate, the rear side of an end of corresponding described the first collision block is installed the second collision limit switch, and on this installing plate, the rear side of another outer end of corresponding the first collision limit switch is installed the second collision block.
9. the truss of lifting according to claim 1 robot walking guide rail, is characterized in that, described lubricating arrangement comprises the oil tank that is arranged on a support, oil pump, pressure switch, oil filter, quantitatively oil syringe and unloader.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320326818 CN203343793U (en) | 2013-06-07 | 2013-06-07 | Truss walking guide rail for hoisting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320326818 CN203343793U (en) | 2013-06-07 | 2013-06-07 | Truss walking guide rail for hoisting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203343793U true CN203343793U (en) | 2013-12-18 |
Family
ID=49743726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320326818 Expired - Lifetime CN203343793U (en) | 2013-06-07 | 2013-06-07 | Truss walking guide rail for hoisting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203343793U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264312A (en) * | 2013-06-07 | 2013-08-28 | 上海发那科机器人有限公司 | Truss traveling guide rail for hoisting robot |
| WO2015106965A1 (en) * | 2014-01-16 | 2015-07-23 | Dürr Systems GmbH | Protective shield device for a displacement rail |
| CN104842339A (en) * | 2014-02-19 | 2015-08-19 | 发那科株式会社 | Robot traveling system provided with cable track, robot system, and machining system |
| CN104985595A (en) * | 2015-07-29 | 2015-10-21 | 浙江治丞智能机械科技有限公司 | A three-axis truss type robot |
| CN109304705A (en) * | 2018-11-27 | 2019-02-05 | 上海应用技术大学 | A kind of truss robot double drive moved cross beam |
-
2013
- 2013-06-07 CN CN 201320326818 patent/CN203343793U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264312A (en) * | 2013-06-07 | 2013-08-28 | 上海发那科机器人有限公司 | Truss traveling guide rail for hoisting robot |
| CN103264312B (en) * | 2013-06-07 | 2016-06-29 | 上海发那科机器人有限公司 | A kind of truss traveling guide rail for hoisting robot |
| WO2015106965A1 (en) * | 2014-01-16 | 2015-07-23 | Dürr Systems GmbH | Protective shield device for a displacement rail |
| CN105916594A (en) * | 2014-01-16 | 2016-08-31 | 杜尔系统有限责任公司 | Protective shield device for a displacement rail |
| US10413929B2 (en) * | 2014-01-16 | 2019-09-17 | Dürr Systems GmbH | Protective shield device for a travel rail |
| CN105916594B (en) * | 2014-01-16 | 2020-05-08 | 杜尔系统股份公司 | Protective cover device for moving rail |
| CN104842339A (en) * | 2014-02-19 | 2015-08-19 | 发那科株式会社 | Robot traveling system provided with cable track, robot system, and machining system |
| CN104842339B (en) * | 2014-02-19 | 2018-09-14 | 发那科株式会社 | Have robot walking device, robot system and the system of processing of cable drag chain |
| CN104985595A (en) * | 2015-07-29 | 2015-10-21 | 浙江治丞智能机械科技有限公司 | A three-axis truss type robot |
| CN109304705A (en) * | 2018-11-27 | 2019-02-05 | 上海应用技术大学 | A kind of truss robot double drive moved cross beam |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103264312B (en) | A kind of truss traveling guide rail for hoisting robot | |
| CN203343793U (en) | Truss walking guide rail for hoisting robot | |
| CN106081453B (en) | Automatic three-dimensional storage equipment | |
| CN201849968U (en) | Dustless intelligent discharge device | |
| CN105800304A (en) | Machine body loading mechanism of limiting switch assembling machine | |
| CN203461539U (en) | All-steel finished tyre transporting and stacking system | |
| CN102514928A (en) | Automatic loading device of block machine supporting plates | |
| CN203581979U (en) | Automatic plate supplying machine | |
| CN204171774U (en) | The electronic truss-like handling equipment of full-automatic four-shaft numerically controlled radiusing machine | |
| CN102701115A (en) | Variable-section aisle piler | |
| CN201023957Y (en) | Multi-function bidirectional conveyer | |
| CN203461538U (en) | Wide-span tyre transporting, unstacking and stacking system | |
| CN113978981A (en) | Heavy-load primary-secondary vehicle | |
| CN101973462A (en) | Double-layer steel truss bolting rake tooth three-dimensional material rake of scraper blade material taking machine | |
| CN103213800A (en) | Automatic stereoscopic warehouse unit cargo self-aligning storage platform and alignment method thereof | |
| CN206645556U (en) | It is a kind of can automatic safety forklift hole brick stacking device | |
| CN103213803A (en) | Automatic plate conveying machine | |
| CN206425711U (en) | Multi-vehicle-type shares welding and assembling production lines structure | |
| CN104907361A (en) | Straightening machine and roller replacing device thereof | |
| CN103662704A (en) | Rail-spanning transportation assembly wagon | |
| CN204078698U (en) | Veneer sheet automatic lifting conveying integrated machine | |
| CN208137542U (en) | A kind of double-stranded bicycle underground parking mechanism | |
| CN202346394U (en) | Automatic loading machine | |
| CN202322203U (en) | Steel pipe feeding device | |
| CN103790418A (en) | Car carrying plate linear displacement transferring system of vertical lifting type parking equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131218 |