CN211970960U - Automatic valve body carrying robot - Google Patents
Automatic valve body carrying robot Download PDFInfo
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- CN211970960U CN211970960U CN201922444824.9U CN201922444824U CN211970960U CN 211970960 U CN211970960 U CN 211970960U CN 201922444824 U CN201922444824 U CN 201922444824U CN 211970960 U CN211970960 U CN 211970960U
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Abstract
The utility model discloses an automatic valve body handling robot, which comprises two gantry trusses, a three-axis robot and a clamping manipulator, wherein the two gantry trusses are arranged oppositely; the three-axis robot is arranged on the gantry truss, and the clamping manipulator is arranged on the three-axis robot; the three-axis robot comprises an X-axis moving frame, a Y-axis moving frame and a Z-axis moving frame, wherein two ends of the X-axis moving frame are installed on a gantry truss, the Y-axis moving frame is installed on the X-axis moving frame, and the Z-axis moving frame is installed on the Y-axis moving frame; the clamping manipulator is arranged at the bottom end of the Z-axis moving frame, a clamping jaw is arranged on the clamping manipulator, the clamping jaw is driven by an air cylinder, and a valve body is clamped in the clamping jaw; the three-axis robot and the clamping manipulator are both connected with a controller; the utility model discloses a five-axis linkage robot composed of a three-axis gantry truss robot and a two-axis manipulator, which drives the manipulator to work; effectively alleviate workman's work load, improve work efficiency simultaneously.
Description
Technical Field
The utility model relates to a valve body transfer robot technical field specifically is a valve body automatic handling robot.
Background
At present, the valve body welding, grinding and feeding and discharging used in China are all carried manually, namely, various valve bodies of different types are carried to the welding external shaft and the grinding machine manually.
The weight of each valve body is 15-50 kilograms, the workload is large when workers carry the valve bodies, and meanwhile, the risk of falling and smashing carrying personnel exists when the valve bodies are carried manually; and because valve body weight is heavier, the workman can't carry work in succession to work efficiency is comparatively low, influences the machining efficiency of whole valve body.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a valve body automatic handling robot to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: the automatic valve body carrying robot comprises two gantry trusses, a three-axis robot and a clamping manipulator, wherein the two gantry trusses are arranged oppositely; the three-axis robot is arranged on the gantry truss, and the clamping manipulator is arranged on the three-axis robot;
the three-axis robot comprises an X-axis moving frame, a Y-axis moving frame and a Z-axis moving frame, wherein two ends of the X-axis moving frame are installed on a gantry truss, the Y-axis moving frame is installed on the X-axis moving frame, and the Z-axis moving frame is installed on the Y-axis moving frame;
the clamping manipulator is arranged at the bottom end of the Z-axis moving frame, a clamping jaw is arranged on the clamping manipulator, the clamping jaw is driven by an air cylinder, and a valve body is clamped in the clamping jaw;
and the three-axis robot and the clamping manipulator are both connected with controllers.
Preferably, the two ends of the gantry truss are respectively provided with a support rod, the bottom end of each support rod is provided with a support plate, and the support plates are in direct contact with the ground.
Preferably, a reinforcing rod is arranged between the supporting plate and the supporting rod, the reinforcing rod is obliquely arranged, the inclination angle is 60-70 degrees, and the reinforcing rod is arranged in parallel.
Preferably, the top end of the clamping manipulator is provided with a rotating shaft, the rotating shaft is fixedly connected with the Z-axis moving frame, the rotating shaft is driven by a motor, and the motor is electrically connected with the controller.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a five-axis linkage robot composed of a three-axis gantry truss robot and a two-axis manipulator, which drives the manipulator to work; solved the loaded down with trivial details transport of big weight, process through the robot to the welding and the grinding of the valve body of being convenient for fall when having solved artifical transport valve body injures porter's risk by a crashing object, the cost of labor is practiced thrift for the enterprise to the robot replaces the manual work completely simultaneously, and efficiency is higher than the manual work.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic side view of the present invention;
fig. 3 is a schematic top view of the present invention;
FIG. 4 is an enlarged view taken at A in FIG. 1;
reference numbers in the figures: 1. a gantry truss; 11. a support bar; 12. a support plate; 13. a reinforcing bar; 2. an X-axis moving frame; 3. a Y-axis moving frame; 4. a Z-axis moving frame; 5. clamping the manipulator; 51. a clamping jaw; 52. a rotating shaft; 6. a valve body.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Referring to fig. 1-4, the present invention provides a technical solution: the automatic valve body carrying robot comprises two gantry trusses 1, a three-axis robot and a clamping manipulator 5, wherein the two gantry trusses 1 are arranged oppositely; the three-axis robot is arranged on the gantry truss 1, and the clamping manipulator 5 is arranged on the three-axis robot;
the three-axis robot comprises an X-axis moving frame 2, a Y-axis moving frame 3 and a Z-axis moving frame 4, wherein two ends of the X-axis moving frame 2 are installed on a gantry truss 1, the Y-axis moving frame 3 is installed on the X-axis moving frame 2, and the Z-axis moving frame 4 is installed on the Y-axis moving frame 3;
the clamping manipulator 5 is installed at the bottom end of the Z-axis moving frame 4, a clamping jaw 51 is arranged on the clamping manipulator 5, the clamping jaw 51 is driven by an air cylinder, and a valve body 6 is clamped in the clamping jaw 51;
the three-axis robot and the clamping manipulator 5 are both connected with controllers.
Furthermore, two ends of the gantry truss 1 are respectively provided with a support rod 11, the bottom end of each support rod 11 is provided with a support plate 12, and the support plates 12 are in direct contact with the ground.
Further, a reinforcing rod 13 is arranged between the supporting plate 12 and the supporting rod 11, the reinforcing rod 13 is arranged in an inclined manner, the inclination angle is 60-70 degrees, and the reinforcing rod 13 is arranged in parallel.
Further, the top end of the clamping manipulator 5 is provided with a rotating shaft 52, the rotating shaft 52 is fixedly connected with the Z-axis moving frame 4, the rotating shaft 52 is driven by a motor, and the motor is electrically connected with the controller.
The working principle is as follows: the three-axis robot in the scheme has the working process that the X-axis moving frame 2 moves left and right in the horizontal direction along the gantry truss 1, the Y-axis moving frame 3 moves along with the X-axis moving frame 2 and also moves back and forth in the horizontal direction, the Z-axis moving frame 4 moves along with the Y-axis moving frame 3 and also moves in the vertical direction, and finally the clamping mechanical arm 5 below is driven to move; the X-axis moving frame 2, the Y-axis moving frame 3 and the Z-axis moving frame 4 adopt electric slide rail structures in the scheme, and are driven by an electric mode, and the electric slide rail structures are not additionally described in the scheme as the prior art.
The clamping manipulator 5 clamps the valve body 6 through the clamping jaw 51, and drives the clamping jaw 51 to work through the cylinder; meanwhile, the upper end of the clamping manipulator 5 moves through the rotating shaft 52, so that the clamping manipulator 5 can be driven to rotate under the control of the controller, the orientation of the valve body 6 is adjusted, and grinding or welding processing is facilitated.
Welding or grinding machinery can be arranged on the lower side of the gantry truss 1, so that the valve body 6 can be conveniently processed correspondingly; the support strength of the support legs 11 to the gantry truss 1 is guaranteed by the arrangement of the support plates 12 and the reinforcing rods 13 on the lower side of the gantry truss, and the stability of the gantry truss 1 is further guaranteed.
It is worth noting that: the whole device realizes control over the device through the master control button, and the device matched with the control button is common equipment, belongs to the existing mature technology, and is not repeated for the electrical connection relation and the specific circuit structure.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a valve body automatic handling robot which characterized in that: the three-axis robot comprises two gantry trusses (1), a three-axis robot and a clamping manipulator (5), wherein the two gantry trusses (1) are arranged oppositely; the three-axis robot is arranged on the gantry truss (1), and the clamping manipulator (5) is arranged on the three-axis robot;
the three-axis robot comprises an X-axis moving frame (2), a Y-axis moving frame (3) and a Z-axis moving frame (4), wherein two ends of the X-axis moving frame (2) are installed on a gantry truss (1), the Y-axis moving frame (3) is installed on the X-axis moving frame (2), and the Z-axis moving frame (4) is installed on the Y-axis moving frame (3);
the clamping manipulator (5) is installed at the bottom end of the Z-axis moving frame (4), a clamping jaw (51) is arranged on the clamping manipulator (5), the clamping jaw (51) is driven by an air cylinder, and a valve body (6) is clamped in the clamping jaw (51);
the three-axis robot and the clamping manipulator (5) are both connected with controllers.
2. The automatic valve body handling robot according to claim 1, wherein: the gantry truss is characterized in that supporting rods (11) are respectively arranged at two ends of the gantry truss (1), supporting plates (12) are arranged at the bottom ends of the supporting rods (11), and the supporting plates (12) are in direct contact with the ground.
3. The automatic valve body handling robot according to claim 2, wherein: be provided with stiffener (13) between backup pad (12) and bracing piece (11), stiffener (13) slope sets up, and inclination is 60 ~ 70, and stiffener (13) parallel arrangement has twice.
4. The automatic valve body handling robot according to claim 1, wherein: the clamping manipulator is characterized in that a rotating shaft (52) is arranged at the top end of the clamping manipulator (5), the rotating shaft (52) is fixedly connected with the Z-axis moving frame (4), the rotating shaft (52) is driven by a motor, and the motor is electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922444824.9U CN211970960U (en) | 2019-12-30 | 2019-12-30 | Automatic valve body carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922444824.9U CN211970960U (en) | 2019-12-30 | 2019-12-30 | Automatic valve body carrying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211970960U true CN211970960U (en) | 2020-11-20 |
Family
ID=73369134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922444824.9U Active CN211970960U (en) | 2019-12-30 | 2019-12-30 | Automatic valve body carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211970960U (en) |
-
2019
- 2019-12-30 CN CN201922444824.9U patent/CN211970960U/en active Active
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