CN111300379A - Servo transport guide rail assembly of truss - Google Patents
Servo transport guide rail assembly of truss Download PDFInfo
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- CN111300379A CN111300379A CN201911070614.6A CN201911070614A CN111300379A CN 111300379 A CN111300379 A CN 111300379A CN 201911070614 A CN201911070614 A CN 201911070614A CN 111300379 A CN111300379 A CN 111300379A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to a truss servo carrying guide rail assembly which comprises a plurality of trusses and a plurality of grabbing and conveying devices; truss supporting seats are mounted on two sides of the bottoms of the trusses, truss supporting blocks are mounted on the truss supporting seats, the trusses are connected through the supporting blocks, transverse sliding rails are mounted on the truss supporting blocks, and a plurality of grabbing and conveying devices are connected to the transverse sliding rails in a sliding mode; an adjusting mechanism is arranged between the adjacent grabbing and conveying devices, and a first rack is arranged on one side of the transverse sliding rail; a driving motor is installed on one side of the grabbing and conveying device, a first gear is connected to the lower side of the bottom of the driving motor in a transmission mode, and the first gear is meshed with the first rack; the steel plate processing machine is simple in structure, convenient and practical, the plurality of grabbing and conveying devices can be used for carrying out loading and material handling, the plurality of mechanical arms work in a coordinated manner, and the steel plate processing efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of steel plate processing, and particularly relates to a truss servo carrying guide rail assembly.
Background
At present, the high-speed development of domestic manufacturing industry, along with the requirements of enterprise labor cost rising and industry transformation upgrading, the improvement of pure equipment performance is limited, the contribution brought to the improvement of productivity is very limited, the productivity can be improved in a leap mode only through the change of a manufacturing mode and a management mode, the manufacturing mode integrating automation, flexibility and intellectualization is a great trend of future manufacturing industry development, the truss manipulator adopts a portal frame structure, adopts a bilateral gear rack transmission mode, has the characteristic of stable motion and strong bearing capacity, and brings great convenience and practicability to the life of the existing enterprises. The rapid development of the steel plate mechanical industry in China mainly has the following two major factors: firstly, equipment updating and obsolescence equipment caused by the requirement of high-technology content equipment are eliminated; secondly, the steel plate processing industry develops at a high speed, and the demand on steel plate machinery is vigorous.
The prior art has the following disadvantages: the existing truss robot is provided with only one single manipulator for loading and carrying, has a small application range, and is required to be provided with manipulators with different specifications, so that the manipulator has a single workpiece grabbing type, the cost is high, and a large amount of resources are wasted; and the phenomenon of sudden runaway and the like is easy to happen in the use process of the manipulator, so that the manipulator and the clamped object are easy to lose weight suddenly and even fall off, and the use is unsafe.
In view of the above technical problems, improvements are needed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides the truss servo carrying guide rail assembly which is simple in structure, convenient to operate, capable of lifting steel plates to different heights, suitable for grabbing steel plates of different types and specifications, stable in grabbing and safe.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a truss servo carrying guide rail assembly comprises a plurality of trusses and a plurality of grabbing and conveying devices; truss supporting seats are mounted on two sides of the bottoms of the trusses, truss supporting blocks are mounted on the truss supporting seats, the trusses are connected through the supporting blocks, transverse sliding rails are mounted on the truss supporting blocks, and a plurality of grabbing and conveying devices are connected to the transverse sliding rails in a sliding mode; an adjusting mechanism is arranged between the adjacent grabbing and conveying devices, and a first rack is arranged on one side of the transverse sliding rail; a driving motor is installed on one side of the grabbing and conveying device, a first gear is connected to the lower side of the bottom of the driving motor in a transmission mode, and the first gear is meshed with the first rack.
As a preferable mode of the invention, the grabbing and conveying device comprises a traveling frame, wherein a transverse sliding mechanism is arranged on the traveling frame, a sliding seat is connected to the transverse sliding mechanism in a sliding manner, a driving motor is arranged on the sliding seat, a driving shaft of the driving motor penetrates through the sliding seat, the bottom of the driving shaft is connected with a driving gear, and correspondingly, a positioning rack meshed with the driving gear is arranged at the top of the traveling frame and is arranged along the length direction of the traveling frame; the sliding seat is connected with a lifting mechanism in a sliding mode, and the bottom of the lifting mechanism is provided with a manipulator device for grabbing the steel plate; the lifting mechanism comprises a sliding sleeve fixedly arranged on the sliding seat, a lifting driving cylinder is fixedly arranged on the sliding seat, one end of the lifting driving cylinder is fixedly arranged on the sliding seat, the other end of the lifting driving cylinder is fixedly arranged on the manipulator device, a guide post is connected in the sliding sleeve in a sliding mode, and the guide post penetrates through the sliding sleeve and is connected to the manipulator device; the movement of the driving cylinder through lifting is used for lifting the manipulator device.
As a preferable mode of the present invention, the lateral sliding mechanism includes a lateral rail and a lateral side rail respectively fixed on the top and the side of the traveling rack, and correspondingly, a lateral slider seat and a lateral side slider seat are respectively connected to the lateral rail and the lateral side rail in a sliding manner; the manipulator device comprises a positioning plate and clamping devices which are fixedly arranged on two sides of the positioning plate and oppositely arranged; the clamping device comprises a connecting plate in an L-shaped structure, a driving air cylinder is fixedly arranged at the top of the connecting plate, a clamping assembly for clamping a steel plate is assembled outside the connecting plate, and the connecting plate is in sliding connection with the positioning plate through a sliding mechanism; the bottom of the positioning plate is provided with an electromagnet for adsorbing a steel plate, and the clamping components on two sides slide through a sliding mechanism for clamping the steel plate.
As a preferred mode of the invention, the clamping assembly comprises a clamping positioning plate arranged at the top of a connecting plate, a positioning cylinder is vertically and fixedly arranged on the clamping positioning plate, a connecting seat is arranged on the outer side of the positioning cylinder, a hinge joint is connected on the connecting seat and connected to a driving shaft of a turnover driving cylinder, a sleeve is fixedly arranged at the other end of the turnover driving cylinder, mounting plates are symmetrically and fixedly arranged at the bottoms of the positioning cylinders, an L-shaped clamping plate is rotatably connected to the outer side of each mounting plate, the mounting plates are connected to the middle parts of the clamping plates, the end parts of the clamping plates at two sides are connected through turnover shafts, the turnover shafts are sleeved in the sleeve, the turnover driving cylinder stretches up and down, and the turnover; so that the clamping plates on the clamping devices on the two sides of the positioning plate are turned over relatively, and the distance between the clamping plates on the two sides is adjusted through the sliding mechanism to clamp the steel plate.
As a preferred mode of the present invention, the sliding mechanism includes an upper rail and a side rail respectively fixed on the top and the side of the positioning plate, and correspondingly, the upper rail and the side rail are respectively connected with an upper sliding block seat and a side sliding block seat in a sliding manner; the upper sliding block seat and the side sliding block seat are fixedly arranged at the bottom and the inner side of the connecting plate; and an air cylinder protection plate corresponding to the position of the driving air cylinder is fixedly arranged on the positioning plate, the air cylinder protection plate is positioned at the end part of the upper rail, and a driving shaft of the driving air cylinder is fixedly arranged on the air cylinder protection plate.
As a preferred mode of the invention, the adjusting mechanism comprises a cylinder supporting device and an X-axis cylinder pushing fixing plate fixedly arranged on the grabbing and conveying device, the cylinder supporting device is slidably connected to the rail and located between adjacent grabbing and conveying devices, a cylinder seat is vertically and fixedly arranged at the front end of the X-axis cylinder pushing fixing plate, an X-axis cylinder is fixedly arranged on the X-axis cylinder pushing fixing plate, a driving shaft of the X-axis cylinder penetrates through the cylinder seat to abut against the cylinder supporting device, and the X-axis cylinder drives the driving shaft to stretch and retract so as to adjust the distance between adjacent grabbing and conveying devices.
As a preferred mode of the invention, the cylinder supporting device comprises a cylinder supporting base and a cylinder supporting plate vertically and fixedly arranged on the cylinder supporting base, wherein a guide hole is formed in the top of the cylinder supporting plate, a guide sleeve is sleeved in the guide hole, and an adjusting rod is arranged in the guide sleeve in a penetrating manner; and positioning grooves matched with the ends of the driving shaft are formed in two sides of the cylinder supporting plate, and the end part of the driving shaft is clamped in the positioning grooves.
As a preferred mode of the invention, the opening of the positioning groove is upward, the opening is of a structure with a large upper end and a small lower end, and the upper end and the lower end of the positioning groove are respectively provided with an upper reinforcing plate and a lower reinforcing plate; the upper reinforcing plate and the lower reinforcing plate are respectively vertically arranged on the cylinder supporting plate; the upper reinforcing plate corresponds to the opening of the positioning groove, and the distance between the upper reinforcing plate and the positioning groove is consistent with the outer diameter of the end part of the driving shaft.
As a preferred mode of the invention, a through hole is formed on the cylinder block, a positioning sleeve is sleeved in the through hole, the adjusting rod is movably sleeved in the positioning sleeve, a plurality of positioning holes are formed on the adjusting rod, and correspondingly, a positioning mechanism for clamping the positioning holes is distributed on the fixing plate pushed by the X-axis cylinder; the positioning mechanism comprises a bearing fixing seat and a pin shaft driving bottom plate which are fixedly arranged on two sides of the X-axis cylinder pushing fixing plate respectively; the top of the bearing fixing seat is vertically and fixedly provided with a bottom plate, a pin shaft driving cylinder is fixedly arranged on the bottom plate, a pin shaft driving shaft of the pin shaft driving cylinder is provided with a pin shaft matched with the positioning hole, the pin shaft penetrates through the pin shaft driving bottom plate, the pin shaft driving shaft on the pin shaft driving cylinder is driven by the pin shaft, and the pin shaft is clamped with the positioning hole and used for adjusting the distance between adjacent grabbing and conveying devices.
As a preferred mode of the invention, the pin driving bottom plate is of an L-shaped structure and comprises a pin supporting part and a guide part; the guide part is vertically connected to the top of the pin shaft supporting part, and the pin shaft supporting part and the guide part are fixedly connected and integrally formed; the guide part is provided with a mounting hole, and the pin shaft penetrates through the mounting hole and is driven by the pin shaft driving cylinder to be clamped with or separated from the positioning hole.
The invention has the beneficial effects that:
1. the steel plate processing machine is simple in structure, convenient and practical, can carry out feeding and material handling treatment through the plurality of grabbing and conveying devices, and greatly improves the efficiency of steel plate processing because a plurality of mechanical arms work in a coordinated manner; according to the grabbing and conveying device, the driving gear and the positioning rack are meshed for transmission, so that the sliding seat slides on the transverse sliding mechanism stably and safely, the lifting mechanism is connected to the sliding seat in a sliding mode and can lift the manipulator device to different heights, the clamping assemblies and the sliding mechanisms on the two sides are matched with each other for clamping a steel plate, labor cost is reduced, loss of manpower and material resources is relatively reduced, meanwhile, the steel plate does not need to be conveyed manually when moving, only the manipulator is needed, and the grabbing and conveying device is high in construction safety and high in construction efficiency;
2. the adjusting mechanism drives the driving shaft to stretch through the X-axis cylinder, the driving shaft is positioned on the cylinder supporting device, the distance between every two adjacent grabbing and conveying devices can be adjusted, the adjusting mechanism is suitable for grabbing and conveying steel plates with different lengths, the production speed is accelerated, and the production efficiency is improved; the cylinder supporting device is arranged, is the same as the adjacent grabbing and conveying device and is also in sliding connection through the sliding rail, and plays a role in positioning the adjacent cylinder supporting device;
3. according to the invention, the positioning holes are clamped or separated from the pin shafts on the positioning mechanism, so that the stability of the distance between adjacent grabbing and conveying devices is further adjusted, the adjusting rod is fixedly arranged in the guide sleeve, and the plurality of positioning holes are equidistantly distributed on the adjusting rod, so that the distance between the grabbing and conveying devices can be adjusted according to actual requirements; the hinge pin driving mechanism drives the cylinder to drive the hinge pin to move up and down through the hinge pin, has high automation degree, and ensures that the hinge pin is matched with the positioning hole, so that the assembly stability is better;
4. the pin shaft driving bottom plate comprises a pin shaft supporting part and a guide part which are fixedly connected and integrally formed, so that the structural strength of the whole pin shaft driving bottom plate is increased, the firmness is better, meanwhile, a mounting hole is formed in the guide part, a pin shaft penetrates through the mounting hole, and the pin shaft is driven by a pin shaft driving cylinder to be clamped with or separated from a positioning hole;
5. the transverse sliding mechanisms are respectively provided with the top and the side walls to slide simultaneously, so that the sliding seat has sliding continuity, the manipulator device can be orderly and stably carried out in the moving process, and the working and using efficiency is improved; by arranging the guide post and the sliding connection and matching of the guide post and the sliding sleeve, the manipulator device can be conveniently and safely lifted, and has the characteristics of safety and stability; the two sliding sleeves are arranged, so that the stability of the device in the process of lifting the manipulator device is further improved, and safety guarantee is provided for the subsequent processing of steel plates;
6. the manipulator device has the functions of clamping and moving, can be used for clamping steel plates with different specifications and sizes, and has a wide application range; the L-shaped clamping plates are arranged and lifted from two sides of the lower end of the steel plate, so that the transportation process is stable and the steel plate cannot be damaged; according to the invention, the supporting plate is fixedly arranged between the clamping positioning plate and the positioning cylinder, so that the structural strength and the integral firmness of the clamping assembly are improved, and the safety of clamping and lifting a steel plate is further ensured;
7. the cylinder protection plate is arranged on the positioning plate, so that the driving cylinder can be effectively protected from being damaged by external force, the stroke of the driving cylinder is limited, the sliding mechanism is prevented from falling off the positioning plate, and the use safety is further ensured.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of an adjustment mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a gripping and conveying device according to an embodiment of the present invention;
FIG. 4 is a side view of a gripping and conveying device according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a robot apparatus according to an embodiment of the present invention;
FIG. 6 is a bottom view of a robot apparatus according to an embodiment of the present invention;
reference numbers in the figures: the device comprises a positioning plate 12, a sliding seat 20, a driving motor 20-1, an elastic shock absorption and isolation device 200, a sliding sleeve 201, a guide column 202, a lifting driving cylinder 203, a positioning rack 204, a manipulator device 205, a traveling frame 208, a transverse rail 208-1, a transverse side rail 208-2, a transverse sliding block seat 208-3, a transverse sliding block seat 208-4 and a transverse sliding mechanism 209; the device comprises a clamping device 120, a connecting plate 121, a driving air cylinder 122, a sliding mechanism 123, an upper rail 123-1, a side rail 123-2, an upper slider seat 123-3, a side slider seat 123-4, a clamping assembly 124, a clamping positioning plate 124-1, a positioning cylinder 124-2, a mounting plate 124-3, a connecting seat 124-5, a hinge joint 124-6, a turnover driving air cylinder 124-7, a turnover shaft 124-8, a sleeve 124-9, a supporting plate 125, a positioning rod 126, a spring 127, a nut 128, a clamping plate 1200 and an electromagnet 1201; the device comprises a grabbing and conveying device 13, a cylinder seat 21, an X-axis cylinder pushing fixing plate 211, an X-axis cylinder 213, a driving shaft 214, an upper reinforcing plate 215, a lower reinforcing plate 216, a cylinder supporting device 2100, a cylinder supporting base 2101, a cylinder supporting plate 2102, a guide hole 2103, a guide sleeve 2104, an adjusting rod 2105, a through hole 2106, a positioning sleeve 2107, a positioning hole 2108, a positioning groove 2109, a positioning mechanism 2110, a bearing fixing seat 2111, a pin shaft driving bottom plate 2112, a pin shaft supporting part 2112-1, a guide part 2112-2, an installation hole 2112-3, a bottom plate 2113, a pin shaft driving cylinder 2114, a pin shaft 2115, a truss 14, a truss supporting seat 140, a truss supporting block 141, a transverse sliding rail 142 and a first rack; a drive motor 144, a first gear 145, and an adjustment mechanism 210.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
Example (b): as shown in fig. 1, a truss servo-handling guide rail assembly comprises a plurality of trusses 14 and a plurality of grabbing and conveying devices 13; truss supporting seats 140 are mounted on two sides of the bottom of each truss 14, truss supporting blocks 141 are mounted on the truss supporting seats 140, the trusses 14 are connected through the truss supporting blocks 141, transverse sliding rails 142 are mounted on the truss supporting blocks 141, and the grabbing and conveying devices 13 are connected to the transverse sliding rails 142 in a sliding mode; an adjusting mechanism 210 is arranged between adjacent grabbing and conveying devices 13, and a first rack 143 is arranged on one side of the transverse slide rail 142; a driving motor 144 is installed on one side of the grabbing and conveying device 13, a first gear 145 is connected to the lower side of the bottom of the driving motor 144 in a transmission manner, and the first gear 145 is meshed with the first rack 143; the steel plate processing machine is simple in structure, convenient and practical, can carry out feeding and material handling treatment through the plurality of grabbing and conveying devices, and greatly improves the efficiency of steel plate processing because a plurality of mechanical arms work in a coordinated manner; according to the grabbing and conveying device, the driving gear and the positioning rack are meshed for transmission, so that the sliding seat slides on the transverse sliding mechanism stably and safely, the lifting mechanism is connected onto the sliding seat in a sliding mode and can lift the manipulator device to different heights, the clamping assemblies and the sliding mechanisms on the two sides are matched with each other for clamping steel plates, labor cost is reduced, loss of manpower and material resources is relatively reduced, meanwhile, the steel plates do not need to be conveyed manually when moving, only the manipulator is needed, and the grabbing and conveying device is high in construction safety and high in construction efficiency.
As shown in fig. 2, the grabbing and conveying device 13 includes a traveling frame 208, a transverse sliding mechanism 209 is installed on the traveling frame 208, the transverse sliding mechanism 209 is connected with a sliding seat 20 in a sliding manner, a driving motor 20-1 is arranged on the sliding seat 20, a driving shaft of the driving motor 20-1 penetrates through the sliding seat 20, the bottom of the driving shaft is connected with a driving gear, correspondingly, a positioning rack 204 meshed with the driving gear is installed on the top of the traveling frame 208, and the positioning rack 200 is arranged along the length direction of the traveling frame 208; the sliding seat 20 is connected with a lifting mechanism 200 in a sliding manner, and the bottom of the lifting mechanism 200 is provided with a manipulator device 205 for grabbing the steel plate; the lifting mechanism 200 comprises a sliding sleeve 201 fixedly arranged on the sliding seat 20, a lifting driving cylinder 203 is fixedly arranged on the sliding seat 20, one end of the lifting driving cylinder 203 is fixedly arranged on the sliding seat 20, the other end of the lifting driving cylinder is fixedly arranged on the manipulator device 205, a guide column 202 is connected in the sliding sleeve 201 in a sliding manner, and the guide column 202 penetrates through the sliding sleeve 201 to be connected to the manipulator device 205; the movement by the lifting drive cylinder 203 is used for the robot device 205 to ascend and descend; the device is simple in structure and convenient to operate, the sliding seat is enabled to slide on the transverse sliding mechanism stably and safely through meshing transmission of the driving gear and the positioning rack, the sliding seat is connected with the lifting mechanism in a sliding mode, the manipulator device can be lifted to different heights, the movement of the manipulator in the transverse direction and the longitudinal direction can be achieved, and an automatic foundation is provided for subsequent steel plate processing; the centre gripping subassembly and the slide mechanism of both sides are mutually supported and are used for the centre gripping steel sheet, reduce the cost of labor, and the manpower and material resources upper loss reduce relatively, and the removal of steel sheet need not artifical conveying simultaneously, only need through the manipulator can, its construction safety is high and the efficiency of construction is high.
The transverse sliding mechanism 209 comprises a transverse rail 208-1 and a transverse side rail 208-2 which are respectively fixed on the top and the side of the traveling frame 208, and correspondingly, a transverse slider seat 208-3 and a transverse slider seat 208-4 are respectively connected on the transverse rail 208-1 and the transverse side rail 208-2 in a sliding way; the transverse sliding mechanisms are respectively provided with the top and the side walls to slide simultaneously, so that the sliding seat has sliding continuity, the manipulator device can be orderly and stably carried out in the moving process, and the working and using efficiency is improved;
according to the invention, the guide post is arranged, and the guide post is matched with the sliding sleeve in a sliding connection manner, so that the manipulator device can be conveniently and safely lifted, and the manipulator device has the characteristics of safety and stability; specifically, two sliding sleeves 201 are symmetrically arranged on the sliding seat 20, and the lifting driving cylinder 203 is located between the two sliding sleeves 201; the stability of the device in the process of lifting the manipulator device is further improved, and safety guarantee is provided for the subsequent processing of the steel plate.
The sliding seat 20 is in an L-shaped structure, and the transverse sliding block seat 208-3 and the transverse sliding block seat 208-4 are fixedly arranged at the bottom and the inner side of the sliding seat 20.
As shown in fig. 3-4, the manipulator device 205 includes a positioning plate 12, and clamping devices 120 oppositely disposed on two sides of the positioning plate 12; the clamping device 120 comprises a connecting plate 121 in an L-shaped structure, a driving cylinder 122 is fixedly arranged at the top of the connecting plate 121, a clamping assembly 124 for clamping a steel plate is assembled outside the connecting plate 121, and the connecting plate 121 is slidably connected with the positioning plate 12 through a sliding mechanism 123; the bottom of the positioning plate 12 is provided with an electromagnet 1201 for adsorbing a steel plate, and clamping components 124 on two sides slide through a sliding mechanism 123 for clamping the steel plate; the device simple structure, convenient operation is used for adsorbing the steel sheet through electro-magnet 1201, and the centre gripping subassembly and the slide mechanism of both sides are mutually supported and are used for the centre gripping protection steel sheet, reduce the cost of labor, and the consume reduces relatively on manpower and the material resources, and the removal of steel sheet need not artifical conveying simultaneously, only need through the manipulator can, its construction safety is high and the efficiency of construction is high.
The clamping assembly 124 comprises a clamping positioning plate 124-1 arranged at the top of the connecting plate 121, a positioning cylinder 124-2 is vertically and fixedly arranged on the clamping positioning plate 124-1, a connecting seat 124-5 is arranged at the outer side of the positioning cylinder 124-2, a hinge joint 124-6 is connected on the connecting seat 124-5, the hinge joint 124-6 is connected on a driving shaft of an overturning driving cylinder 124-7, a sleeve 124-9 is fixedly arranged at the other end of the overturning driving cylinder 124-7, a mounting plate 124-3 is symmetrically and fixedly arranged at the bottom of the positioning cylinder 124-2, an L-shaped clamping plate 1200 is rotatably connected at the outer side of the mounting plate 124-3, the mounting plate 124-3 is connected at the middle part of the clamping plate 1200, the end parts of the clamping plates 1200 at the two sides are connected through an overturning shaft 124-8, and the overturning shaft, the overturning driving cylinder 124-7 stretches up and down, and the overturning shaft 124-8 drives the clamping plates 1200 on the two sides to overturn; the clamping plates 1200 on the clamping devices 120 at the two sides of the positioning plate 12 are turned over relatively, and the distance between the clamping plates 1200 at the two sides is adjusted through the sliding mechanism 123 to clamp the steel plate; the L-shaped clamping plates are arranged and taken up from two sides of the lower end of the steel plate, so that the transportation process is stable and the steel plate cannot be damaged; the device has the functions of clamping and moving, can be used for clamping steel plates with different specifications and sizes, and has wide application range.
The sliding mechanism 123 comprises an upper rail 123-1 and a side rail 123-2 fixedly arranged at the top and the side of the positioning plate 12, and correspondingly, an upper sliding block seat 123-3 and a side sliding block seat 123-4 are respectively connected to the upper rail 123-1 and the side rail 123-2 in a sliding manner; the upper sliding block seat 123-3 and the side sliding block seat 123-4 are fixedly arranged at the bottom and the inner side of the connecting plate 121; the sliding mechanism is arranged, and the top and the side wall are respectively arranged to slide simultaneously, so that the sliding continuity of the clamping assembly is realized, the steel plate clamping process is orderly and stably carried out, and the working and using efficiency is improved.
A cylinder protection plate 12-1 corresponding to the driving cylinder 122 is fixedly arranged on the positioning plate 12, the cylinder protection plate 12-1 is positioned at the end part of the upper rail 123-1, and a driving shaft of the driving cylinder 122 is fixedly arranged on the cylinder protection plate 12-1; the cylinder protection plate is arranged on the positioning plate, so that the driving cylinder can be effectively protected from being damaged by external force, the stroke of the driving cylinder is limited, the sliding mechanism is prevented from falling off the positioning plate, and the use safety is further ensured.
The two ends of the clamping plate 1200 are in arc transition; the clamping positioning plate 124-1 is fixedly arranged at the middle part of the positioning cylinder 124-2, and a supporting plate 125 is fixedly arranged between the clamping positioning plate 124-1 and the positioning cylinder 124-2; the two supporting plates 125 are symmetrically and fixedly arranged at the joint of the clamping positioning plate 124-1 and the positioning cylinder 124-2; according to the invention, the supporting plate is fixedly arranged between the clamping positioning plate and the positioning cylinder, so that the structural strength and the integral firmness of the clamping assembly are improved, and the safety of clamping and lifting the steel plate is further ensured.
A positioning rod 126 is arranged on the clamping positioning plate 124-1, the positioning rod 126 passes through the clamping positioning plate 124-1 and is fixedly arranged at the top of the connecting plate 121, a spring 127 is sleeved on the positioning rod 126, one end of the spring 127 is abutted against the clamping positioning plate 124-1, and the other end of the spring 127 is fastened through a screw cap 128 which is rotated at the end part of the positioning rod 126; two positioning rods 126 are symmetrically arranged on the clamping positioning plate 124-1; according to the invention, the spring is sleeved on the positioning rod, and the clamping positioning plate is fastened with the connecting plate through the spring, so that the stability of the manipulator in the sliding process is improved, and the safety factor of steel plate grabbing is reduced.
As shown in fig. 5-6, the adjustment mechanism 210 is located at the upper end of the adjacent gripper conveyor 13; the adjacent grabbing and conveying devices 13 are connected to the track in a sliding mode; two adjusting mechanisms 210 are arranged and symmetrically arranged on two sides of the adjacent grabbing and conveying devices 13; the two adjusting mechanisms 210 are arranged, so that the stability and safety of connecting pieces between adjacent grabbing and conveying devices are further improved, and the conveying stability is better in the process of grabbing the moving steel plate; the adjusting mechanism comprises an air cylinder supporting device 2100 and an X-axis air cylinder pushing fixing plate 211 fixedly arranged on a grabbing and conveying device 13, wherein the air cylinder supporting device 2100 is connected to a rail in a sliding mode and located between the adjacent grabbing and conveying devices 13, an air cylinder seat 21 is vertically and fixedly arranged at the front end of the X-axis air cylinder pushing fixing plate 211, an X-axis air cylinder 213 is fixedly arranged on the X-axis air cylinder pushing fixing plate 211, a driving shaft 214 of the X-axis air cylinder 213 penetrates through the air cylinder seat 21 to abut against the air cylinder supporting device 2100, and the X-axis air cylinder 213 drives the driving shaft 214 to stretch and retract so as to adjust the distance between the adjacent grabbing; the X-axis cylinder drives the driving shaft to stretch, the driving shaft is positioned on the cylinder supporting device, the distance between every two adjacent grabbing and conveying devices can be adjusted, the X-axis cylinder is suitable for grabbing and conveying steel plates with different lengths, the production speed is accelerated, and the production efficiency is improved.
The cylinder supporting device 2100 comprises a cylinder supporting base 2101 and a cylinder supporting plate 2102 vertically and fixedly arranged on the cylinder supporting base 2101, a guide hole 2103 is formed in the top of the cylinder supporting plate 2102, a guide sleeve 2104 is sleeved in the guide hole 2103, and an adjusting rod 2105 is arranged in the guide sleeve 2104 in a penetrating manner; according to the cylinder supporting device, the cylinder supporting device is connected with the adjacent grabbing and conveying device in a sliding mode through the sliding rail, and the cylinder supporting device plays a role in positioning the adjacent cylinder supporting device.
Positioning grooves 2109 matched with the end part of the driving shaft 214 are formed at two sides of the cylinder supporting plate 2102, and the end part of the driving shaft 214 is clamped in the positioning grooves 2109; through setting up positioning groove, the tip detachable connection of drive shaft is in positioning groove for the drive shaft is more stable with positioning groove's connectivity, makes the regulation between the adjacent grabbing conveyor more convenient, meanwhile, has also made things convenient for the maintenance of drive shaft convenient.
The opening of the positioning groove 2109 is upward, the opening is of a structure with a large upper end and a small lower end, so that the driving shaft is conveniently connected with the positioning groove, and meanwhile, an upper reinforcing plate and a lower reinforcing plate are arranged and vertically arranged on the cylinder supporting plate respectively; the overall strength and firmness of the cylinder supporting device are improved, and the use safety is ensured; the upper end and the lower end of the positioning groove 2109 are respectively provided with an upper reinforcing plate 215 and a lower reinforcing plate 216; the upper reinforcing plate 215 and the lower reinforcing plate 216 are vertically arranged on the cylinder support plate 2102, respectively.
The upper reinforcing plate 215 corresponds to the opening of the positioning recess 2109, and the distance between the upper reinforcing plate 215 and the positioning recess 2109 corresponds to the outer diameter of the end of the drive shaft 214. The upper reinforcing plate corresponds to the opening of the positioning groove, and the distance between the upper reinforcing plate and the positioning groove is consistent with the outer diameter of the end part of the driving shaft; the driving shaft positioned in the positioning groove is effectively prevented from being separated from the positioning groove, and the use safety is ensured.
A through hole 2106 is formed on the cylinder block 21, a positioning sleeve 2107 is sleeved in the through hole 2106, the adjusting rod 2105 is movably sleeved in the positioning sleeve 2107, a plurality of positioning holes 2108 are formed on the adjusting rod 2105, and correspondingly, a positioning mechanism 2110 for clamping the positioning holes 2108 is distributed on the X-axis cylinder pushing fixing plate 211; according to the invention, the positioning holes are clamped or separated from the pin shafts on the positioning mechanism, so that the stability of the distance between the adjacent grabbing and conveying devices is further adjusted, the adjusting rod is fixedly arranged in the guide sleeve, the positioning holes are equidistantly distributed on the adjusting rod, and the distance between the grabbing and conveying devices can be adjusted according to actual requirements.
The positioning mechanism 2110 comprises a bearing fixing seat 2111 and a pin shaft driving bottom plate 2112 which are fixedly arranged on two sides of the X-axis cylinder pushing fixing plate 211 respectively; the X-axis cylinder 213 is positioned between the bearing fixing seat 2111 and the pin shaft driving bottom plate 2112; the structure design is ingenious, the adjusting rod 2105 slides in the guide sleeve 2104 by the relative driving of the X-axis cylinders 213 on the two adjacent grabbing and conveying devices 13, and the pin 2115 is connected with or separated from the positioning hole 2108 on the adjusting rod 2105 in a clamping way by the driving of the pin driving cylinder 2114; for adjusting the distance between adjacent gripping conveyors 13; a bottom plate 2113 is vertically and fixedly arranged at the top of the bearing fixing seat 2111, a pin shaft driving air cylinder 2114 is fixedly arranged on the bottom plate 2113, a pin shaft 2115 matched with the positioning hole 2108 is arranged on a pin shaft driving shaft of the pin shaft driving air cylinder 2114, the pin shaft 2115 penetrates through the pin shaft driving bottom plate 2112, and the pin shaft 2115 is clamped with the positioning hole 2108 to adjust the distance between the adjacent grabbing and conveying devices 13 through the driving of the pin shaft driving shaft on the pin shaft driving air cylinder 2114; the invention drives the cylinder to drive the pin shaft to move up and down through the pin shaft, has high automation degree, and ensures that the pin shaft is matched with the positioning hole, thereby ensuring better assembly stability.
The pin driving bottom plate 2112 is of an L-shaped structure and comprises a pin supporting part 2112-1 and a guide part 2112-2; the guide portion 2112-2 is vertically connected to the top of the pin support portion 2112-1, and the pin support portion 2112-1 and the guide portion 2112-2 are fixedly connected and integrally formed; make the structural strength grow of whole round pin axle drive bottom plate, the fastness is better, meanwhile, is formed with the mounting hole on the guide part, and the round pin axle passes the mounting hole, drives the drive of cylinder through the round pin axle, with locating hole joint or separation.
A mounting hole 2112-3 is formed in the guide portion 2112-2, and a pin 2115 passes through the mounting hole 2112-3 and is driven by a pin driving cylinder 2114 to be clamped with or separated from the positioning hole 2108; the adjusting rod is movably sleeved in the positioning sleeve, so that the sliding continuity of the adjusting rod is improved, the grabbing and conveying device can move orderly and stably, and the working and using efficiency is improved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these 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.
Although the reference numerals in the figures are used more here: the device comprises a positioning plate 12, a sliding seat 20, a driving motor 20-1, an elastic shock absorption and isolation device 200, a sliding sleeve 201, a guide column 202, a lifting driving cylinder 203, a positioning rack 204, a manipulator device 205, a traveling frame 208, a transverse rail 208-1, a transverse side rail 208-2, a transverse sliding block seat 208-3, a transverse sliding block seat 208-4 and a transverse sliding mechanism 209; the device comprises a clamping device 120, a connecting plate 121, a driving air cylinder 122, a sliding mechanism 123, an upper rail 123-1, a side rail 123-2, an upper slider seat 123-3, a side slider seat 123-4, a clamping assembly 124, a clamping positioning plate 124-1, a positioning cylinder 124-2, a mounting plate 124-3, a connecting seat 124-5, a hinge joint 124-6, a turnover driving air cylinder 124-7, a turnover shaft 124-8, a sleeve 124-9, a supporting plate 125, a positioning rod 126, a spring 127, a nut 128, a clamping plate 1200 and an electromagnet 1201; the device comprises a grabbing and conveying device 13, a cylinder seat 21, an X-axis cylinder pushing fixing plate 211, an X-axis cylinder 213, a driving shaft 214, an upper reinforcing plate 215, a lower reinforcing plate 216, a cylinder supporting device 2100, a cylinder supporting base 2101, a cylinder supporting plate 2102, a guide hole 2103, a guide sleeve 2104, an adjusting rod 2105, a through hole 2106, a positioning sleeve 2107, a positioning hole 2108, a positioning groove 2109, a positioning mechanism 2110, a bearing fixing seat 2111, a pin shaft driving bottom plate 2112, a pin shaft supporting part 2112-1, a guide part 2112-2, an installation hole 2112-3, a bottom plate 2113, a pin shaft driving cylinder 2114, a pin shaft 2115, a truss 14, a truss supporting seat 140, a truss supporting block 141, a transverse sliding rail 142 and a first rack; drive motor 144, first gear 145, adjustment mechanism 210, etc., but does not exclude the possibility of using other terms; these terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. A truss servo carrying guide rail assembly is characterized in that; comprises a plurality of trusses (14) and a plurality of grabbing and conveying devices (13); truss supporting seats (140) are installed on two sides of the bottom of each truss (14), truss supporting blocks (141) are installed on the truss supporting seats (140), the trusses (14) are connected through the truss supporting blocks (141), transverse sliding rails (142) are installed on the truss supporting blocks (141), and the grabbing and conveying devices (13) are connected to the transverse sliding rails (142) in a sliding mode; an adjusting mechanism (210) is arranged between the adjacent grabbing and conveying devices (13), and a first rack (143) is arranged on one side of the transverse sliding rail (142); a driving motor (144) is installed on one side of the grabbing and conveying device (13), a first gear (145) is connected to the lower side of the bottom of the driving motor (144) in a transmission mode, and the first gear (145) is meshed with the first rack (143).
2. The truss servo carrier rail assembly of claim 1 wherein: the grabbing and conveying device (13) comprises a traveling frame (208), a transverse sliding mechanism (209) is installed on the traveling frame (208), a sliding seat (20) is connected onto the transverse sliding mechanism (209) in a sliding mode, a driving motor (20-1) is arranged on the sliding seat (20), a driving shaft of the driving motor (20-1) penetrates through the sliding seat (20), a driving gear is connected to the bottom of the driving shaft, correspondingly, a positioning rack (204) meshed with the driving gear is installed at the top of the traveling frame (208), and the positioning rack (200) is arranged along the length direction of the traveling frame (208); the sliding seat (20) is connected with a lifting mechanism (200) in a sliding mode, and a manipulator device (205) for grabbing the steel plate is assembled at the bottom of the lifting mechanism (200); the lifting mechanism (200) comprises a sliding sleeve (201) fixedly arranged on a sliding seat (20), a lifting driving cylinder (203) is fixedly arranged on the sliding seat (20), one end of the lifting driving cylinder (203) is fixedly arranged on the sliding seat (20), the other end of the lifting driving cylinder is fixedly arranged on a manipulator device (205), a guide column (202) is connected in the sliding sleeve (201) in a sliding mode, and the guide column (202) penetrates through the sliding sleeve (201) to be connected onto the manipulator device (205); the movement of the lifting drive cylinder (203) is used for lifting the manipulator device (205).
3. A truss servo carrier rail assembly as defined in claim 2 wherein: the transverse sliding mechanism (209) comprises a transverse rail (208-1) and a transverse side rail (208-2) which are fixedly arranged at the top and the side of the travelling frame (208) respectively, and correspondingly, a transverse slider seat (208-3) and a transverse slider seat (208-4) are connected to the transverse rail (208-1) and the transverse side rail (208-2) respectively in a sliding manner; the manipulator device (205) comprises a positioning plate (12) and clamping devices (120) which are fixedly arranged on two sides of the positioning plate (12) and are oppositely arranged; the clamping device (120) comprises a connecting plate (121) in an L-shaped structure, a driving cylinder (122) is fixedly arranged at the top of the connecting plate (121), a clamping assembly (124) for clamping a steel plate is assembled on the outer side of the connecting plate (121), and the connecting plate (121) is in sliding connection with the positioning plate (12) through a sliding mechanism (123); the bottom of the positioning plate (12) is provided with an electromagnet (1201) for adsorbing a steel plate, and the clamping components (124) on two sides slide through a sliding mechanism (123) for clamping the steel plate.
4. A truss servo carrier rail assembly as defined in claim 3 wherein: the clamping assembly (124) comprises a clamping positioning plate (124-1) arranged at the top of the connecting plate (121), a positioning cylinder (124-2) is vertically and fixedly arranged on the clamping positioning plate (124-1), a connecting seat (124-5) is arranged on the outer side of the positioning cylinder (124-2), a hinge joint (124-6) is connected on the connecting seat (124-5), the hinge joint (124-6) is connected on a driving shaft of a turnover driving cylinder (124-7), a sleeve (124-9) is fixedly arranged at the other end of the turnover driving cylinder (124-7), mounting plates (124-3) are symmetrically and fixedly arranged at the bottom of the positioning cylinder (124-2), a clamping plate (1200) in an L shape is rotatably connected on the outer side of the mounting plate (124-3), and the mounting plate (124-3) is connected in the middle of the clamping plate (1200), the end parts of the clamping plates (1200) at the two sides are connected through a turnover shaft (124-8), the turnover shaft (124-8) is sleeved in a sleeve (124-9), a turnover driving cylinder (124-7) stretches up and down, and the turnover shaft (124-8) drives the clamping plates (1200) at the two sides to turn over; so that the clamping plates (1200) on the clamping devices (120) at the two sides of the positioning plate (12) are turned over relatively, and the distance between the clamping plates (1200) at the two sides is adjusted through the sliding mechanism (123) for clamping the steel plate.
5. The truss servo carrier rail assembly of claim 4 wherein: the sliding mechanism (123) comprises an upper rail (123-1) and a side rail (123-2) which are fixedly arranged at the top and the side of the positioning plate (12) respectively, and correspondingly, an upper sliding block seat (123-3) and a side sliding block seat (123-4) are respectively connected to the upper rail (123-1) and the side rail (123-2) in a sliding manner; the upper sliding block seat (123-3) and the side sliding block seat (123-4) are fixedly arranged at the bottom and the inner side of the connecting plate (121); and an air cylinder protection plate (12-1) corresponding to the driving air cylinder (122) is fixedly arranged on the positioning plate (12), the air cylinder protection plate (12-1) is positioned at the end part of the upper rail (123-1), and a driving shaft of the driving air cylinder (122) is fixedly arranged on the air cylinder protection plate (12-1).
6. A truss servo carrier rail assembly as defined in claim 1 wherein: the adjusting mechanism (210) comprises a cylinder supporting device (2100) and an X-axis cylinder pushing fixing plate (211) fixedly arranged on the grabbing conveying device (13), the cylinder supporting device (2100) is connected to the rail in a sliding mode and located between the adjacent grabbing conveying devices (13), a cylinder seat (21) is vertically and fixedly arranged at the front end of the X-axis cylinder pushing fixing plate (211), an X-axis cylinder (213) is fixedly arranged on the X-axis cylinder pushing fixing plate (211), a driving shaft (214) of the X-axis cylinder (213) penetrates through the cylinder seat (21) to abut against the cylinder supporting device (2100), and the driving shaft (214) is driven to stretch through the X-axis cylinder (213) and used for adjusting the distance between the adjacent grabbing conveying devices (13).
7. The truss servo carrier rail assembly of claim 6 wherein: the cylinder supporting device (2100) comprises a cylinder supporting base (2101), a cylinder supporting plate (2102) vertically and fixedly arranged on the cylinder supporting base (2101), a guide hole (2103) is formed in the top of the cylinder supporting plate (2102), a guide sleeve (2104) is sleeved in the guide hole (2103), and an adjusting rod (2105) penetrates through the guide sleeve (2104); the cylinder support plate (2102) is provided with positioning grooves (2109) matched with the end of the driving shaft (214) on two sides, and the end of the driving shaft (214) is clamped in the positioning grooves (2109).
8. The truss servo carrier rail assembly of claim 7 wherein: the opening of the positioning groove (2109) is upward, the opening is of a structure with a large upper end and a small lower end, and an upper reinforcing plate (215) and a lower reinforcing plate (216) are respectively distributed at the upper end and the lower end of the positioning groove (2109); the upper reinforcing plate (215) and the lower reinforcing plate (216) are respectively vertically arranged on the cylinder supporting plate (2102); the upper reinforcing plate (215) corresponds to the opening of the positioning groove (2109), and the distance between the upper reinforcing plate (215) and the positioning groove (2109) is consistent with the outer diameter of the end part of the driving shaft (214).
9. The truss servo carrier rail assembly of claim 8 wherein: a through hole (2106) is formed in the cylinder seat (21), a positioning sleeve (2107) is sleeved in the through hole (2106), an adjusting rod (2105) is movably sleeved in the positioning sleeve (2107), a plurality of positioning holes (2108) are formed in the adjusting rod (2105), and correspondingly, a positioning mechanism (2110) for clamping the positioning holes (2108) is distributed on the X-axis cylinder pushing fixing plate (211); the positioning mechanism (2110) comprises a bearing fixing seat (2111) and a pin shaft driving bottom plate (2112) which are fixedly arranged on two sides of the X-axis cylinder pushing fixing plate (211) respectively; bearing fixing base (2111) top sets firmly bottom plate (2113) perpendicularly, set firmly round pin axle drive cylinder (2114) on bottom plate (2113), be equipped with round pin axle (2115) with locating hole (2108) looks adaptation on the round pin axle drive shaft of round pin axle drive cylinder (2114), round pin axle (2115) pass round pin axle drive bottom plate (2112), through the drive of round pin axle drive shaft on round pin axle drive cylinder (2114), round pin axle (2115) and locating hole (2108) joint for adjust the distance between the adjacent conveyor that snatchs (13).
10. The truss servo carrier rail assembly of claim 9 wherein: the pin shaft driving bottom plate (2112) is of an L-shaped structure and comprises a pin shaft supporting part (2112-1) and a guide part (2112-2); the guide part (2112-2) is vertically connected to the top of the pin shaft supporting part (2112-1), and the pin shaft supporting part (2112-1) is fixedly connected with the guide part (2112-2) and integrally formed; the guide portion (2112-2) is provided with a mounting hole (2112-3), and a pin shaft (2115) penetrates through the mounting hole (2112-3) and is connected with or separated from the positioning hole (2108) in a clamping mode through driving of a pin shaft driving air cylinder (2114).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911070614.6A CN111300379A (en) | 2019-11-05 | 2019-11-05 | Servo transport guide rail assembly of truss |
| PCT/CN2020/081279 WO2021088303A1 (en) | 2019-11-05 | 2020-03-26 | Truss servo handling guide rail assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911070614.6A CN111300379A (en) | 2019-11-05 | 2019-11-05 | Servo transport guide rail assembly of truss |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111300379A true CN111300379A (en) | 2020-06-19 |
Family
ID=71154788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911070614.6A Pending CN111300379A (en) | 2019-11-05 | 2019-11-05 | Servo transport guide rail assembly of truss |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111300379A (en) |
| WO (1) | WO2021088303A1 (en) |
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| CN112194017A (en) * | 2020-10-30 | 2021-01-08 | 建科机械（天津）股份有限公司 | A steel truss handling mechanism |
| CN113071050A (en) * | 2021-04-01 | 2021-07-06 | 重庆同力塑料制品有限公司 | Material taking and discharging device used after EPS foam product molding |
| CN117583759A (en) * | 2023-12-06 | 2024-02-23 | 哈尔滨学院 | Transfer robot for automated laser cutting production line |
| CN117697912A (en) * | 2023-12-20 | 2024-03-15 | 惠州易拓智谱智能制造科技有限公司 | Automatic arranging and assembling machine for spareribs frame and batten assembly |
| CN120097088A (en) * | 2025-04-30 | 2025-06-06 | 苏州得奥自动化科技有限公司 | A barrel picking and placing mechanism using a truss manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114043454B (en) * | 2021-10-28 | 2023-08-01 | 首都航天机械有限公司 | Truss manipulator for realizing material transfer by utilizing ram device and material transfer method |
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| WO2021088303A1 (en) | 2021-05-14 |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200619 |
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| RJ01 | Rejection of invention patent application after publication |