CN210551207U - Transfer robot for mechanically-pressed refractory bricks - Google Patents
Transfer robot for mechanically-pressed refractory bricks Download PDFInfo
- Publication number
- CN210551207U CN210551207U CN201921535746.7U CN201921535746U CN210551207U CN 210551207 U CN210551207 U CN 210551207U CN 201921535746 U CN201921535746 U CN 201921535746U CN 210551207 U CN210551207 U CN 210551207U
- Authority
- CN
- China
- Prior art keywords
- fixedly arranged
- connecting rod
- driver
- speed reducer
- fixedly connected
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the technical field of the transport of machine-pressing refractory brick, the utility model discloses a machine-pressing refractory brick transport robot, the machine-pressing make-up machine is fixed to be set up in the rear side position of drying car, and multilayer drying car is fixed to be set up in the front side position of machine-pressing make-up machine, and the removal track that is used for making the drying car remove is fixed to be set up in the bottom position of drying car; the conveying device is fixedly arranged at the right side position of the drying vehicle, the integrated control cabinet is fixedly arranged at the rear side position of the mechanical pressing forming machine, and the conveying device is fixedly connected with the interior of the integrated control cabinet through a connecting wire; the refractory bricks are carried and placed on the drying vehicle through the carrying device. This kind of machine-formed is able to bear or endure firebrick's transfer and put efficiency have been improved greatly to machine-formed is able to bear or endure firebrick, have realized that transfer robot has reduced the recruitment cost to artifical complete substitution, have improved the security of whole resistant firebrick machine-formed technology, have solved the difficult problem of inviting of workman.
Description
Technical Field
The utility model belongs to the technical field of the resistant transport of resistant firebrick of machine-pressing shaping, concretely relates to resistant firebrick's transfer robot of machine-pressing shaping.
Background
The refractory material is applied to various fields of national economy such as steel, nonferrous metal, glass, cement, ceramics, petrifaction, machinery, boilers, light industry, electric power, military industry and the like; plays an irreplaceable important role in the development of high-temperature industrial production. The brick press molding process for refractory materials generally adopts two to three workers for collective operation, and the specific operation mode is as follows: and a pound material worker pours the weighed refractory material into a mold of a forming machine. The refractory material in the mold is flattened by a hand, and the other hand is started and operates the press to form. And a brick moving worker moves the brick which is formed by the machine pressing out from the press machine and puts the brick into a drying vehicle beside the press machine. Because the mechanical press forming worker has high labor intensity, dirty, messy and poor working environment, high noise, large dust pollution and high danger coefficient, the safety accident that the limbs of the worker are injured frequently occurs. At present, the labor cost of the worker is higher and higher, and workers are more and more difficult to attract, so that the problem of seriously restricting the development of the refractory material industry is solved.
The inventor develops a transfer robot for mechanically pressing refractory bricks based on the defects in the prior art, and can well solve the problems in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model provides a transfer robot for press-forming refractory bricks, which has simple design structure, convenient operation, high accuracy of motion position control and high automation degree; the utility model discloses utilize mathematical modeling, plan the movement track of the resistant firebrick's transfer robot of machine-pressing shaping in specific place in advance. And then compiling a motion control program, sending out a pulse motion track instruction by utilizing the motion control program and the motion controller, and controlling and pressing the refractory brick carrying robot by the driving controller to form an accurate motion track in a specific field so as to realize the synthetic action of carrying and placing the refractory bricks.
The utility model adopts the technical proposal that: a transfer robot for mechanically pressing refractory bricks comprises a mechanically pressing forming machine, a drying plate and a moving track; the machine pressing forming machine is fixedly arranged at the rear side position of the drying plate, the multi-layer drying plate is fixedly arranged at the front side position of the machine pressing forming machine, and the moving track for moving the drying plate is fixedly arranged at the bottom position of the drying plate; the conveying device is fixedly arranged at the right side position of the drying plate, the integrated control cabinet is fixedly arranged at the rear side position of the mechanical pressing forming machine, and the conveying device is fixedly connected with the interior of the integrated control cabinet through a connecting wire; the firebricks are conveyed and placed on the drying plate through the conveying device to perform the combined action.
The carrying device comprises a rotating base, a large arm supporting frame is fixedly arranged at the left side position of the upper part of the rotating base, a large arm is fixedly arranged at the upper part of the large arm supporting frame, the large arm is sleeved on the large arm supporting frame, and a first rotating shaft penetrates through the connecting part of the large arm and the large arm supporting frame to be fixedly connected; the upper part of the large arm is fixedly connected with the right end of the small arm through a second rotating shaft which passes through the large arm, and a third rotating shaft passes through a speed reducer support body and is fixedly hinged with the left end of the small arm; the worm and gear speed reducer is fixedly arranged on the speed reducer support body, the second servo motor is fixedly arranged at the front side position of the second rotating shaft, and a power output shaft of the second servo motor is fixedly connected with the second rotating shaft; the third servo motor is fixedly arranged at the upper part of the worm gear speed reducer; the electric push rod bracket is fixedly arranged at the edge position of the right side of the rotating base, the electric push rod is fixedly arranged at the upper part of the electric push rod bracket, the fixed block is fixedly connected with the middle position of the large arm, and the telescopic push rod of the electric push rod is hinged and fixed with the fixed block through the fixed shaft; the carrying arm is fixedly arranged at the bottom of the worm gear speed reducer and comprises a hollow square tube, and a fixing sleeve is fixedly arranged at the bottom of the right end of the hollow square tube; the vacuum adsorption part is fixedly arranged at the bottom of the left end of the hollow square tube, adsorption holes are uniformly distributed on the bottom surface of the vacuum adsorption part, the vacuum tube is fixedly arranged in the hollow square tube and is fixedly communicated with the vacuum adsorption part, and the other end of the vacuum tube is fixedly laid at the upper part of the connecting rod balancing device; the connecting rod balancing device is fixedly arranged at the right side positions of the large arm, the small arm and the electric push rod, one end of the connecting rod balancing device is fixedly connected with the right side bottom of the electric push rod support, and the other end of the connecting rod balancing device is fixedly connected with the right side of the speed reducer support.
Rotating base includes the bottom plate, the fixed chassis that is provided with in upper portion of bottom plate, the fixed upper portion central point that sets up on the chassis of center pin puts, the fixed upper portion position that sets up on the chassis of rotor, the central point of rotor puts the suit on the upper portion of center pin, the inside side of rotor is provided with the internal tooth, the fixed marginal position that sets up at the rotor of first servo motor, the fixed inside marginal position that sets up at the rotor of drive gear, it is fixed that drive gear passes through the fixed axle, a servo motor's power output shaft and drive gear's fixed axle fixed connection, the internal toothing of drive gear and rotor makes the.
The worm gear speed reducer comprises a speed reducer body, a power input shaft is fixedly arranged at the vertical center of the speed reducer body, and a power output shaft is fixedly arranged at the horizontal center of the bottom of the speed reducer body.
The speed reducer supporter includes the backup pad, and the backup pad is the spoon shape, and the central part of backup pad is fixed and is provided with the through-hole, and fixed drum is fixed to be set up in the right side position of backup pad.
The power output shaft of the third servo motor is fixedly connected with the power input shaft of the worm gear speed reducer; the power input shaft of the speed reducer body passes through the through hole of the speed reducer support body and is fixedly connected with the support plate.
The fixed sleeve at the bottom of the hollow square tube is fixedly sleeved on the power output shaft at the bottom of the speed reducer body.
The connecting rod balancing device comprises a connecting rod bracket, the connecting rod bracket is fixedly arranged at the right side position of the electric push rod bracket, and the connecting rod bracket is fixedly connected with the upper part of the rotating body; the first connecting rod and the connecting rod bracket are fixedly connected through a hinge shaft passing through the upper part of the first connecting rod and the upper part of the connecting rod bracket; the triangular connecting rod is fixedly hinged with the second rotating shaft into a triangle by utilizing three connecting rods through a hinge shaft, the left end of the triangular connecting rod is fixedly hinged with the upper part of the first connecting rod through the hinge shaft, the right end and the upper part of the triangular connecting rod are fixedly hinged with the left end of the second connecting rod through the hinge shaft, and the lower part of the triangular connecting rod is fixedly hinged with the second rotating shaft; the right end of the second connecting rod and the connecting rod fixing frame penetrate through the body of the connecting rod fixing frame to be fixedly hinged, and the connecting rod fixing frame is fixedly connected with the upper portion of the right side of the supporting plate of the speed reducer supporting body.
The rear end of the vacuum tube extends to the lower part of the first connecting rod of the connecting rod balancing device and is fixedly communicated with the suction opening of the exhaust fan.
The integrated control cabinet comprises a control cabinet body, the control cabinet body is a cuboid, a parameter adjusting module is fixedly arranged at the upper part of the control cabinet body, a PC chip set is fixedly arranged at the lower part of the parameter adjusting module, and a motion controller is inserted at the upper part of the PC chip set; the first driver is fixedly arranged at the bottom position of the left side of the motion controller, the second driver is fixedly arranged at the right position of the first driver, the third driver is fixedly arranged at the right position of the second driver, and the fourth driver is fixedly arranged at the right position of the third driver; the first driver, the second driver, the third driver and the fourth driver are respectively in plug-in connection with the motion controller through connecting wires; the first driver is fixedly connected with the first servo motor through a connecting wire, the second driver is fixedly connected with the second servo motor through a connecting wire, the third driver is fixedly connected with the third servo motor through a connecting wire, and the fourth driver is fixedly connected with the electric push rod through a connecting wire.
The working process of the transfer robot for the machine-pressed refractory bricks comprises the following steps: when the carrying robot for mechanically pressing and forming the refractory bricks is required to carry and place the refractory bricks, firstly, an exhaust fan of a vacuum tube is started to enable a vacuum adsorption part in a carrying arm of a carrying device to be in a strong negative pressure adsorption state; then, according to an action motion track planned in a specific field by a mechanical compression molding refractory brick carrying robot planned by mathematical modeling, compiling a motion control action program, storing the motion control program in a PC (personal computer) chip set of an integrated control cabinet, and transmitting a pulse control signal instructed by a motion controller to a first driver, a second driver, a third driver and a fourth driver corresponding to a first servo motor, a second servo motor, a third servo motor and an electric push rod respectively, so that the first driver, the second driver, the third driver and the fourth driver are used for controlling the rotation speed, the position speed and the angular speed of the first servo motor, the second servo motor and the third servo motor and the propulsion stroke of the electric push rod, and a control closed-loop system is formed; when the vacuum adsorption part is contacted with the surface of the refractory brick molded on the machine pressing molding machine, the refractory brick is adsorbed by strong adsorption force formed by the adsorption holes, and then the motion trail predetermined by the motion control program is formed to instantly synthesize motion actions in a specific field, and the refractory brick is placed in the drying plate layer by layer. The action of the machine-pressed refractory brick carrying robot is divided into the following steps: 1. utilize the pulse control signal of motion controller instruction, through the rotation of first servo motor of first driver control, make first servo motor's power output shaft drive gear and rotate, drive gear and the internal toothing of rotor make the rotor 360 rotations on the chassis through the center pin to big arm, forearm, electric putter and the transport arm on the rotating base have been realized and have been rotated 360 in specific place. 2. The pulse control signal instructed by the motion controller is utilized, the rotation of the second servo motor and the telescopic stroke of the electric push rod are respectively controlled through the second driver and the fourth driver, the up-and-down position action between the large arm and the small arm is realized through the hinging action of the large arm support frame, the small arm support frame and the large arm support frame, meanwhile, the telescopic action of the telescopic rod of the electric push rod realizes the forward-and-backward inclined displacement action of the large arm and the small arm, and meanwhile, under the hinging linkage action of the first connecting rod, the triangular connecting rod and the second connecting rod of the connecting rod balancing device, the balance traction action on the whole large arm, the small arm and the carrying arm is realized, and the stability of the action of the large arm, the small arm and the carrying arm is improved. 3. The third servo motor drives a power input shaft of the worm gear speed reducer to rotate through a power output shaft by utilizing a pulse control signal instructed by the motion controller, and the vertical rotation direction of the power input shaft is converted into the transverse rotation of the power output shaft in the speed reducer body; when the power input shaft vertically rotates, the hollow square tube of the carrying arm rotates 360 degrees of the horizontal position; when the power output shaft transversely rotates, the axial rotation action of the carrying arm is realized through the fixed connection effect of the fixed cylinder of the speed reducer support body, the power output shaft and the hollow square tube. The decomposition action of the machine-pressing refractory brick carrying robot is an instant synthesis action of a motion track in a specific field, which is completed by the motion controller, the first driver, the second driver, the third driver and the fourth driver through the motion controller, the first servo motor, the second servo motor, the third servo motor and the electric push rod.
A large arm support frame is fixedly arranged at the left side position of the upper part of the rotating base, a large arm is fixedly arranged at the upper part of the large arm support frame, the large arm is sleeved on the large arm support frame, and a first rotating shaft penetrates through the connecting part of the large arm and the large arm support frame to be fixedly connected; the main purpose of the arrangement is to enable the big arm to move back and forth on the big arm support frame.
The upper part of the large arm passes through the right ends of the large arm and the small arm through a second rotating shaft and is fixedly connected, and a third rotating shaft passes through a speed reducer support body and is fixedly hinged with the left end of the small arm; the worm and gear speed reducer is fixedly arranged on the speed reducer support body, the second servo motor is fixedly arranged at the front side position of the second rotating shaft, and a power output shaft of the second servo motor is fixedly connected with the second rotating shaft; the arrangement is mainly to realize the rotation action of the large arm through the second rotating shaft and the second servo motor, so that the large arm and the small arm can realize the lifting or falling action of the upper position and the lower position.
The electric push rod bracket is fixedly arranged at the edge position of the right side of the rotating base, the electric push rod is fixedly arranged at the upper part of the electric push rod bracket, the fixed block is fixedly connected with the middle position of the large arm, and the telescopic push rod of the electric push rod is hinged and fixed with the fixed block through the fixed shaft; the arrangement is mainly that the telescopic rod of the electric push rod is used for lifting or descending to push the large arm, the small arm and the carrying arm to realize the tilting action of the front and back positions.
The carrying arm is fixedly arranged at the bottom of the worm gear speed reducer and comprises a hollow square tube, and a fixing sleeve is fixedly arranged at the bottom of the right end of the hollow square tube; the vacuum adsorption part is fixedly arranged at the bottom of the left end of the hollow square tube, adsorption holes are uniformly distributed on the bottom surface of the vacuum adsorption part, the vacuum tube is fixedly arranged in the hollow square tube and is fixedly communicated with the vacuum adsorption part, and the other end of the vacuum tube is fixedly laid at the upper part of the connecting rod balancing device; the hollow square tube is mainly used for providing a stable supporting function for the vacuum adsorption part and providing a placing space for the vacuum tube; wherein set up the adsorption hole in the bottom of vacuum adsorption portion, mainly utilize the adsorption hole of vacuum adsorption portion bottom to live with resistant firebrick adsorption to the realization is to resistant firebrick's transport, the effect of putting.
The connecting rod balancing device is fixedly arranged at the right side positions of the large arm, the small arm and the electric push rod, one end of the connecting rod balancing device is fixedly connected with the right side bottom of the electric push rod support, and the other end of the connecting rod balancing device is fixedly connected with the right side of the speed reducer support; the arrangement is mainly that under the hinging linkage action of the first connecting rod, the triangular connecting rod and the second connecting rod, the balance traction action on the whole large arm, the small arm and the carrying arm is realized, and the stability of the actions of the large arm, the small arm and the carrying arm is improved.
The upper part of the bottom plate is fixedly provided with a chassis, the central shaft is fixedly arranged at the central position of the upper part of the chassis, the rotor is fixedly arranged at the upper part of the chassis, the central position of the rotor is sleeved at the upper part of the central shaft, the inner side surface of the rotor is provided with inner teeth, the first servo motor is fixedly arranged at the edge position of the rotor, the driving gear is fixedly arranged at the inner edge position of the rotor, the driving gear is fixed through a fixing shaft, the power output shaft of the first servo motor is fixedly connected with the fixing shaft of the driving gear, and the driving gear is meshed with the inner; the central shaft is arranged to mainly realize the rotating action of the rotating body on the chassis; wherein set up drive gear and first servo motor, the rotation through first servo motor drives drive gear's rotation to utilize the meshing effect of drive gear and the inside internal tooth of rotor, 360 rotations of drive rotor on the chassis, thereby realized that big arm, forearm, electric putter and the transport arm on the rotating base rotate 360 positions in specific place.
The worm and gear speed reducer comprises a speed reducer body, wherein a power input shaft is fixedly arranged at the vertical center of the speed reducer body, and a power output shaft is fixedly arranged at the transverse center of the bottom of the speed reducer body; the arrangement is mainly that the power input shaft of the worm gear speed reducer is driven to rotate through the power output shaft, and the vertical rotation direction of the power input shaft is converted into the transverse rotation of the power output shaft in the speed reducer body; when the power input shaft vertically rotates, the hollow square tube of the carrying arm rotates 360 degrees of the horizontal position; when the power output shaft transversely rotates, the axial rotation action of the carrying arm is realized through the fixed connection effect of the fixed cylinder of the speed reducer support body, the power output shaft and the hollow square tube.
The control cabinet body is a cuboid, the parameter adjusting module is fixedly arranged at the upper part of the control cabinet body, the PC chip set is fixedly arranged at the lower part of the parameter adjusting module, and the motion controller is inserted at the upper part of the PC chip set; the first driver is fixedly arranged at the bottom position of the left side of the motion controller, the second driver is fixedly arranged at the right position of the first driver, the third driver is fixedly arranged at the right position of the second driver, and the fourth driver is fixedly arranged at the right position of the third driver; the first driver, the second driver, the third driver and the fourth driver are respectively in plug-in connection with the motion controller through connecting wires; the first driver is fixedly connected with the first servo motor through a connecting wire, the second driver is fixedly connected with the second servo motor through a connecting wire, the third driver is fixedly connected with the third servo motor through a connecting wire, and the fourth driver is fixedly connected with the electric push rod through a connecting wire; the PC chip set is mainly used for storing a motion control program on one hand, realizing connection with a motion controller on the other hand, and sending a pulse instruction of the motion trail of the refractory brick carrying robot by using the motion controller. The motion controller is mainly used for sending motion track instructions of the refractory brick carrying robot through the motion controller according to the programmed motion control program track, transmitting the motion track instructions to the drivers, controlling the rotating speed, the position speed and the angular speed of the first servo motor, the second servo motor and the third servo motor and controlling the propelling stroke of the electric push rod.
The utility model has the advantages that: the utility model provides a transfer robot for mechanically-pressed refractory bricks, which has simple design structure, convenient operation and high position control accuracy; greatly improves the carrying and placing efficiency of the machine-pressing refractory brick, realizes the complete replacement of the carrying robot for manpower, reduces the labor cost, improves the safety of the whole machine-pressing process of the refractory brick, and solves the problem that workers are difficult to attract.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a top view of the internal structure of the rotating base of the present invention;
fig. 3 is a schematic structural diagram of the worm gear reducer of the present invention;
fig. 4 is a schematic structural view of the speed reducer support body of the present invention;
fig. 5 is a schematic structural view of the connecting rod balancing device of the present invention;
FIG. 6 is a schematic structural view of the transfer arm of the present invention;
the labels in the figure are: 1. machine-pressing forming machine, 2, drying plate, 3, moving track, 4, carrying device, 401, rotating base, 4011, bottom plate, 4012, chassis, 4013, central shaft, 4014, rotating body, 4015, internal teeth, 4016, first servo motor, 4017, driving gear, 402, big arm, 403, small arm, 404, big arm support, 405, electric push rod support, 406, electric push rod, 407, fixed block, 408, first rotating shaft, 409, second rotating shaft, 410, third rotating shaft, 411, second servo motor, 412, third servo motor, 413, turbine worm reducer, 4131, reducer body, 4132, power input shaft, 4133, power output shaft, 414, reducer, 4141, support plate, 4142, through hole, 4143, fixed cylinder, 415, carrying arm, 4151, hollow square tube, 4152, fixed sleeve, 416, vacuum adsorption part, 417, adsorption hole, 418, 417, adsorption hole, vacuum adsorption part, transportation arm, and transportation device, Vacuum tube 419, connecting rod balancing device 4191, connecting rod bracket 4192, first connecting rod 4193, triangle connecting rod 4194, second connecting rod 4195, connecting rod fixing frame 4196, hinge shaft 5, integrated control cabinet 501, control cabinet body 502, parameter adjusting module 503, PC chip set 504, motion controller 505, first driver 506, second driver 507, third driver 508, fourth driver 6 and refractory brick.
Detailed Description
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings.
As shown in the figure, the transfer robot for mechanically pressing and forming the refractory bricks comprises a mechanically pressing and forming machine 1, a drying plate 2 and a moving track 3; the machine pressing forming machine 1 is fixedly arranged at the rear side position of the drying plate 2, the multi-layer drying plate 2 is fixedly arranged at the front side position of the machine pressing forming machine 1, and the moving track 3 for moving the drying plate 2 is fixedly arranged at the bottom position of the drying plate 2; the carrying device 4 is fixedly arranged at the right side position of the drying plate 2, the integrated control cabinet 5 is fixedly arranged at the rear side position of the mechanical pressing forming machine 1, and the carrying device 4 is fixedly connected with the interior of the integrated control cabinet 5 through a connecting wire; the firebricks 6 are carried by the carrying device 4 and placed on the drying plate.
The carrying device 4 comprises a rotating base 401, a large arm support frame 404 is fixedly arranged at the left side of the upper part of the rotating base 401, a large arm 402 is fixedly arranged at the upper part of the large arm support frame 404, the large arm 402 is sleeved on the large arm support frame 404, and a first rotating shaft 408 penetrates through the connecting part of the large arm 402 and the large arm support frame 404 to be fixedly connected; the upper part of the large arm 402 passes through the right ends of the large arm 402 and the small arm 403 through a second rotating shaft 409 and is fixedly connected, and a third rotating shaft 410 passes through a speed reducer support 414 and is fixedly hinged with the left end of the small arm 403; the worm gear reducer 413 is fixedly arranged on the reducer support 414, the second servo motor 411 is fixedly arranged at the front side position of the second rotating shaft 409, and a power output shaft of the second servo motor 411 is fixedly connected with the second rotating shaft 409; the third servo motor 412 is fixedly arranged at the upper part of the worm gear reducer 413; the electric push rod bracket 405 is fixedly arranged at the right edge position of the rotating base 401, the electric push rod 406 is fixedly arranged at the upper part of the electric push rod bracket 405, the fixed block 407 is fixedly connected with the middle position of the large arm 402, and the telescopic push rod of the electric push rod 406 is hinged and fixed with the fixed block 407 through a fixed shaft; the carrying arm 415 is fixedly arranged at the bottom of the worm gear speed reducer 413, the carrying arm 415 comprises a hollow square tube 4151, and a fixing sleeve 4152 is fixedly arranged at the bottom of the right end of the hollow square tube 4151; the vacuum adsorption part 416 is fixedly arranged at the bottom of the left end of the hollow square tube 4151, the bottom surface of the vacuum adsorption part 416 is uniformly and fully provided with adsorption holes 417, the vacuum tube 418 is fixedly arranged in the hollow square tube 4151, the vacuum tube 418 is fixedly communicated with the vacuum adsorption part 416, and the other end of the vacuum tube 418 is fixedly laid on the upper part of the connecting rod balancing device 419; the link balance device 419 is fixedly arranged at the right side positions of the large arm 402, the small arm 403 and the electric push rod 406, one end of the link balance device 419 is fixedly connected with the right bottom of the electric push rod bracket 405, and the other end is fixedly connected with the right side of the speed reducer supporting body 414.
The worm gear speed reducer 413 comprises a speed reducer body 4131, a power input shaft 4132 is fixedly arranged at the vertical center of the speed reducer body 4131, and a power output shaft 4133 is fixedly arranged at the horizontal center of the bottom of the speed reducer body 4131.
The reducer support 414 includes a support plate 4141, the support plate 4141 is spoon-shaped, a through hole 4142 is fixedly provided at the center of the support plate 4141, and a fixing cylinder 4143 is fixedly provided at a right position of the support plate 4141.
The power output shaft of the third servo motor 412 is fixedly connected with the power input shaft 4132 of the worm gear speed reducer 413; the power input shaft 4132 of the reducer body 4131 is fixedly connected to the support plate 4141 through the through hole 4142 of the reducer support 414.
The fixed sleeve 4152 at the bottom of the hollow square tube 4151 is fixedly sleeved on the power output shaft 4133 at the bottom of the speed reducer body 4131.
The connecting rod balancing device 419 comprises a connecting rod bracket 4191, the connecting rod bracket 4191 is fixedly arranged at the right side position of the electric push rod bracket 405, and the connecting rod bracket 4191 is fixedly connected with the upper part of the rotating body 4014; the first link 4192 and the link bracket 4191 are fixedly connected through the upper portion of the first link 4192 and the upper portion of the link bracket 4191 by means of the hinge shaft 4196; the triangular connecting rod 4193 is fixedly hinged into a triangle by three connecting rods through a hinge shaft 4196 and a second rotating shaft 409, the left end of the triangular connecting rod 4193 is fixedly hinged with the upper part of the first connecting rod 4192 through the hinge shaft 4196, the right end and the upper part of the triangular connecting rod 4193 are fixedly hinged with the left end of the second connecting rod 4194 through the hinge shaft 4196, and the lower part of the triangular connecting rod 4193 is fixedly hinged with the second rotating shaft 409; the right end of the second connecting rod 4194 is fixedly hinged with a connecting rod fixing frame 4195 through a hinge shaft 4196 penetrating through the body thereof, and the connecting rod fixing frame 4195 is fixedly connected with the upper part of the right side of the supporting plate 4141 of the speed reducer supporting body 414.
The rear end of the vacuum tube 418 extends to a position below the first link 4192 of the link balancer 419 and is fixedly connected to the suction opening of the suction fan.
The integrated control cabinet 5 comprises a control cabinet body 501, the control cabinet body 501 is a cuboid, a parameter adjusting module 502 is fixedly arranged at the upper position of the control cabinet body 501, a PC chipset 503 is fixedly arranged at the lower position of the parameter adjusting module 502, and a motion controller 504 is inserted at the upper position of the PC chipset 503; a first driver 505 is fixedly disposed at a left bottom position of the motion controller 504, a second driver 506 is fixedly disposed at a right position of the first driver 505, a third driver 507 is fixedly disposed at a right position of the second driver 506, and a fourth driver 508 is fixedly disposed at a right position of the third driver 507; the first driver 505, the second driver 506, the third driver 507 and the fourth driver 508 are respectively connected with the motion controller 504 through connecting lines in a plugging manner; the first driver 505 is fixedly connected with the first servo motor 4016 through a connecting line, the second driver 506 is fixedly connected with the second servo motor 411 through a connecting line, the third driver 507 is fixedly connected with the third servo motor 412 through a connecting line, and the fourth driver 508 is fixedly connected with the electric push rod 406 through a connecting line.
The working process of the transfer robot for the machine-pressed refractory bricks comprises the following steps: when the transfer robot for press molding refractory bricks is required to transfer and place the refractory bricks 6, firstly, the exhaust fan of the vacuum tube 418 is turned on to make the vacuum adsorption part 416 in the transfer arm 415 of the transfer device 4 in a strong negative pressure adsorption state; then, according to the action movement track planned in a specific field by the mechanical pressing firebrick carrying robot planned by mathematical modeling, a movement control program is compiled and stored in a PC chip set of the integrated control cabinet 5, the pulse control signals instructed by the motion controller 504 are transmitted to a first driver 505, a second driver 506, a third driver 507 and a fourth driver 508 corresponding to the first servo motor 4016, the second servo motor 411, the third servo motor 412 and the electric push rod 406 respectively, thereby controlling the rotation speed, position speed and angular speed of the first servo motor 4016, the second servo motor 411 and the third servo motor 412 and the propulsion stroke of the electric push rod 406 by using the first driver 505, the second driver 506, the third driver 507 and the fourth driver 508, and forming a control closed loop system; when the vacuum adsorption part 416 contacts with the surface of the firebricks 6 formed on the machine press molding machine 1, the firebricks 6 are adsorbed by the strong adsorption force formed by the adsorption holes 417, and then the firebricks 6 are placed in the drying plate 2 layer by forming an instant synthetic motion action in a specific field through a motion trajectory predetermined by a motion control program. The action of the machine-pressed refractory brick carrying robot is divided into the following steps: 1. by utilizing a pulse control signal instructed by the motion controller 504, the rotation of the first servo motor 4016 is controlled by the first driver 505, so that a power output shaft of the first servo motor 4016 drives the driving gear 4017 to rotate, the driving gear 4017 is meshed with internal teeth 4015 of the rotating body 4014, and the rotating body 4014 rotates on the chassis 4012 by 360 degrees through the central shaft 4013, so that the large arm 402, the small arm 403, the electric push rod 406 and the carrying arm 415 on the rotating base 401 rotate by 360 degrees in a specific field. 2. The rotation of the second servo motor 411 and the telescopic stroke of the electric push rod 406 are respectively controlled by a pulse control signal instructed by the motion controller 504 through the second driver 506 and the fourth driver 508, the up-and-down position motion between the large arm 402 and the small arm 403 is realized through the hinging action of the large arm 402, the small arm 403 and the large arm support frame 404, meanwhile, the front-and-back inclined displacement motion of the large arm 402 and the small arm 403 is realized through the telescopic action of the telescopic rod of the electric push rod 406, and simultaneously, the balance traction action on the whole large arm 402, the small arm 403 and the carrying arm 415 is realized under the hinging linkage action of the first connecting rod 4192, the triangular connecting rod 4193 and the second connecting rod 4194 of the connecting rod balancing device 419, so that the stability of the motions of the large arm 402, the small arm 403 and the carrying arm 415 is improved. 3. The third servo motor 412 is controlled to rotate through a third driver 507 by using a pulse control signal instructed by the motion controller 504, the third servo motor 412 drives a power input shaft 4132 of the worm gear speed reducer 413 to rotate through a power output shaft, and the vertical rotation direction of the power input shaft 4132 is converted into the transverse rotation of the power output shaft 4133 in the speed reducer body 4131; when the power input shaft 4132 is vertically rotated, the hollow square tube 4151 of the carrying arm 415 is rotated by 360 degrees of the horizontal position; when the power output shaft 4133 rotates laterally, the axial rotation operation of the carrying arm 415 is realized by the fixed connection action of the fixed cylinder 4143 of the reducer support 414, the power output shaft 4133, and the hollow square tube 4151. The disassembly operation of the press-molded firebrick transfer robot is a real-time synthesis operation of the movement locus in a specific site, which is completed by the motion controller 504, the first driver 505, the second driver 506, the third driver 507 and the fourth driver 508 through the motion controller 504, the first servo motor 4016, the second servo motor 411, the third servo motor 412 and the electric push rod 406.
Various modifications to the above-described embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A transfer robot for mechanically pressing and forming refractory bricks comprises a mechanically pressing and forming machine, a drying vehicle and a moving track; the machine pressing forming machine is fixedly arranged at the rear side position of the drying vehicle, the multi-layer drying vehicle is fixedly arranged at the front side position of the machine pressing forming machine, and the moving track for enabling the drying vehicle to move is fixedly arranged at the bottom position of the drying vehicle; the method is characterized in that: the conveying device is fixedly arranged at the right side position of the drying vehicle, the integrated control cabinet is fixedly arranged at the rear side position of the mechanical pressing forming machine, and the conveying device is fixedly connected with the interior of the integrated control cabinet through a connecting wire; the refractory bricks are carried and placed on the drying vehicle through the carrying device.
2. The transfer robot for the press-formed fire bricks according to claim 1, wherein: the carrying device comprises a rotating base, a large arm support frame is fixedly arranged at the left side position of the upper part of the rotating base, a large arm is fixedly arranged at the upper part of the large arm support frame, the large arm is sleeved on the large arm support frame, and a first rotating shaft penetrates through the connecting part of the large arm and the large arm support frame to be fixedly connected; the upper part of the large arm is fixedly connected with the right end of the small arm through a second rotating shaft which passes through the large arm, and a third rotating shaft passes through a speed reducer support body and is fixedly hinged with the left end of the small arm; the worm and gear speed reducer is fixedly arranged on the speed reducer support body, the second servo motor is fixedly arranged at the front side position of the second rotating shaft, and a power output shaft of the second servo motor is fixedly connected with the second rotating shaft; the third servo motor is fixedly arranged at the upper part of the worm gear speed reducer; the electric push rod bracket is fixedly arranged at the edge position of the right side of the rotating base, the electric push rod is fixedly arranged at the upper part of the electric push rod bracket, the fixed block is fixedly connected with the middle position of the large arm, and the telescopic push rod of the electric push rod is hinged and fixed with the fixed block through the fixed shaft; the carrying arm is fixedly arranged at the bottom of the worm gear speed reducer and comprises a hollow square tube, and a fixing sleeve is fixedly arranged at the bottom of the right end of the hollow square tube; the vacuum adsorption part is fixedly arranged at the bottom of the left end of the hollow square tube, adsorption holes are uniformly distributed on the bottom surface of the vacuum adsorption part, the vacuum tube is fixedly arranged in the hollow square tube and is fixedly communicated with the vacuum adsorption part, and the other end of the vacuum tube is fixedly laid at the upper part of the connecting rod balancing device; the connecting rod balancing device is fixedly arranged at the right side positions of the large arm, the small arm and the electric push rod, one end of the connecting rod balancing device is fixedly connected with the right side bottom of the electric push rod support, and the other end of the connecting rod balancing device is fixedly connected with the right side of the speed reducer support.
3. The transfer robot for the press-formed fire bricks according to claim 2, wherein: rotating base includes the bottom plate, the fixed chassis that is provided with in upper portion of bottom plate, the fixed upper portion central point that sets up on the chassis of center pin puts, the fixed upper portion position that sets up on the chassis of rotor, the central point of rotor puts the suit on the upper portion of center pin, the inside side of rotor is provided with the internal tooth, the fixed marginal position that sets up at the rotor of first servo motor, the fixed inside marginal position that sets up at the rotor of drive gear, it is fixed that drive gear passes through the fixed axle, first servo motor's power output shaft and drive gear's fixed axle fixed connection, drive gear makes the rotor rotate with the intermeshing.
4. The transfer robot for the press-formed fire bricks according to claim 2, wherein: the worm gear speed reducer comprises a speed reducer body, a power input shaft is fixedly arranged at the vertical center of the speed reducer body, and a power output shaft is fixedly arranged at the horizontal center of the bottom of the speed reducer body.
5. The transfer robot for the press-formed fire bricks according to claim 2, wherein: the speed reducer supporter includes the backup pad, and the backup pad is the spoon shape, and the fixed through-hole that is provided with in central part of backup pad, the fixed right side position that sets up in the backup pad of fixed drum.
6. The transfer robot for the press-formed fire bricks according to claim 5, wherein: a power output shaft of the third servo motor is fixedly connected with a power input shaft of the worm gear speed reducer; the power input shaft of the speed reducer body passes through the through hole of the speed reducer support body and is fixedly connected with the support plate.
7. The transfer robot for the press-formed fire bricks according to claim 5, wherein: the fixed sleeve at the bottom of the hollow square tube is fixedly sleeved on the power output shaft at the bottom of the speed reducer body.
8. The transfer robot for the press-formed fire bricks according to claim 2, wherein: the connecting rod balancing device comprises a connecting rod bracket, the connecting rod bracket is fixedly arranged at the right side position of the electric push rod bracket, and the connecting rod bracket is fixedly connected with the upper part of the rotating body; the first connecting rod and the connecting rod bracket are fixedly connected through a hinge shaft passing through the upper part of the first connecting rod and the upper part of the connecting rod bracket; the triangular connecting rod is fixedly hinged with the second rotating shaft into a triangle by utilizing three connecting rods through a hinge shaft, the left end of the triangular connecting rod is fixedly hinged with the upper part of the first connecting rod through the hinge shaft, the right end and the upper part of the triangular connecting rod are fixedly hinged with the left end of the second connecting rod through the hinge shaft, and the lower part of the triangular connecting rod is fixedly hinged with the second rotating shaft; the right end of the second connecting rod and the connecting rod fixing frame penetrate through the body of the connecting rod fixing frame to be fixedly hinged, and the connecting rod fixing frame is fixedly connected with the upper portion of the right side of the supporting plate of the speed reducer supporting body.
9. The transfer robot for the press-formed fire bricks according to claim 2, wherein: the rear end of the vacuum tube extends to the lower part of the first connecting rod of the connecting rod balancing device and is fixedly communicated with the suction opening of the exhaust fan.
10. The transfer robot for the press-formed fire bricks according to claim 1, wherein: the integrated control cabinet comprises a control cabinet body, the control cabinet body is a cuboid, the parameter adjusting module is fixedly arranged at the upper part of the control cabinet body, the PC chip set is fixedly arranged at the lower part of the parameter adjusting module, and the motion controller is inserted at the upper part of the PC chip set; the first driver is fixedly arranged at the bottom position of the left side of the motion controller, the second driver is fixedly arranged at the right position of the first driver, the third driver is fixedly arranged at the right position of the second driver, and the fourth driver is fixedly arranged at the right position of the third driver; the first driver, the second driver, the third driver and the fourth driver are respectively in plug-in connection with the motion controller through connecting wires; the first driver is fixedly connected with the first servo motor through a connecting wire, the second driver is fixedly connected with the second servo motor through a connecting wire, the third driver is fixedly connected with the third servo motor through a connecting wire, and the fourth driver is fixedly connected with the electric push rod through a connecting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921535746.7U CN210551207U (en) | 2019-09-17 | 2019-09-17 | Transfer robot for mechanically-pressed refractory bricks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921535746.7U CN210551207U (en) | 2019-09-17 | 2019-09-17 | Transfer robot for mechanically-pressed refractory bricks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210551207U true CN210551207U (en) | 2020-05-19 |
Family
ID=70627162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921535746.7U Active CN210551207U (en) | 2019-09-17 | 2019-09-17 | Transfer robot for mechanically-pressed refractory bricks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210551207U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480620A (en) * | 2019-09-17 | 2019-11-22 | 洛阳戴梦特智能装备制造有限公司 | A kind of transfer robot of mechanical pressing refractory brick |
-
2019
- 2019-09-17 CN CN201921535746.7U patent/CN210551207U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480620A (en) * | 2019-09-17 | 2019-11-22 | 洛阳戴梦特智能装备制造有限公司 | A kind of transfer robot of mechanical pressing refractory brick |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203611246U (en) | Industrial robot | |
| CN203092562U (en) | Stacking robot | |
| CN105459090A (en) | Instructive six-degree-of-freedom carrying manipulator | |
| CN203592483U (en) | Four-joint robot palletizer | |
| CN108058155B (en) | Mechanical arm device for replacing lining plate of ball mill | |
| CN103465272A (en) | Six-degree-of-freedom humanoid robot arm | |
| CN203566704U (en) | Both-way conveying manipulator | |
| CN207058548U (en) | Conveying robot car | |
| CN104385296A (en) | Manipulator | |
| CN208914108U (en) | A kind of articulated robot | |
| CN210551207U (en) | Transfer robot for mechanically-pressed refractory bricks | |
| CN104308837A (en) | Six-axis robot | |
| CN201342670Y (en) | Stamping material taking and placing mechanical arm | |
| CN201579787U (en) | Four-joint sighted robot | |
| CN204054053U (en) | A kind of multiaxis flapping articulation intelligent robot | |
| CN202965252U (en) | Mechanically controlled full-automatic compaction forming equipment | |
| CN210880124U (en) | Robot for refractory material machine-pressing system | |
| CN116175574B (en) | Six-degree-of-freedom full-automatic model grabbing manipulator | |
| CN216759937U (en) | Claw hand device of full-automatic feeding and discharging mechanical arm | |
| CN110480620A (en) | A kind of transfer robot of mechanical pressing refractory brick | |
| CN110539390A (en) | robot for refractory material machine-pressing system | |
| CN107838937A (en) | The automatic throwing manipulator of ceramic outer | |
| CN213106915U (en) | Automatic respond to letter sorting arm for intelligent robot | |
| CN213352458U (en) | Intelligent multi-degree-of-freedom mechanical arm | |
| CN211142659U (en) | Mold transferring mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210831 Address after: 471000 East Longshi Road, Penglai community, high tech Zone, Luoyang City, Henan Province Patentee after: Luoyang daimengte Intelligent Equipment Manufacturing Co.,Ltd. Patentee after: Luoyang luonaifei refractory material Co.,Ltd. Address before: 471000 east of xilonglin Road, Penglai community, high tech Zone, Luoyang City, Henan Province Patentee before: Luoyang daimengte Intelligent Equipment Manufacturing Co.,Ltd. |