CN213201530U - Full-automatic pile up neatly truss robot - Google Patents
Full-automatic pile up neatly truss robot Download PDFInfo
- Publication number
- CN213201530U CN213201530U CN202022113560.1U CN202022113560U CN213201530U CN 213201530 U CN213201530 U CN 213201530U CN 202022113560 U CN202022113560 U CN 202022113560U CN 213201530 U CN213201530 U CN 213201530U
- Authority
- CN
- China
- Prior art keywords
- axis
- support
- truss robot
- full
- support frame
- 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
Abstract
The utility model relates to a full-automatic stacking truss robot, which comprises four upright posts, two X-axis crossbeams which are respectively arranged on the upright posts and are arranged in parallel, a movable frame with two ends respectively arranged on the two X-axis crossbeams in a sliding way, an X-axis module which drives the movable frame to move along the X-axis crossbeams, a Z-axis girder which is vertically arranged on the movable frame in a sliding way, a Z-axis module which drives the Z-axis girder to move up and down, and a stacking manipulator arranged at the bottom of the Z-axis girder; the stacking manipulator comprises a support frame, a Y-axis support arranged at the bottom of the support frame in a sliding mode, a Y-axis module driving the Y-axis support to move along the vertical direction of the X-axis cross beam, and a plurality of stacking forks with one ends fixed at the bottom of the Y-axis support and arranged vertically to the X-axis cross beam; the utility model discloses can not only automatic pile up neatly material, improve work efficiency, reduce intensity of labour, and the pile up neatly is regular to through with Y axle motion integration to pile up neatly manipulator on, the plant space is saved to reducible whole volume.
Description
Technical Field
The utility model relates to a truss robot field refers in particular to a full-automatic pile up neatly truss robot.
Background
The manual stacking mode is mainly adopted in the stacking operation of bagged materials in the current market, the manual stacking mode is high in labor intensity, low in production efficiency and irregular in stacking, and long-time continuous production cannot be achieved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough of prior art and providing a full-automatic pile up neatly truss robot.
In order to achieve the above purpose, the utility model adopts the technical scheme that: a full-automatic stacking truss robot comprises four stand columns, two X-axis cross beams which are arranged on the stand columns respectively and are placed in parallel, movable frames, X-axis modules, Z-axis main beams, Z-axis modules and stacking manipulators, wherein two ends of the movable frames are arranged on the two X-axis cross beams in a sliding mode respectively, the X-axis modules drive the movable frames to move along the X-axis cross beams, the Z-axis main beams are vertically arranged on the movable frames in a sliding mode, the Z-axis modules drive the Z-axis main beams to move up and down, and the stacking manipulators are arranged at; the stacking manipulator comprises a support frame, a Y-axis support arranged at the bottom of the support frame in a sliding mode, a Y-axis module driving the Y-axis support to move along the vertical direction of the X-axis cross beam, and a plurality of stacking forks with one ends fixed at the bottom of the Y-axis support and placed vertically with the X-axis cross beam.
Preferably, a material detection mechanism for judging whether the material exceeds the free end of the stack fork is arranged at the free end of the stack fork on the support frame; the material detection mechanism comprises a supporting plate, a plurality of guide columns vertically arranged on the supporting plate, detection rods arranged at the bottoms of the guide columns and placed in parallel with the X-axis cross beam, and detection cylinders arranged on the supporting plate and used for driving the detection rods to ascend and descend.
Preferably, the Y-axis module comprises a Y-axis linear module which is arranged at the bottom of the support frame and is placed along the vertical direction of the X-axis cross beam, and two Y-axis guide rails which are arranged at the bottom of the support frame and are respectively positioned at two sides of the Y-axis linear module; two ends of the Y-axis support are respectively slidably mounted on the two Y-axis guide rails, and the middle of the Y-axis support is connected with the driving end of the Y-axis linear module.
Preferably, the fork is a hollow tube.
Preferably, the bottom of the Z-axis main beam is connected with the support frame through an electric rotating table; the electric rotating platform is arranged in the middle of the supporting frame.
Preferably, the X-axis module comprises X-axis roller guide rails respectively arranged at the tops of the two X-axis cross beams, X-axis racks respectively arranged on the inner side surfaces of the two X-axis cross beams and oppositely arranged, a double-axis motor arranged on the movable frame, a rotating shaft arranged at the driving end of the double-axis motor, and X-axis gears arranged at two ends of the rotating shaft and meshed with the two X-axis racks; the Z-axis module comprises Z-axis roller guide rails respectively arranged on two sides of the Z-axis main beam, a Z-axis rack arranged on the side surface of the Z-axis main beam, a Z-axis motor arranged on the movable frame, and a Z-axis gear arranged at the driving end of the Z-axis motor and meshed with the Z-axis rack.
Preferably, the automatic lubricating device is further included; the automatic lubricating device comprises a lubricating oil pump assembly and a lubricating assembly which is respectively meshed with the X-axis gear and the Z-axis gear; the lubricating assembly comprises a rotary joint and a lubricating gear, wherein one end of the rotary joint is connected with the lubricating oil pump assembly through a pipeline, and the lubricating gear is arranged at the other end of the rotary joint.
Preferably, organ covers used for protecting the X-axis rack and the Z-axis rack are correspondingly arranged on the X-axis cross beam and the Z-axis main beam.
Preferably, two ends of the X-axis beam, the Z-axis main beam and the support frame are provided with limit switches.
Preferably, mechanical anti-collision blocks are further arranged at the two ends of the X-axis cross beam, the Z-axis main beam and the support frame and outside the limit switch.
Because of above-mentioned technical scheme's application, compared with the prior art, the utility model have the following advantage:
the utility model discloses can not only automatic pile up neatly material, improve work efficiency, reduce intensity of labour, and the pile up neatly is regular to through with Y axle motion integration to pile up neatly manipulator on, the plant space is saved to reducible whole volume.
Drawings
The technical scheme of the utility model is further explained by combining the attached drawings as follows:
fig. 1 is a schematic structural view of the full-automatic stacking truss robot of the present invention;
figure 2 is the partial structure schematic diagram of full-automatic pile up neatly truss robot
Figure 3 is the utility model discloses well pile up neatly machinery hand's schematic structure diagram.
Wherein: 1. a column; 2. an X-axis beam; 3. an X-axis module; 31. an X-axis roller guide rail; 32. an X-axis rack; 33. a double-shaft motor; 34. a rotating shaft; 35. an X-axis gear; 4. a movable frame; 5. a Z-axis module; 51. a Z-axis roller guide rail; 52. a Z-axis motor; 6. a Z-axis main beam; 7. a limit switch; 8. a mechanical anti-collision block; 9. a stacking manipulator; 91. a support frame; 92. a Y-axis module; 921. a Y-axis linear module; 922. a Y-axis guide rail; 93. a Y-axis support; 94. stacking forks; 10. a material detection mechanism; 101. a support plate; 102. detecting a cylinder; 103. a guide post; 104. a detection lever; 11. an organ cover; 12. an automatic lubricating device; 121. lubricating the gear; 13. an electric rotating platform.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1-3 show a full-automatic stacking truss robot according to the present invention, which comprises four columns 1, two X-axis beams 2 disposed in parallel and respectively disposed on the columns 1, a movable frame 4 having two ends slidably disposed on the two X-axis beams 2, an X-axis module 3 driving the movable frame 4 to move along the X-axis beams 2, a Z-axis girder 6 vertically slidably disposed on the movable frame 4, a Z-axis module 5 driving the Z-axis girder 6 to move up and down, and a stacking manipulator 9 disposed at the bottom of the Z-axis girder 6; the stacking manipulator 9 comprises a support frame 91, a Y-axis support 93 arranged at the bottom of the support frame 91 in a sliding manner, a Y-axis module 92 for driving the Y-axis support 93 to move along the vertical direction of the X-axis beam 2, and a plurality of stacking forks 94 with one ends fixed at the bottom of the Y-axis support 93 and vertically arranged with the X-axis beam 2; when in work: can drive the side-to-side movement of adjustable shelf 4 through X axle module 3, can drive 6 up-and-down motion of Z axle girder through Z axle module 5, can drive Y axle support 93 through Y axle module 92 and drive buttress fork 94 seesaw, realize the automatic pile up neatly of material, not only improve work efficiency, reduced intensity of labour, and the pile up neatly is regular to through with Y axle motion integrated to pile up neatly manipulator 9 on, reducible whole volume saves the factory building space.
Further, a material detection mechanism 10 is arranged at the free end of the support frame 91 positioned at the buttress fork 94 and used for judging whether the material exceeds the free end of the buttress fork 94; the material detection mechanism 10 comprises a support plate 101, a plurality of guide posts 103 vertically arranged on the support plate 101, a detection rod 104 arranged at the bottoms of the guide posts 103 and parallel to the X-axis beam 2, and a detection cylinder 102 arranged on the support plate 101 and used for driving the detection rod 104 to ascend and descend; when in work: firstly, materials are placed on the stacking forks 94, the detection rod 104 is driven to move downwards through the detection air cylinder 102, if the materials exceed the free ends of the stacking forks 94, the detection rod 104 sends a signal to an external controller, the robot stops working, the materials are prevented from sliding off the stacking forks 94 in the stacking process, a safety protection effect is achieved, and if the materials do not exceed the free ends of the stacking forks 94, the robot works normally; the guide post 103 plays a guiding role, so that the detection rod 104 is more stable in the lifting process.
Further, the Y-axis module 92 includes a Y-axis linear module 921 arranged at the bottom of the support frame 91 and placed along the vertical direction of the X-axis beam 2, and two Y-axis guide rails 922 arranged at the bottom of the support frame 91 and respectively located at two sides of the Y-axis linear module 921; two ends of the Y-axis support 93 are respectively slidably mounted on two Y-axis guide rails 922, and the middle part of the Y-axis support is connected with the driving end of the Y-axis linear module 921; when in work: the Y-axis linear module 921 drives the Y-axis bracket 93 to drive the buttress forks 94 to move back and forth along the two Y-axis guide rails 922, so that the structure is more stable.
Further, the buttress fork 94 is a hollow pipe, so that the weight of the buttress fork can be reduced, and bagged materials are not easy to damage.
Further, the bottom of the Z-axis main beam 6 is connected with a support frame 91 through an electric rotating table 13; the electric rotating platform 13 is arranged in the middle of the supporting frame 91; when in work: can drive pile up neatly manipulator 9 horizontal rotation through electric rotary table 13, the pile up neatly is more nimble.
Further, the X-axis module 3 includes X-axis roller guide rails 31 respectively disposed on the tops of the two X-axis beams 2, X-axis racks 32 respectively disposed on the inner side surfaces of the two X-axis beams 2 and disposed oppositely, a dual-axis motor 33 disposed on the movable frame 4, a rotating shaft 34 disposed at a driving end of the dual-axis motor 33, and X-axis gears 35 disposed at two ends of the rotating shaft 34 and engaged with the two X-axis racks 32; when in work: the double-shaft motor 33 drives the rotating shaft 34 to drive the X-axis gears 35 at two ends to rotate, and the X-axis gears 35 are meshed with the X-axis gear rack 32, so that the movable frame 4 is driven to move along the X-axis cross beam 2; the Z-axis module 5 comprises Z-axis roller guide rails 51 respectively arranged at two sides of the Z-axis main beam 6, a Z-axis rack arranged at the side surface of the Z-axis main beam 6, a Z-axis motor 52 arranged on the movable frame 4, and a Z-axis gear arranged at the driving end of the Z-axis motor 52 and meshed with the Z-axis rack; when in work: the Z-axis motor 52 drives the Z-axis gear to rotate, and the Z-axis main beam 6 is driven to move up and down due to the fact that the Z-axis gear is meshed with the Z-axis rack.
Further, an automatic lubricating device 12 is also included; the automatic lubricating device 12 comprises a lubricating oil pump assembly and a lubricating assembly which is respectively meshed with the X-axis gear 35 and the Z-axis gear; the lubricating assemblies respectively comprise a rotary joint and a lubricating gear 121, wherein one end of the rotary joint is connected with the lubricating oil pump assembly through a pipeline, and the lubricating gear 121 is arranged at the other end of the rotary joint; when in work: because two sets of lubricated subassemblies mesh with X axle gear 35 and Z axle gear respectively, accessible lubricated gear 121 maintains truss robot regularly at automatic timing ration, evenly, has not only improved the maintenance quality, and has reduced workman's intensity of labour.
Furthermore, the X-axis beam 2 and the Z-axis main beam 6 are correspondingly provided with the organ covers 11 for protecting the X-axis rack 32 and the Z-axis rack, so that the dustproof and oil-stain-proof effects are achieved, and the running precision of the robot is ensured.
Furthermore, two ends of the X-axis crossbeam 2, the Z-axis main beam 6 and the support frame 91 are respectively provided with a limit switch 7; the two ends of the X-axis beam 2, the Z-axis main beam 6 and the support frame 91 are further provided with mechanical anti-collision blocks 8 outside the limit switch 7, so that multiple protection effects are achieved, accidents are avoided, and the safety of operators, machine tools and workpieces is ensured.
The above is only a specific application example of the present invention, and does not constitute any limitation to the protection scope of the present invention. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a full-automatic pile up neatly truss robot which characterized in that: the stacking manipulator comprises four upright posts, two X-axis cross beams which are respectively arranged on the upright posts and are arranged in parallel, a movable frame, an X-axis module, a Z-axis main beam, a Z-axis module and a stacking manipulator, wherein two ends of the movable frame are respectively arranged on the two X-axis cross beams in a sliding manner; the stacking manipulator comprises a support frame, a Y-axis support arranged at the bottom of the support frame in a sliding mode, a Y-axis module driving the Y-axis support to move along the vertical direction of the X-axis cross beam, and a plurality of stacking forks with one ends fixed at the bottom of the Y-axis support and placed vertically with the X-axis cross beam.
2. The full-automatic palletizing truss robot as claimed in claim 1, wherein: a material detection mechanism for judging whether the material exceeds the free end of the stack fork is arranged at the free end of the stack fork on the support frame; the material detection mechanism comprises a supporting plate, a plurality of guide columns vertically arranged on the supporting plate, detection rods arranged at the bottoms of the guide columns and placed in parallel with the X-axis cross beam, and detection cylinders arranged on the supporting plate and used for driving the detection rods to ascend and descend.
3. The full-automatic palletizing truss robot as claimed in claim 2, wherein: the Y-axis module comprises a Y-axis linear module which is arranged at the bottom of the support frame and is placed along the vertical direction of the X-axis cross beam, and two Y-axis guide rails which are arranged at the bottom of the support frame and are respectively positioned at two sides of the Y-axis linear module; two ends of the Y-axis support are respectively slidably mounted on the two Y-axis guide rails, and the middle of the Y-axis support is connected with the driving end of the Y-axis linear module.
4. The full-automatic palletizing truss robot according to claim 3, wherein: the buttress fork is a hollow pipe.
5. The full-automatic palletizing truss robot according to any one of claims 1 to 4, wherein: the bottom of the Z-axis main beam is connected with the support frame through an electric rotating table; the electric rotating platform is arranged in the middle of the supporting frame.
6. The full-automatic palletizing truss robot as claimed in claim 5, wherein: the X-axis module comprises X-axis roller guide rails respectively arranged at the tops of the two X-axis cross beams, X-axis racks respectively arranged on the inner side surfaces of the two X-axis cross beams and oppositely arranged, a double-axis motor arranged on the movable frame, a rotating shaft arranged at the driving end of the double-axis motor, and X-axis gears arranged at two ends of the rotating shaft and meshed with the two X-axis racks; the Z-axis module comprises Z-axis roller guide rails respectively arranged on two sides of the Z-axis main beam, a Z-axis rack arranged on the side surface of the Z-axis main beam, a Z-axis motor arranged on the movable frame, and a Z-axis gear arranged at the driving end of the Z-axis motor and meshed with the Z-axis rack.
7. The full-automatic palletizing truss robot as claimed in claim 6, wherein: the automatic lubricating device is also included; the automatic lubricating device comprises a lubricating oil pump assembly and a lubricating assembly which is respectively meshed with the X-axis gear and the Z-axis gear; the lubricating assembly comprises a rotary joint and a lubricating gear, wherein one end of the rotary joint is connected with the lubricating oil pump assembly through a pipeline, and the lubricating gear is arranged at the other end of the rotary joint.
8. The full-automatic palletizing truss robot according to claim 7, wherein: and organ covers used for protecting the X-axis rack and the Z-axis rack are correspondingly arranged on the X-axis beam and the Z-axis main beam.
9. The fully automatic palletizing truss robot as claimed in claim 8, wherein: and limit switches are arranged at the two ends of the X-axis crossbeam, the Z-axis girder and the support frame.
10. The fully automatic palletizing truss robot as claimed in claim 9, wherein: and mechanical anti-collision blocks are further arranged at the two ends of the X-axis cross beam, the Z-axis main beam and the support frame outside the limit switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022113560.1U CN213201530U (en) | 2020-09-24 | 2020-09-24 | Full-automatic pile up neatly truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022113560.1U CN213201530U (en) | 2020-09-24 | 2020-09-24 | Full-automatic pile up neatly truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213201530U true CN213201530U (en) | 2021-05-14 |
Family
ID=75822488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022113560.1U Active CN213201530U (en) | 2020-09-24 | 2020-09-24 | Full-automatic pile up neatly truss robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213201530U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394438A (en) * | 2022-02-23 | 2022-04-26 | 四川九洲电器集团有限责任公司 | Stacking device and stacking method of material package stacking car loader |
-
2020
- 2020-09-24 CN CN202022113560.1U patent/CN213201530U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394438A (en) * | 2022-02-23 | 2022-04-26 | 四川九洲电器集团有限责任公司 | Stacking device and stacking method of material package stacking car loader |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206170020U (en) | Automatic it is quick -witted to go up and down, overturn | |
| CN102107783B (en) | Loading and unloading handling mechanical arm for solar cell module | |
| CN202072286U (en) | Loading and unloading handling mechanical arm for solar cell module | |
| CN1847118A (en) | Stacker | |
| CN213201530U (en) | Full-automatic pile up neatly truss robot | |
| CN201619199U (en) | Gate type hydraulic large cutting machine | |
| CN101862967B (en) | Dual-drive dual-screw rod positioner | |
| CN1792577A (en) | Machine for sawing corner of plate | |
| CN209125811U (en) | A kind of double truss robots with service hoisting function | |
| CN200971269Y (en) | Stacking machine | |
| CN219818531U (en) | Welding workstation | |
| CN115922105A (en) | Double-workbench type three-dimensional laser cutting machine | |
| CN113664446B (en) | Alternating welding platform device | |
| CN211732907U (en) | Scale conveyor cleaning device with adjustable height | |
| CN2366214Y (en) | Freely moveable type machine for automatically welding tube or plate having supporting rack | |
| CN113146521A (en) | Accurate positioning automatic pipe penetrating machine for shell-and-tube heat exchanger and application method thereof | |
| CN216830867U (en) | Supporting leg mechanism for oil casing truss manipulator | |
| CN216520629U (en) | Automatic lifting platform for analytical instrument | |
| CN216422603U (en) | Cantilever hanging manipulator | |
| CN112317829B (en) | Magnesium alloy thick plate edge milling device | |
| CN103978242B (en) | Large three-dimensional drilling machine | |
| CN216183543U (en) | Interior trim part hot-pressing coating equipment convenient for replacing mold | |
| CN116117778B (en) | High-speed heavy-load double-gantry multi-shaft composite truss robot | |
| CN213949894U (en) | A automatic vanning manipulator for shell molded lines | |
| CN111633196B (en) | Small-size die casting waste material clearance mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |