CN203401489U - Automatic die-filling manipulator - Google Patents
Automatic die-filling manipulator Download PDFInfo
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- CN203401489U CN203401489U CN201320508870.0U CN201320508870U CN203401489U CN 203401489 U CN203401489 U CN 203401489U CN 201320508870 U CN201320508870 U CN 201320508870U CN 203401489 U CN203401489 U CN 203401489U
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- manipulator
- driving mechanism
- longitudinal
- pawl
- automatic die
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Abstract
An automatic die-filling manipulator comprises an X-axis truss, a Y-axis girder and a manipulator body. The X-axis truss is provided with a left guide longitudinal beam, a right guide longitudinal beam and a supporting stand column, a longitudinal linear guide rail and a longitudinal rack are installed on the guide longitudinal beam, and the Y-axis girder is structurally provided with a gear, a transverse rack, a transverse linear guide rail, a sliding block and the manipulator body. The manipulator body is provided with a transverse driving mechanism and a longitudinal driving mechanism. The automatic die-filling manipulator is characterized in that a manipulator frame is provided with a lifting arm, a precise rotating air cylinder, a lifting gear and a lifting driving mechanism. An integrated executing jaw is provided with an air jaw, a pin pressing air cylinder and a jet nozzle. According to the automatic die-filling manipulator, efficiency of a production line and precision of cement prefabricated parts are improved, the precision is up to 1mm, mechanical and automation operation is achieved, labor force is saved, the whole process is controlled by computers, real-time information and progress of production are easy to master, and informatization production is achieved.
Description
Technical field
The utility model relates to constructional engineering machinery technical field, is specifically related to a kind of automatic die filling tool hand.
Background technology
While producing cement pre-fabricated panel, need to, according to the shape of prefabricated board, first mould rib be fixed on to steel table top, then cast concrete.At present, most domestic producer is all that after manual measurement, rib is put in location, then adopts fixture or bolt to fix, and this process wastes time and energy, and easily produces artificial error and error, and efficiency is low and precision is not high.
Utility model content
Technical problem to be solved in the utility model is: solve the problem that above-mentioned prior art exists; and a kind of automatic die filling tool hand is provided, Auto-mounting jig rib and the position line of drawing the modules such as door and window, line box at steel table top, avoid human error; precision is good, and efficiency is high.
The technical solution adopted in the utility model is:
A tool hand, comprises X-axis truss, bifurcation axle crossbeam and manipulator; Described X-axis truss has left and right guiding longeron and support post, and support post upper end is connected and fixed with guiding longeron, and support post lower end fixes on the ground, on guiding longeron, longitudinal line slideway and longitudinal rack is housed; The described large girder construction of bifurcation axle is that gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator are installed on crossbeam, transversal driving mechanism and longitudinal driving mechanism are installed on manipulator, slide block set is contained on longitudinal line slideway of guiding longeron, longitudinal driving mechanism is by the gear of drive link connection for transmission crossbeam termination, gear meshes with the longitudinal rack on guiding longeron, transversal driving mechanism connection for transmission transverse gear, the horizontal tooth bar engagement on transverse gear and crossbeam; Described manipulator comprises installs lifting arm, precision rotation cylinder, lifter wheel and lift drive mechanism on manipulator frame, integrated execution pawl is installed in the lower end of lifting arm, the side arm of lifting arm is installed lifting line slideway and lifter rack, lift drive mechanism connection for transmission lifter wheel, lifter wheel and lifter rack engagement; On described integrated execution pawl, gas pawl, pad cylinder and nozzle are installed, gas pawl mounted in pairs, connect to be driven by gas pawl cylinder, and the execution unit corresponding with gas pawl, pad cylinder is magnetic limit mould.
In technique scheme, described magnetic limit mould is made by corrosion resistant plate, is fixed with reinforcement gusset, on the mould of magnetic limit, magnet and latch is installed, and magnetic limit mould and steel table top magnetic force are fixed.
In technique scheme, described transversal driving mechanism, longitudinal driving mechanism and lift drive mechanism all adopt the engagement of driven by servomotor wheel and rack, and servomotor is controlled by computer output, meanwhile, gas pawl cylinder, pad cylinder and nozzle on integrated execution pawl are controlled by electromagnetic gas valve, and electromagnetic gas valve is also controlled by computer output.
In technique scheme, on described integrated execution pawl, compensation mechanism is also installed.
Operation principle:
The utility model includes the motion of longitudinal X-axis, laterally Y-axis motion, vertically Z axis motion and around the rotation of Z axis; The motion of X-axis, Y-axis, Z axis adopts driven by servomotor rack-and-pinion, by line slideway, is led; Around Z axis, rotate and adopt precision rotation cylinder or driven by servomotor gear train; Executing agency mainly comprises gas pawl, nozzle, pad cylinder and compensation mechanism etc.
X-axis truss comprises left and right guiding longeron, support post, and each several part adopts shaped steel to be welded, and utilizes bolt and nut that each is partly connected, and line slideway and rack gear arrangement are on the guiding longeron of left and right.
Y-axis crossbeam is the horizontal lengthwise movement main element of whole equipment, comprises crossbeam, tooth bar, line slideway, slide block and driving mechanism.Driving mechanism comprises horizontal driving and longitudinally drives, and is all to adopt driven by servomotor gear to move on tooth bar, is guaranteed the linearity of motion by line slideway.
Manipulator comprises lifting arm, line slideway, tooth bar, driving mechanism and integrated execution pawl.Line slideway is contained on lifting arm, and lifting arm is moved on tooth bar by driven by servomotor gear, is guaranteed the linearity of motion by line slideway.Integrated execution pawl mainly comprises gas pawl, pad cylinder and nozzle etc., gas pawl is used for pick-and-place magnetic limit mould, thereby pad cylinder fixes Bian Mo and steel table top magnetic force for depressing the magnet latch of magnetic limit mould, nozzle is for spraying the position line of the modules such as door, window, line box, and all spools, valve body etc. are integrated in radome.
Whole installation fixed magnetic limit mould and line are controlled automatically by computer completely.By drawing typesetting on designer's computer, then by drawing driving device hand, automatically performed.
Advantageous effect:
The utility model has improved production line efficiency and cement prefab precision, and precision is up to 1mm, and automatic and mechanical operation, has saved manpower, and whole process is controlled by computer, easily grasps production real time information and progress, realizes e-manufacturing.
Accompanying drawing explanation
Fig. 1 is the utility model complete machine structure schematic diagram;
Fig. 2 is bifurcation axle crossbeam structural representation;
Fig. 3 is magnetic limit mode structure schematic diagram;
Fig. 4 is robot manipulator structure schematic diagram.
Accompanying drawing marking explanation:
1-X axle truss, the longitudinal line slideway of 2-, 3-longitudinal rack, 4-bifurcation axle crossbeam, 5-manipulator, Mo，7-limit, 6-magnetic limit mould bases, 8-steel table top, 9-ground, 10-crossbeam, 11-dual output servo deceleration motor, 12-drive link, 13-gear, 14-slide block, the horizontal tooth bar of 15-, the horizontal line slideway of 16-, 17-latch, 18-magnet, 19-corrosion resistant plate, 20-strengthens gusset, 21-lifting arm, 22-lifting line slideway, 23-radome, 24-gas pawl, 25-pad cylinder, 26-nozzle.
The specific embodiment
Referring to Fig. 1-Fig. 4, automatic die filling tool hand of the present utility model, comprises X-axis truss 1, bifurcation axle crossbeam 4 and manipulator 5; Described X-axis truss 1 has left and right guiding longeron and support post, and support post upper end is connected and fixed with guiding longeron, and support post lower end fixes on the ground, on guiding longeron, longitudinal line slideway and longitudinal rack is housed; The described large girder construction of bifurcation axle is that gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator are installed on crossbeam, transversal driving mechanism and longitudinal driving mechanism are installed on manipulator, slide block set is contained on longitudinal line slideway of guiding longeron, longitudinal driving mechanism is by drive link connection for transmission crossbeam termination gear, gear meshes with the longitudinal rack on guiding longeron, transversal driving mechanism connection for transmission transverse gear, the horizontal tooth bar engagement on transverse gear and crossbeam; Described manipulator comprises installs lifting arm, precision rotation cylinder, lifter wheel and lift drive mechanism on manipulator frame, integrated execution pawl is installed in the lower end of lifting arm, the side arm of lifting arm is installed lifting line slideway and lifter rack, lift drive mechanism connection for transmission lifter wheel, lifter wheel and lifter rack engagement; On described integrated execution pawl, gas pawl, pad cylinder and nozzle are installed, gas pawl mounted in pairs, connect to be driven by gas pawl cylinder, and the execution unit corresponding with gas pawl, pad cylinder is magnetic limit mould.
Above-mentioned magnetic limit mould is made by corrosion resistant plate, is fixed with reinforcement gusset, on the mould of magnetic limit, magnet and latch is installed, and magnetic limit mould and steel table top magnetic force are fixed.
Above-mentioned transversal driving mechanism, longitudinal driving mechanism and lift drive mechanism all adopt the engagement of driven by servomotor wheel and rack, and servomotor is controlled by computer output, meanwhile, gas pawl cylinder, pad cylinder and nozzle on integrated execution pawl are controlled by electromagnetic gas valve, and electromagnetic gas valve is also controlled by computer output.
On above-mentioned integrated execution pawl, compensation mechanism is also installed.
Claims (4)
1. an automatic die filling tool hand, is characterized in that: comprise X-axis truss, bifurcation axle crossbeam and manipulator; Described X-axis truss has left and right guiding longeron and support post, and support post upper end is connected and fixed with guiding longeron, and support post lower end fixes on the ground, on guiding longeron, longitudinal line slideway and longitudinal rack is housed; The described large girder construction of bifurcation axle is that gear, horizontal tooth bar, horizontal line slideway, slide block and manipulator are installed on crossbeam, transversal driving mechanism and longitudinal driving mechanism are installed on manipulator, slide block set is contained on longitudinal line slideway of guiding longeron, longitudinal driving mechanism is by a gear of the large beam-ends of drive link connection for transmission, gear meshes with the longitudinal rack on guiding longeron, transversal driving mechanism connection for transmission transverse gear, the horizontal tooth bar engagement on transverse gear and crossbeam; Described manipulator comprises installs lifting arm, precision rotation cylinder, lifter wheel and lift drive mechanism on manipulator frame, integrated execution pawl is installed in the lower end of lifting arm, the side arm of lifting arm is installed lifting line slideway and lifter rack, lift drive mechanism connection for transmission lifter wheel, lifter wheel and lifter rack engagement; On described integrated execution pawl, gas pawl, pad cylinder and nozzle are installed, gas pawl mounted in pairs, connect to be driven by gas pawl cylinder, and the execution unit corresponding with gas pawl, pad cylinder is magnetic limit mould.
2. automatic die filling tool hand according to claim 1, is characterized in that: described magnetic limit mould is made by corrosion resistant plate, is fixed with reinforcement gusset, on the mould of magnetic limit, magnet and latch is installed, and magnetic limit mould and steel table top magnetic force are fixed.
3. automatic die filling tool hand according to claim 1; it is characterized in that: described transversal driving mechanism, longitudinal driving mechanism and lift drive mechanism all adopt the engagement of driven by servomotor wheel and rack; and servomotor is controlled by computer output; meanwhile; gas pawl cylinder, pad cylinder and nozzle on integrated execution pawl are controlled by electromagnetic gas valve, and electromagnetic gas valve is also controlled by computer output.
4. automatic die filling tool hand according to claim 1, is characterized in that: on described integrated execution pawl, compensation mechanism is also installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320508870.0U CN203401489U (en) | 2013-08-19 | 2013-08-19 | Automatic die-filling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320508870.0U CN203401489U (en) | 2013-08-19 | 2013-08-19 | Automatic die-filling manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203401489U true CN203401489U (en) | 2014-01-22 |
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ID=49937431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320508870.0U Expired - Lifetime CN203401489U (en) | 2013-08-19 | 2013-08-19 | Automatic die-filling manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203401489U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406899A (en) * | 2013-08-19 | 2013-11-27 | 长沙远大住宅工业有限公司 | Automatic die setting manipulator |
| CN104227702A (en) * | 2014-09-11 | 2014-12-24 | 北京国电通网络技术有限公司 | Double-track numerically controlled crossbeam type manipulator |
| CN105305160A (en) * | 2015-08-31 | 2016-02-03 | 李王朝 | Truss-type flexible automatic assembly system |
| CN106583582A (en) * | 2016-12-28 | 2017-04-26 | 滁州品之达电器科技有限公司 | Flexible stamping manipulator |
| CN106746708A (en) * | 2016-12-02 | 2017-05-31 | 东莞市天合机电开发有限公司 | A kind of chalker with lift drive mechanism |
| CN108527339A (en) * | 2018-05-28 | 2018-09-14 | 东莞市铧光自动化机械有限公司 | A kind of Intelligent mechanical arm device |
-
2013
- 2013-08-19 CN CN201320508870.0U patent/CN203401489U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406899A (en) * | 2013-08-19 | 2013-11-27 | 长沙远大住宅工业有限公司 | Automatic die setting manipulator |
| CN103406899B (en) * | 2013-08-19 | 2016-03-16 | 长沙远大住宅工业集团有限公司 | Automatic die filling tool hand |
| CN104227702A (en) * | 2014-09-11 | 2014-12-24 | 北京国电通网络技术有限公司 | Double-track numerically controlled crossbeam type manipulator |
| CN105305160A (en) * | 2015-08-31 | 2016-02-03 | 李王朝 | Truss-type flexible automatic assembly system |
| CN105305160B (en) * | 2015-08-31 | 2017-11-03 | 李王朝 | A kind of truss-like flexible automation assembly system |
| CN106746708A (en) * | 2016-12-02 | 2017-05-31 | 东莞市天合机电开发有限公司 | A kind of chalker with lift drive mechanism |
| CN106746708B (en) * | 2016-12-02 | 2019-06-21 | 沙洋弘润建材有限公司 | A kind of lineation device with lift drive mechanism |
| CN106583582A (en) * | 2016-12-28 | 2017-04-26 | 滁州品之达电器科技有限公司 | Flexible stamping manipulator |
| CN108527339A (en) * | 2018-05-28 | 2018-09-14 | 东莞市铧光自动化机械有限公司 | A kind of Intelligent mechanical arm device |
| CN108527339B (en) * | 2018-05-28 | 2023-07-28 | 东莞市铧光自动化机械有限公司 | Intelligent mechanical arm device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: CHANGSHA BROAD HOMES INDUSTRIAL GROUP CO., LTD. Free format text: FORMER NAME: BROAD HOMES INDUSTRIAL CO., LTD. |
|
| CP03 | Change of name, title or address |
Address after: 410013 Changsha high tech Development Zone, Yuelu, Hunan Avenue, Changsha Yuanda Industrial Group Co., Ltd. Patentee after: CHANGSHA BROAD HOMES INDUSTRIAL INTERNATIONAL Co.,Ltd. Address before: 410013 Changsha Yuanda residential industry Co., Ltd., Changsha 248, Yuelu District, Hunan, China Patentee before: Changsha Broad Homes Industrial Group Co.,Ltd. |
|
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: HUNAN YUANDA CONSTRUCTION ENGINEERING CO.,LTD. Assignor: CHANGSHA BROAD HOMES INDUSTRIAL INTERNATIONAL Co.,Ltd. Contract record no.: 2015430000020 Denomination of utility model: Automatic die setting manipulator Granted publication date: 20140122 License type: Exclusive License Record date: 20150407 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 410205 Hunan province Changsha high and New Development Zone Lu Song road and Dongfang Red Road intersection Patentee after: CHANGSHA BROAD HOMES INDUSTRIAL GROUP Co.,Ltd. Address before: 410013 Changsha high tech Development Zone, Yuelu, Hunan Avenue, Changsha Yuanda Industrial Group Co., Ltd. Patentee before: CHANGSHA BROAD HOMES INDUSTRIAL INTERNATIONAL Co.,Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140122 |