CN212794940U - Oil cylinder truss assembling robot - Google Patents
Oil cylinder truss assembling robot Download PDFInfo
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- CN212794940U CN212794940U CN202021220549.9U CN202021220549U CN212794940U CN 212794940 U CN212794940 U CN 212794940U CN 202021220549 U CN202021220549 U CN 202021220549U CN 212794940 U CN212794940 U CN 212794940U
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Abstract
The utility model relates to a heavy load part assembly technical field discloses a hydro-cylinder assembly truss robot, including a plurality of stands, the upper portion of stand is provided with two X axle crossbeams that parallel, two sliding connection has Y axle crossbeam one, Y axle crossbeam two between the X axle crossbeam, Y axle crossbeam one is connected with Z axle one through Y axle slip subassembly one, Y axle crossbeam two is connected with Z axle two through Y axle slip subassembly two, the bottom of Z axle one is connected with the rotatory platform one of grabbing, the bottom of Z axle two is connected with the rotatory platform two of grabbing, the rotatory platform one of grabbing, rotatory platform two of grabbing all with hydro-cylinder looks adaptation be provided with automatically controlled cabinet between the stand. The utility model discloses a rack and pinion drive mode: the gear rack transmission ratio is stable, the precision is high, the transmission efficiency is high, the structure is compact, the interchangeability is good, the assembly and the maintenance are convenient, and the power part adopts a servo motor and a speed reducer, so that the repeated precision can be ensured.
Description
Technical Field
The utility model relates to a heavy load part assembly technical field especially relates to a hydro-cylinder assembly truss robot.
Background
The hydro-cylinder makes the degree of difficulty huge as great heavy load part in the industry, and it is respectively 2.5 tons and 1.5 tons because two part quality among the prior art, and prior art is through driving or crane hoist and gets the part, and the manual work is assembled, or uses heavy-duty joint robot to assemble, and current technique mainly has following shortcoming:
1. workers work hard and are easy to cause industrial accidents;
2. the manual assembly efficiency is low, and the labor cost is high;
3. the heavy-duty joint robot has limited working range, limited load capacity and higher cost;
therefore, a cylinder assembling truss robot is needed to be designed to overcome the defects of heavy-load part assembling.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an hydro-cylinder assembly truss robot adopts rack and pinion drive mode: the gear rack transmission ratio is stable, the precision is higher, the transmission efficiency is high, the structure is compact, the interchangeability is good, the assembly and the maintenance are convenient, the power part adopts the servo motor and the speed reducer, the advantage of the repeated precision can be ensured, the assembly of the heavy-duty joint robot is solved, and the problems that workers work hard, the labor accident and the manual assembly efficiency are low and the labor cost is high easily occur in the prior art are mainly solved.
According to the utility model discloses hydro-cylinder assembly truss robot, including a plurality of stands, the upper portion of stand is provided with two X axle crossbeams that parallel, two sliding connection has Y axle crossbeam one, Y axle crossbeam two between the X axle crossbeam, Y axle crossbeam one is connected with Z axle one through Y axle slip subassembly one, Y axle crossbeam two is connected with Z axle two through Y axle slip subassembly two, the bottom of Z axle one is connected with rotatory platform one of grabbing, the bottom of Z axle two is connected with rotatory platform two of grabbing, rotatory platform one of grabbing, rotatory platform two all with hydro-cylinder looks adaptation be provided with automatically controlled cabinet between the stand, automatically controlled cabinet respectively with Y axle slip subassembly one, Y axle slip subassembly two, Z axle one, Z axle two, rotatory platform one of grabbing, rotatory platform two electric connection.
Furthermore, a maintenance platform is arranged on the side wall of one of the X-axis cross beams, and one side of the maintenance platform is communicated with the ground through a ladder stand.
Furthermore, the first Y-axis sliding assembly and the second Y-axis sliding assembly both comprise X-axis servo motors, X-axis reduction boxes are arranged at the output ends of the X-axis servo motors, and the output ends of the X-axis reduction boxes are connected with transmission shafts which extend onto the X-axis cross beam.
Furthermore, both ends of the transmission shaft are provided with X-axis gears, and X-axis racks meshed with the X-axis gears are arranged on the bottom wall of the X-axis beam.
Furthermore, longitudinal sliding mechanisms are arranged on the first Z shaft and the second Z shaft and comprise Y-axis servo motors, the output ends of the Y-axis servo motors are connected with Y-axis reduction boxes, and Y-axis gears are arranged at the output ends of the Y-axis reduction boxes.
Furthermore, Y-axis racks meshed with the Y-axis gears are arranged on the side walls of the first Y-axis beam and the second Y-axis beam, and the first Z-axis and the second Z-axis are driven by the Y-axis servo motor to move on the first Y-axis beam and the second Y-axis beam.
Furthermore, the top ends of the first Y-axis beam and the second Y-axis beam are further provided with a rotary grabbing platform lifting mechanism, the rotary grabbing platform lifting mechanism comprises a rotary grabbing platform lifting servo motor, the output end of the rotary grabbing platform lifting servo motor is connected with a lifting reduction gearbox, and the output end of the lifting reduction gearbox is provided with a lifting gear.
Furthermore, fixed racks matched with the lifting gears are arranged on the outer walls of the Z-axis I and the Z-axis II, and the rotary grab platform lifting servo motor rotates to achieve lifting of the fixed racks.
Furthermore, the first Y-axis sliding assembly and the second Y-axis sliding assembly further comprise first guide rails arranged on the upper side of the X-axis beam, first roller sliders are sleeved on the upper sides of the first guide rails in a sliding mode and are fixedly connected with the first Y-axis beam and the second Y-axis beam, the longitudinal sliding mechanism further comprises guide rails transversely arranged on the first Y-axis beam and the second Y-axis beam, roller sliders are sleeved on one sides of the guide rails in a sliding mode and are fixedly connected with the first Z-axis beam and the second Z-axis beam.
Furthermore, the rotary grabbing table lifting mechanism further comprises a second guide rail arranged on the first Z shaft and the second Z shaft, a second roller sliding block is sleeved on the second guide rail in a sliding mode, and one side of the second roller sliding block is fixed on the lifting reduction gearbox.
Compared with the prior art, the utility model beneficial effect who has is:
1. the gear and rack transmission mode is adopted: the gear rack has stable transmission ratio, higher precision, high transmission efficiency, compact structure, good interchangeability and convenient assembly and maintenance, and the power part adopts a servo motor and a speed reducer and can ensure the repeated precision;
2. the safety limiting module is arranged on the Y-axis sliding assembly I, the Y-axis sliding assembly II, the rotary grabbing platform I and the rotary grabbing platform II, and meanwhile, the Z-axis sliding assembly I and the Z-axis sliding assembly II are provided with safety brake devices, so that accidents are avoided, and the safety of operators, machine tools and parts is ensured;
3. the automatic lubricating system is arranged to lubricate the guide rail and the gear in a timing and quantitative manner, so that the guide system and the transmission system are well lubricated, the working temperature is reduced, and the fatigue damage of stressed parts is reduced, thereby prolonging the service life; in addition, the X-axis cross beam, the first Y-axis cross beam and the second Y-axis cross beam are both provided with reinforcing structures, inclined struts are needed to be added at two ends of each upright post to enhance the rigidity of the X-axis cross beam, and plates are needed to be welded on the front side and the rear side of the X-axis cross beam to enhance the rigidity of the X-axis cross beam.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of an oil cylinder truss assembling robot provided by the utility model;
FIG. 2 is an enlarged view of the structure of the area A in FIG. 1;
fig. 3 is a schematic view of the connection between the X-axis gear and the X-axis rack in the oil cylinder assembly truss robot provided by the utility model;
fig. 4 is a schematic top view of the oil cylinder truss assembling robot provided by the present invention;
FIG. 5 is an enlarged view of the structure of the area B in FIG. 4;
fig. 6 is a rear overlooking structure diagram of the oil cylinder truss assembling robot provided by the utility model;
fig. 7 is an enlarged view of the structure of the region C in fig. 6.
In the figure: 1-upright column, 2-X-axis beam, 3-Y-axis beam I, 4-Y-axis beam II, 5-Y-axis sliding component I, 6-Y-axis sliding component II, 7-Z-axis I, 8-Z-axis II, 9-rotary grabbing platform I, 10-rotary grabbing platform II, 11-ladder stand, 12-maintenance platform, 13-electric control cabinet, 14-X-axis servo motor, 15-X-axis reduction gearbox, 16-transmission shaft, 17-X-axis gear, 18-X-axis rack, 19-Y-axis servo motor, 20-Y-axis reduction gearbox, 21-Y-axis gear, 22-Y-axis rack, 23-rotary grabbing platform lifting servo motor, 24-lifting reduction gearbox, 25-lifting gear, 26-fixed rack, 27-guide rail, 28-roller slider.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to 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 therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Referring to fig. 1-7, the preferred embodiment of the present invention is shown.
The utility model provides an oil cylinder assembly truss robot, including a plurality of stands 1, the upper portion of stand 1 is provided with two X axle crossbeams 2 that parallel, sliding connection has Y axle crossbeam one 3, Y axle crossbeam two 4 between two X axle crossbeams 2, Y axle crossbeam one 3 is connected with Z axle one 7 through Y axle slip subassembly one 5, Y axle crossbeam two 4 is connected with Z axle two 8 through Y axle slip subassembly two 6, the bottom of Z axle one 7 is connected with rotatory platform of grabbing 9, the bottom of Z axle two 8 is connected with rotatory platform of grabbing 10, rotatory platform of grabbing 9, rotatory platform of grabbing 10 all adapt with the oil cylinder, like this when using, rotatory platform of grabbing 9, rotatory platform of grabbing 10 simultaneous working assembles two oil cylinders, improve work efficiency, Y axle crossbeam one 3, Y axle crossbeam two 4 can slide on X axle crossbeam 2, Z axle one 7, Z axle two 8 still can Y axle crossbeam one 3, Y axle crossbeam, The Y-axis beam II 4 slides upwards, the rotary grabbing platform I9 and the rotary grabbing platform II 10 can also lift on the Z-axis I7 and the Z-axis II 8, an electric control cabinet 13 is arranged between the upright columns 1, the electric control cabinet 13 is electrically connected with the Y-axis sliding assembly I5, the Y-axis sliding assembly II 6, the Z-axis I7, the Z-axis II 8, the rotary grabbing platform I9 and the rotary grabbing platform II 10 respectively, and the electric control cabinet 13 controls the whole device.
In this embodiment, a maintenance platform 12 is disposed on a side wall of one of the X-axis beams 2, and one side of the maintenance platform 12 is communicated with the ground through a ladder 11, so that a maintenance person can conveniently maintain the device.
In this embodiment, the first Y-axis sliding assembly 5, the second Y-axis sliding assembly 6 all include an X-axis servo motor 14, the output end of the X-axis servo motor 14 is provided with an X-axis reduction gearbox 15, the output end of the X-axis reduction gearbox 15 is connected with a transmission shaft 16, the transmission shaft 16 all extends to the X-axis cross beam 2, both ends of the transmission shaft 16 are provided with an X-axis gear 17, an X-axis rack 18 meshed with the X-axis gear 17 is arranged on the bottom wall of the X-axis cross beam 2, the Y-axis servo motor 14 rotates to drive the X-axis gear 17 to rotate on the X-axis rack 18, and therefore the first Y-axis cross beam 3 and the second Y-axis cross beam 4 are moved.
In this embodiment, the first Z-axis 7 and the second Z-axis 8 are both provided with a longitudinal sliding mechanism, the longitudinal sliding mechanism includes a Y-axis servo motor 19, an output end of the Y-axis servo motor 19 is connected with a Y-axis reduction gearbox 20, an output end of the Y-axis reduction gearbox 20 is provided with a Y-axis gear 21, side walls of the first Y-axis beam 3 and the second Y-axis beam 4 are both provided with a Y-axis rack 22 meshed with the Y-axis gear 21, and the Y-axis servo motor 19 drives the first Z-axis 7 and the second Z-axis 8 to move on the first Y-axis beam 3 and the second Y-axis beam 4.
In this embodiment, the top ends of the first Y-axis beam 3 and the second Y-axis beam 4 are further provided with a rotary grabbing platform lifting mechanism, the rotary grabbing platform lifting mechanism comprises a rotary grabbing platform lifting servo motor 23, the output end of the rotary grabbing platform lifting servo motor 23 is connected with a lifting reduction gearbox 24, the output end of the lifting reduction gearbox 24 is provided with a lifting gear 25, the outer walls of the first Z-axis beam 7 and the second Z-axis beam 8 are provided with a fixed rack 26 matched with the lifting gear 25, and the rotary grabbing platform lifting servo motor 23 rotates to realize lifting of the fixed rack 26.
In this embodiment, the first Y-axis sliding assembly 5 and the second Y-axis sliding assembly 6 further include a first guide rail disposed on the upper side of the X-axis beam 2, the upper side of the first guide rail is slidably sleeved with a first roller slider, the first roller slider is fixedly connected with the first Y-axis beam 5 and the second Y-axis beam 6, the longitudinal sliding mechanism further includes a guide rail 27 transversely disposed on the first Y-axis beam 5 and the second Y-axis beam 6, a roller slider 28 is slidably sleeved on one side of the guide rail 27, the roller slider 28 is fixedly connected with the first Z-axis 7 and the second Z-axis 8, the rotary table-grabbing lifting mechanism further includes a second guide rail disposed on the first Z-axis 7 and the second Z-axis 8, a second roller slider is slidably sleeved on the second guide rail, one side of the second roller slider is fixed on the lifting reduction gearbox 24, the first guide rail and the first roller slider cooperate to ensure the sliding stability of the first Y-axis beam 5 and the second Y-axis beam 6 on the X-, the guide rail 27 is matched with the roller sliding block 28, so that the moving stability of the Z-axis I7 and the Z-axis II 8 on the Y-axis beam I5 and the Y-axis beam II 6 respectively is ensured; the second guide rail is matched with the second roller sliding block, so that the stability of the rotary grabbing table lifting mechanism 1 during lifting movement is guaranteed.
The technical scheme is that a gear and rack transmission mode is adopted: the gear and rack transmission ratio is stable, the precision is high, the transmission efficiency is high, the structure is compact, the interchangeability is good, the assembly and the maintenance are convenient, a servo motor and a speed reducer are adopted in a power part, the repeated precision can be ensured, and a multiple protection function is also arranged, safety limit modules are arranged on a Y-axis sliding assembly I5, a Y-axis sliding assembly II 6, a rotary grabbing platform I9 and a rotary grabbing platform II 10, the emergency stop is realized, and meanwhile, a Z-axis I7 and a Z-axis II 8 are provided with safety brake devices, so that the occurrence of accidents is avoided, and the safety of operators, machine tools and parts is ensured;
the technical scheme is provided with an automatic lubricating system, the guide rail and the gear are lubricated in a timed and quantitative manner, the guide system and the transmission system are guaranteed to be well lubricated, the working temperature is reduced, and the fatigue damage of stressed parts is reduced, so that the service life is prolonged; in addition, the X-axis cross beam 2, the Y-axis cross beam I3 and the Y-axis cross beam II 4 are both provided with reinforcing structures, inclined struts are needed to be added at two ends of each upright post 1 to enhance the rigidity of the X-axis cross beam 2, and the rigidity of the X-axis cross beam 2 is enhanced through welding plates on the front side and the rear side of the X-axis cross beam 2.
The guide rail surface is ground and processed, the finish is higher, the whole surface is quenched, the hardness can reach about HRC 60 degrees, the hardness is higher, the wear resistance is good, the straightness is better after the guide rail is spliced, higher guiding precision is provided for equipment, the roller adopts a heavy-load roller, the bearing capacity is high, and the service life is met;
finally, the key point of the technical scheme is that under the conditions of heavy load and long stroke, the high repeated positioning precision of the truss can still be ensured, so that the X-axis cross beam 2 and the Y-axis cross beam 3 are required to ensure sufficient rigidity, but the selected material specification and size and some reinforcing structures cannot be excessively reinforced, otherwise, the cost is too high, and materials are wasted.
In this embodiment, the whole operation process may be controlled by a computer, a CNC numerical control system, and the like, so as to realize automatic operation control, and in each operation link, signal feedback may be performed by setting a sensor, so as to realize sequential steps, which are conventional knowledge of the current automatic control, and are not repeated in this embodiment.
The details of the present invention are well known to those skilled in the art.
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 (10)
1. The utility model provides a hydro-cylinder assembly truss robot which characterized in that: the device comprises a plurality of stand columns, wherein two parallel X-axis cross beams are arranged on the upper portions of the stand columns, two X-axis cross beams are connected between the first Y-axis cross beams and the second Y-axis cross beams in a sliding mode, the first Y-axis cross beams are connected with the first Z-axis cross beams through the first Y-axis sliding assembly, the second Y-axis cross beams are connected with the second Z-axis cross beams through the second Y-axis sliding assembly, the bottom end of the first Z-axis cross beams is connected with the first rotary grabbing platform, the bottom end of the second Z-axis cross beams is connected with the second rotary grabbing platform, the first rotary grabbing platform and the second rotary grabbing platform are matched with an oil cylinder, an electric control cabinet is arranged between the stand columns, and the electric control cabinet is electrically connected with the first Y-axis sliding assembly, the second Y-axis sliding assembly.
2. The oil cylinder assembling truss robot as claimed in claim 1, wherein: and a maintenance platform is arranged on the side wall of one of the X-axis cross beams, and one side of the maintenance platform is communicated with the ground through a ladder stand.
3. The oil cylinder assembling truss robot as claimed in claim 1 or 2, wherein: the Y-axis sliding assembly I and the Y-axis sliding assembly II both comprise X-axis servo motors, X-axis reduction boxes are arranged at the output ends of the X-axis servo motors, the output ends of the X-axis reduction boxes are connected with transmission shafts, and the transmission shafts all extend onto the X-axis cross beam.
4. The oil cylinder assembling truss robot as claimed in claim 3, wherein: the two ends of the transmission shaft are provided with X-axis gears, and X-axis racks meshed with the X-axis gears are arranged on the bottom wall of the X-axis beam.
5. The oil cylinder assembling truss robot as claimed in claim 4, wherein: and the first Z shaft and the second Z shaft are both provided with longitudinal sliding mechanisms, each longitudinal sliding mechanism comprises a Y-axis servo motor, the output end of each Y-axis servo motor is connected with a Y-axis reduction gearbox, and the output end of each Y-axis reduction gearbox is provided with a Y-axis gear.
6. The oil cylinder assembling truss robot as claimed in claim 5, wherein: and Y-axis racks meshed with the Y-axis gear are arranged on the side walls of the first Y-axis beam and the second Y-axis beam, and the first Z-axis and the second Z-axis are driven by the Y-axis servo motor to move on the first Y-axis beam and the second Y-axis beam.
7. The oil cylinder assembling truss robot as claimed in claim 6, wherein: the top ends of the first Y-axis beam and the second Y-axis beam are further provided with a rotary grabbing platform lifting mechanism, the rotary grabbing platform lifting mechanism comprises a rotary grabbing platform lifting servo motor, the output end of the rotary grabbing platform lifting servo motor is connected with a lifting reduction gearbox, and the output end of the lifting reduction gearbox is provided with a lifting gear.
8. The oil cylinder assembling truss robot as claimed in claim 7, wherein: fixed racks matched with the lifting gears are arranged on the outer walls of the first Z shaft and the second Z shaft, and the rotary grab platform lifting servo motor rotates to achieve lifting of the fixed racks.
9. The oil cylinder assembling truss robot as claimed in claim 8, wherein: the Y-axis sliding assembly I and the Y-axis sliding assembly II further comprise first guide rails arranged on the upper sides of the X-axis cross beams, first roller sliders are sleeved on the upper sides of the first guide rails in a sliding mode, and are fixedly connected with the Y-axis cross beams and the Y-axis cross beams, the longitudinal sliding mechanism further comprises guide rails transversely arranged on the Y-axis cross beams and the Y-axis cross beams, roller sliders are sleeved on one sides of the guide rails in a sliding mode, and the roller sliders are fixedly connected with the Z-axis cross beams and the Z-axis cross beams.
10. The oil cylinder assembling truss robot as claimed in claim 9, wherein: the rotary grabbing table lifting mechanism further comprises a second guide rail arranged on the first Z shaft and the second Z shaft, a second roller sliding block is sleeved on the second guide rail in a sliding mode, and one side of the second roller sliding block is fixed on the lifting reduction gearbox.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021220549.9U CN212794940U (en) | 2020-06-28 | 2020-06-28 | Oil cylinder truss assembling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021220549.9U CN212794940U (en) | 2020-06-28 | 2020-06-28 | Oil cylinder truss assembling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212794940U true CN212794940U (en) | 2021-03-26 |
Family
ID=75098454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021220549.9U Active CN212794940U (en) | 2020-06-28 | 2020-06-28 | Oil cylinder truss assembling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212794940U (en) |
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2020
- 2020-06-28 CN CN202021220549.9U patent/CN212794940U/en active Active
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