CN101229639A - Gantry type bolt installing robot - Google Patents
Gantry type bolt installing robot Download PDFInfo
- Publication number
- CN101229639A CN101229639A CNA2007101159212A CN200710115921A CN101229639A CN 101229639 A CN101229639 A CN 101229639A CN A2007101159212 A CNA2007101159212 A CN A2007101159212A CN 200710115921 A CN200710115921 A CN 200710115921A CN 101229639 A CN101229639 A CN 101229639A
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- cylindrical guide
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Abstract
The invention provides a gantry-type screw installing robot. An X-left bottom plate and an X-right bottom plate are placed on a worktable and connected by two connecting rods through screws; the middle of the X-right bottom plate is provided with an X-cylindrical guide rail while the middle of the X-left bottom plate is provided with a cylindrical guide rail and a ball screw; an X-slide board, an upper surface of which is connected with a Y-bottom plate, is contacted with the cylindrical guide rail through a copper sleeve; the Y-bottom plate is internally provided with a Y-ball screw and a Y-cylindrical guide rail; the Y-ball screw is connected with a Y-slide board and the Y-ball screw and also driven by the Y-ball screw; a Z-bottom plate which is provided with two Z-cylindrical guide rails is arranged on the Y-slide board and a Z-ball screw is positioned between the two cylindrical guide rails; a Z-stepper motor is connected with and driven by the Z-ball screw; a Z-slide board is integrated with the Z-cylindrical guide rail and the Z-ball screw through four sliding sleeves and arranged on the Z-slide board with a claw stepper motor through a claw driven by a coupling. The invention can be applied to screw installation in a place with large area, multi-levels of height and the vertical direction.
Description
Technical field
The present invention relates to a kind of gantry type bolt installing robot, specifically be specifically applied to the four-degree-of-freedom robot of a kind of planer type structure form of vertical direction mounting screw.
Background technology
Along with the development of Chinese national economy, in the machinery assembling of mechanical processing industry, the screw that often runs into vertical surface is installed.This operation is mainly installed one by one by the hand-held electric screw erector of industry workman now.This station work repeatability is very big, still belongs to labor-intensive work position.Although some enterprise for certain specific machinery assembling can make the installment work that some special planes are finished screw, this special plane is owing to be to design at certain specific workpiece, thereby lacks the flexible in the application.Therefore, for the frequent conversion of some workpiece, the assembly shop that has a large amount of vertical direction to install again, chasing after is essential wants a kind of flexibility, programmable screw mounting machine tool.
At above-mentioned deficiency, the invention provides a kind of gantry type bolt installing robot.
The present invention realizes by following technology:
A kind of gantry type bolt installing robot, it comprises bottom transverse connecting rod, bearing cap, X is to left bottom plate, and X is base plate to the right, the vertical pillars connecting plate, vertical pillars, Y is to base plate, and Y is to cylindrical guide, Y is to stepper motor, and Y is to shaft coupling, and Y is to the ball-screw bearing, X, Y, Z is to ball-screw, and Z is to stepper motor, and Z is to shaft coupling, Z is to the ball-screw bearing, and Z is to bearing spider, and Z is to cylindrical guide, Z is to ball-screw, paw rotating stepper motor, paw shaft coupling, Z is to slide plate, electromagnet screw paw, and Z is to base plate, X is to slide plate, sliding sleeve, and X is base plate to the right, X is to stepper motor, and X is to shaft coupling, and X is to bearing, X is to cylindrical guide, X is to ball-screw, and X is to slide plate, and Y is to slide plate; Wherein, base plate is parallel to the right is placed on the workbench to left bottom plate and X for X, couple together with screw with two parallel bottom transverse connecting rods between the two, X is placed with X to cylindrical guide in the middle of the base plate to the right, X is a parallel cylindrical guide and ball-screw of being placed with in left bottom plate, cylindrical guide and the X riser at base plate two ends to the left and right closely cooperate, the two ends of ball-screw all are equipped with bearing, one end of ball-screw links through shaft coupling and stepper motor, another section of ball-screw is placed on X on left bottom plate through bearing, outside bearing cap shutoff, ball-screw nut is installed on the ball-screw, the foreign side of ball-screw nut is that X is to slide plate, X contacts with cylindrical guide by four copper sheathings to slide plate, X joins to base plate by the Y of two vertical pillars and top above slide plate, Y is placed with a ball-screw and a Y to cylindrical guide in base plate, Y has 2 sliding sleeves above cylindrical guide, the outside of sliding sleeve is equipped with Y to slide plate, Y also is equipped with ball-screw nut on ball-screw, this ball-screw is installed together to slide plate by screw and Y, Y links and drives to ball-screw by shaft coupling and Y to stepper motor, distribution Y ball-screw to the Y at base plate two ends to bearings, Y is equipped with Z to base plate on slide plate, Z is equipped with two Z to cylindrical guide on base plate, article two, Z is equipped with Z to ball-screw to the centre of cylindrical guide, Z to stepper motor by Z to shaft coupling, bearing and Z are connected and drive to ball-screw, Z is installed together to ball-screw nut to cylindrical guide and Z by four sliding sleeves and two Z to slide plate, is installed in Z with the paw stepper motor on slide plate by the paw that shaft coupling drives.
The motion motor of its X, Y, three directions of Z is stepper motors.
The paw of clamp screws is rotatable under the drive of stepper motor.
This robot construction form is a planer-type.
The invention has the beneficial effects as follows: simple in structure, easy to use.
Description of drawings
Fig. 1 is a frame for movement front view of the present invention;
Fig. 2 is a structural principle schematic diagram left view of the present invention;
Fig. 3 is the vertical view of its frame for movement.
Wherein, 1, the bottom transverse connecting rod, 2, bearing cap, 3, X is to left bottom plate, and 4, the vertical pillars connecting plate, 5, vertical pillars, 6, Y is to base plate, and 7, Y is to cylindrical guide, and 8, Y is to stepper motor, 9, Y is to shaft coupling, and 10, Y is to ball-screw bearing, 11, ball-screw, 12, Z is to stepper motor, and 13, Z is to shaft coupling, and 14, Z is to the ball-screw bearing, 15, Z is to bearing spider, and 16, Z is to cylindrical guide, and 17, Z is to ball-screw, 18, the paw rotating stepper motor, 19, the paw shaft coupling, 20, Z is to slide plate, 21, electromagnet screw paw, 22, Z is to base plate, and 23, X is to slide plate I, 24, sliding sleeve, 25, X is base plate to the right, and 26, X is to stepper motor, 27, X is to shaft coupling, 28, X is to bearing, and 29, X is to cylindrical guide, and 30, X is to ball-screw, 31, X is to slide plate II, 32, Y is to slide plate.
The specific embodiment
Embodiment:
It comprises bottom transverse connecting rod 1, vertical pillars connecting plate 4, vertical pillars 5, Z is to bearing spider 15, X is to slide plate I 23, and X couples together with screw with two parallel bottom transverse connecting rods between the two to left bottom plate 3 and X base plate 25 parallel being placed on the workbench to the right, X is placed with X to cylindrical guide 29 in the middle of the base plate 25 to the right, X in left bottom plate 3 parallel be placed with an X to cylindrical guide 29 and an X to ball-screw 30.X to cylindrical guide 29 and X to the left and right the riser at base plate two ends closely cooperate.X is equipped with bearing 28 to the two ends of ball-screw 30, and X links to stepper motor 26 with X to shaft coupling 27 through X to an end of ball-screw 30, and X is placed on X to left bottom plate 3 on through X to bearing 28 to another section of ball-screw 30, outside bearing cap 2 shutoff.X is equipped with ball-screw nut on ball-screw 30, the foreign side of ball-screw nut be X to slide plate II31, X contacts to cylindrical guide 29 with X by four copper sheathings to slide plate II31.X joins to base plate 6 by the Y of two vertical pillars 5 with the top above slide plate II31.Y is placed with a ball-screw and a Y to cylindrical guide 7 in base plate 6.Y has 2 sliding sleeves 24 above cylindrical guide 7, the outside of sliding sleeve 24 is equipped with Y to slide plate 32, and Y also is equipped with ball-screw nut on ball-screw 11.This ball-screw 11 is installed together to slide plate 32 by screw and Y.Y links and drives to ball-screw 11 to shaft coupling 9 and Y by Y to stepper motor 8.Distribution Y is supporting ball-screw 11 to the Y at base plate 6 two ends to ball-screw bearing 10.Y is equipped with Z to base plate 22 on slide plate 32, Z is equipped with two Z and Z is installed to ball-screw 17 to 16, two Z of cylindrical guide to the centre of cylindrical guide 16 on base plate 22.Z to stepper motor 12 by Z to shaft coupling 13, Z is connected and drives to ball-screw 17 to ball-screw bearing 14 and Z.Z is installed together to ball-screw 17 nuts to cylindrical guide 16 and Z by four sliding sleeves 24 and two Z to slide plate 20.Be installed in Z with paw rotating stepper motor 18 on slide plate 20 by the electromagnet screw paw 21 that paw shaft coupling 19 drives.
Claims (4)
1. gantry type bolt installing robot, it is characterized in that: it comprises the bottom transverse connecting rod, bearing cap, X is to left bottom plate, X is base plate to the right, the vertical pillars connecting plate, vertical pillars, Y is to base plate, Y is to cylindrical guide, Y is to stepper motor, Y is to shaft coupling, Y is to the ball-screw bearing, X, Y, Z is to ball-screw, Z is to stepper motor, Z is to shaft coupling, Z is to the ball-screw bearing, Z is to bearing spider, Z is to cylindrical guide, Z is to ball-screw, the paw rotating stepper motor, the paw shaft coupling, Z is to slide plate, electromagnet screw paw, Z is to base plate, X is to slide plate, sliding sleeve, X is base plate to the right, X is to stepper motor, X is to shaft coupling, X is to bearing, X is to cylindrical guide, X is to ball-screw, X is to slide plate, Y forms to slide plate etc., wherein, base plate is parallel to the right is placed on the workbench to left bottom plate and X for X, couple together with screw with two parallel bottom transverse connecting rods between the two, X is placed with X to cylindrical guide in the middle of the base plate to the right, X is a parallel cylindrical guide and ball-screw of being placed with in left bottom plate, cylindrical guide and the X riser at base plate two ends to the left and right closely cooperate, the two ends of ball-screw all are equipped with bearing, one end of ball-screw links through shaft coupling and stepper motor, another section of ball-screw is placed on X on left bottom plate through bearing, outside bearing cap shutoff, ball-screw nut is installed on the ball-screw, the outer of ball-screw nut is that X is to slide plate, X contacts with cylindrical guide by four copper sheathings to slide plate, X joins to base plate by the Y of two vertical pillars and top above slide plate, Y is placed with a ball-screw and a Y to cylindrical guide in base plate, Y has 2 sliding sleeves above cylindrical guide, the outside of sliding sleeve is equipped with Y to slide plate, and Y also is equipped with ball-screw nut on ball-screw, this ball-screw is installed together to slide plate by screw and Y, Y links and drives to ball-screw by shaft coupling and Y to stepper motor, and distribution Y ball-screw to the Y at base plate two ends to bearings, and Y is equipped with Z to base plate on slide plate, Z is equipped with two Z to cylindrical guide on base plate, article two, Z is equipped with Z to ball-screw to the centre of cylindrical guide, Z to stepper motor by Z to shaft coupling, bearing and Z are connected and drive to ball-screw, Z is installed together to ball-screw nut to cylindrical guide and Z by four sliding sleeves and two Z to slide plate, is installed in Z with the paw stepper motor on slide plate by the paw that shaft coupling drives.
2. according to claims 1 described a kind of gantry type bolt installing robot, it is characterized in that the motion motor of its X, Y, three directions of Z is stepper motors.
3. according to claims 1 described a kind of gantry type bolt installing robot, it is characterized in that the paw of clamp screws is rotatable under the drive of stepper motor.
4. according to claims 1 described a kind of gantry type bolt installing robot, it is characterized in that this robot construction form is a planer-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101159212A CN101229639A (en) | 2007-12-16 | 2007-12-16 | Gantry type bolt installing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101159212A CN101229639A (en) | 2007-12-16 | 2007-12-16 | Gantry type bolt installing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101229639A true CN101229639A (en) | 2008-07-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101159212A Pending CN101229639A (en) | 2007-12-16 | 2007-12-16 | Gantry type bolt installing robot |
Country Status (1)
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|---|---|
| CN (1) | CN101229639A (en) |
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| CN102009341A (en) * | 2010-09-13 | 2011-04-13 | 陈波 | Vertical screw-closure device for large-scale propeller shaft and nut |
| CN101559597B (en) * | 2009-05-12 | 2011-04-20 | 哈尔滨工程大学 | Multifunctional gantry type seven-shaft industrial robot |
| CN102335918A (en) * | 2010-07-15 | 2012-02-01 | 昆山广禾电子科技有限公司 | Automatic feeding and blanking manipulator |
| CN101677045B (en) * | 2008-09-18 | 2012-03-28 | 上海工程技术大学 | Laser scanning location device |
| CN101745909B (en) * | 2008-12-05 | 2012-04-11 | 中国科学院沈阳自动化研究所 | Switching mechanical arm |
| CN102502304A (en) * | 2011-09-05 | 2012-06-20 | 河北科技大学 | Stripped marker based soft material positioning device and positioning method |
| CN102554609A (en) * | 2012-01-20 | 2012-07-11 | 江门市高翔自动化设备有限公司 | Magnetic suction type screw taking mechanism |
| CN103009032A (en) * | 2012-12-10 | 2013-04-03 | 深圳市神拓机电设备有限公司 | Screw thread screwing device in filter element assembly |
| CN103213120A (en) * | 2013-03-26 | 2013-07-24 | 东莞市德瑞精密设备有限公司 | Mechanical arm |
| CN103586679A (en) * | 2013-11-14 | 2014-02-19 | 重庆延锋江森汽车部件***有限公司 | Automatic positioning and screwing mechanism of main and auxiliary seat frames and control method thereof |
| CN103934671A (en) * | 2013-01-23 | 2014-07-23 | 苏州工业园区高登威科技有限公司 | Guiding mechanism for screw guns |
| CN104259839A (en) * | 2014-09-03 | 2015-01-07 | 四川长虹电器股份有限公司 | Automatic screw machine based on visual identification and screw installation method thereof |
| CN104308846A (en) * | 2014-09-30 | 2015-01-28 | 芜湖华强文化科技产业有限公司 | Crab robot for amusement |
| CN104723326A (en) * | 2015-03-27 | 2015-06-24 | 南京工业职业技术学院 | Echelon linkage multi-axis manipulator |
| CN105000393A (en) * | 2015-07-17 | 2015-10-28 | 苏州金牛精密机械有限公司 | Automatic screw feeding mechanism |
| CN105128000A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Floating guide rod and fixed sliding sleeve compound echelon transmission manipulator |
| CN105313105A (en) * | 2015-10-10 | 2016-02-10 | 无为县华标新型墙体材料有限公司 | Turnover device for eight-hole hollow brick |
| CN105690065A (en) * | 2016-03-30 | 2016-06-22 | 西北工业大学 | Aircraft panel high-lock bolt pressing-in device |
| CN105921990A (en) * | 2016-06-28 | 2016-09-07 | 江苏捷帝机器人股份有限公司 | High-precision mechanical arm for quick screw installation and working method thereof |
| CN105921991A (en) * | 2016-06-28 | 2016-09-07 | 江苏捷帝机器人股份有限公司 | High-precision intelligent mechanical arm for screw installation and working method thereof |
| CN106041500A (en) * | 2016-06-28 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Intelligent mechanical arm for fast installing screw and work method of intelligent mechanical arm |
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| CN107838687A (en) * | 2017-10-16 | 2018-03-27 | 武汉帝尔激光科技股份有限公司 | A kind of gantry structure installation method of large-sized gantry machine |
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2007
- 2007-12-16 CN CNA2007101159212A patent/CN101229639A/en active Pending
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| CN101677045B (en) * | 2008-09-18 | 2012-03-28 | 上海工程技术大学 | Laser scanning location device |
| CN101745909B (en) * | 2008-12-05 | 2012-04-11 | 中国科学院沈阳自动化研究所 | Switching mechanical arm |
| CN101559597B (en) * | 2009-05-12 | 2011-04-20 | 哈尔滨工程大学 | Multifunctional gantry type seven-shaft industrial robot |
| CN102335918A (en) * | 2010-07-15 | 2012-02-01 | 昆山广禾电子科技有限公司 | Automatic feeding and blanking manipulator |
| CN102009341A (en) * | 2010-09-13 | 2011-04-13 | 陈波 | Vertical screw-closure device for large-scale propeller shaft and nut |
| CN102009341B (en) * | 2010-09-13 | 2012-10-24 | 陈波 | Vertical screw-closure device for large-scale propeller shaft and nut |
| CN102502304A (en) * | 2011-09-05 | 2012-06-20 | 河北科技大学 | Stripped marker based soft material positioning device and positioning method |
| CN102502304B (en) * | 2011-09-05 | 2014-07-30 | 河北科技大学 | Stripped marker based soft material positioning device and positioning method |
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| CN105690065A (en) * | 2016-03-30 | 2016-06-22 | 西北工业大学 | Aircraft panel high-lock bolt pressing-in device |
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| CN105921991A (en) * | 2016-06-28 | 2016-09-07 | 江苏捷帝机器人股份有限公司 | High-precision intelligent mechanical arm for screw installation and working method thereof |
| CN106041500A (en) * | 2016-06-28 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Intelligent mechanical arm for fast installing screw and work method of intelligent mechanical arm |
| CN105921991B (en) * | 2016-06-28 | 2018-08-07 | 江苏捷帝机器人股份有限公司 | A kind of high-accuracy intelligent mechanical arm and its working method for screw installation |
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| CN108581446A (en) * | 2018-04-18 | 2018-09-28 | 吴正芳 | A kind of steel construction auxiliary tightens screw device |
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| CN111843925B (en) * | 2020-07-13 | 2021-07-20 | 山东太古飞机工程有限公司 | Auxiliary tool for dismantling aircraft fuel tank cover plate |
| CN111908113A (en) * | 2020-08-03 | 2020-11-10 | 南京玄铁自动化科技有限公司 | Translation and lifting integrated detection and grabbing mechanism |
| CN113560876A (en) * | 2021-06-21 | 2021-10-29 | 浙江东方职业技术学院 | Electromechanical integrated processing equipment for valve production and processing |
| CN113560876B (en) * | 2021-06-21 | 2022-08-30 | 浙江东方职业技术学院 | Electromechanical integrated processing equipment for valve production and processing |
| CN114799845A (en) * | 2022-04-30 | 2022-07-29 | 国网河南省电力公司平顶山供电公司 | Bolt fastening robot for power transmission tower |
| CN114799845B (en) * | 2022-04-30 | 2024-04-09 | 国网河南省电力公司平顶山供电公司 | Transmission tower bolt-up robot |
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