CN111604892A - Heavy-load assembly robot - Google Patents
Heavy-load assembly robot Download PDFInfo
- Publication number
- CN111604892A CN111604892A CN202010595738.2A CN202010595738A CN111604892A CN 111604892 A CN111604892 A CN 111604892A CN 202010595738 A CN202010595738 A CN 202010595738A CN 111604892 A CN111604892 A CN 111604892A
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- axis
- robot
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- heavy
- cross beam
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- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims abstract description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 229910052742 iron Inorganic materials 0.000 claims description 6
- 238000009434 installation Methods 0.000 description 7
- 206010000372 Accident at work Diseases 0.000 description 2
- 241000801924 Sena Species 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a heavy-load assembly robot, which comprises a column, an X-axis cross beam, a Y-axis cross beam, a Z-axis square tube, a Z-axis tail end rotating mechanism, a truss robot electric control cabinet, a robot tail end quick change mechanism, a robot clamp, a gear and rack transmission mechanism, a roller guide rail bar, a servo motor and a precision reducer, wherein the X-axis cross beam is arranged at the top end of the column, a fine adjustment mechanism is arranged on the X-axis cross beam, and the Y-axis cross beam is connected to the inner side of the X-axis cross beam. Can replace a plurality of joint robots, thereby saving the factory cost.
Description
Technical Field
The invention belongs to the technical field of gantry truss robots, and particularly relates to a heavy-load assembly robot.
Background
The assembly robot is the core equipment of a flexible automatic assembly system and consists of a robot manipulator, a controller, an end effector and a sensing system. The structure types of the manipulator comprise a horizontal joint type, a rectangular coordinate type, a multi-joint type, a cylindrical coordinate type and the like; the controller generally adopts a multi-CPU or multi-stage computer system to realize motion control and motion programming; the end effector is designed into various paws, wrists and the like for adapting to different assembling objects; the sensing system is used to obtain information of the interaction between the assembly robot and the environment and the assembly object. .
The existing heavy-load assembly robot technology has the following problems:
1. the assembly of heavy parts by multiple persons through traveling cranes has high risk of causing industrial accidents in factories;
2. each installation station in the factory may require a heavy duty articulated robot to effect the installation of a single station. A workshop may require a large number of heavy articulated robots, and a factory needs to invest a large amount of funds to purchase the heavy articulated robots;
3. the existing assembly robot generally uses ABB, Sena, Kuka, Anchuan and other large-scale heavy-load joint robots, the arm spread range of the shutdown robot is limited and normally within 3.2 meters, and the load is 1 ton at most. The handling and assembly of a wider range and larger load of products cannot be satisfied.
Disclosure of Invention
The invention aims to provide a heavy-load assembly robot, which aims to solve the problem that industrial accidents are easily caused in a factory with high risk when a plurality of people assemble heavy parts through a travelling crane in the background technology; each installation station in the factory may require a heavy duty articulated robot to effect the installation of a single station. A workshop may require a large number of heavy articulated robots, and a factory needs to invest a large amount of funds to purchase the heavy articulated robots; the existing assembly robot generally uses ABB, Sena, Kuka, Anchuan and other large-scale heavy-load joint robots, the arm spread range of the shutdown robot is limited and normal within the range of 3.2 meters, the load is 1 ton at the maximum, and the problems of carrying and assembling products with larger ranges and larger loads cannot be met.
In order to achieve the purpose, the invention provides the following technical scheme:
a heavy-load assembly robot comprises a column, an X-axis cross beam, a Y-axis cross beam, Z-axis square tubes, a Z-axis tail end rotating mechanism, a truss robot electric control cabinet, a robot tail end quick change mechanism, a robot clamp, a gear rack transmission mechanism, a roller guide rail bar, a servo motor and a precision speed reducer, wherein the X-axis cross beam is arranged at the top end of the column, a fine adjustment mechanism is arranged on the X-axis cross beam, the Y-axis cross beam is connected to the inner side of the X-axis cross beam, the servo motor and the precision speed reducer are arranged on the Y-axis cross beam, one side of the servo motor and the precision speed reducer is connected with the Z-axis square tubes, the Z-axis tail end rotating mechanism is arranged at the bottom of the Z-axis tail end rotating mechanism, the robot tail end quick change mechanism is arranged at the bottom of the robot tail, the top of the X-axis beam on the right side is provided with a roller guide rail bar, a gear rack transmission mechanism is arranged on the roller guide rail bar, and one side of the upright post is provided with an electric control cabinet of the truss robot.
Preferably, two sides of the Y-axis cross beam are fixed with a large iron plate, and the large iron plate is arranged on the X-axis cross beam after being provided with the roller box.
Preferably, the Z-axis square tube is provided with a hard guide rail which can move up and down, and the large plate integrated with the Z-axis square tube can move left and right along the direction of the Y-axis cross beam.
Preferably, the Z-axis end rotating mechanism is attached to an end of the Z-axis square tube.
Preferably, the tail end of the robot is quickly and quickly mounted on the Z-axis tail end rotating mechanism.
Preferably, the truss robot electric control cabinet is a control system of the truss robot, the transmission in the X-axis beam direction is performed through a gear and rack transmission mechanism, a roller guide rail bar, a servo motor and a precision speed reducer, and the axis directions of the Y-axis beam shaft and the Z-axis tail end rotating mechanism are similar to the transmission structure of the X-axis beam shaft.
Compared with the prior art, the invention provides a heavy-load assembly robot which has the following beneficial effects:
1. the automatic assembling device can realize automatic assembling of the spare and accessory parts of the power head in automatic feeding and discharging, and improve the assembling speed of the spare and accessory parts of the power head;
2. the precision speed reducer of the servo motor is used as power, the roller guide rail is used as guide, and the production efficiency is improved on the premise that precision is guaranteed through precision gear rack transmission;
3. a large amount of labor cost is reduced, the production efficiency is obviously improved in unit time, and a large order production expansion plan of an enterprise is facilitated;
4. can replace a plurality of joint robots, thereby saving the factory cost.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:
FIG. 1 is a schematic structural diagram of a heavy-duty assembly robot according to the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a front view of the present invention;
FIG. 5 is a schematic view of a partial structure of a heavy-duty assembly robot A according to the present invention;
FIG. 6 is a schematic view of a partial structure of a heavy-duty assembly robot B according to the present invention;
in the figure: 1. a column; 2. an X-axis beam; 3. a Y-axis beam; 4. a Z-axis square tube; 5. a Z-axis tail end rotating mechanism; 6. a truss robot electric control cabinet; 7. the tail end of the robot is quickly changed; 8. a robot clamp; 9. a rack and pinion transmission mechanism; 10. a roller guide rail bar; 11. servo motor and precision reducer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-6, the present invention provides a technical solution:
a heavy-load assembly robot comprises a column 1, an X-axis cross beam 2, a Y-axis cross beam 3, a Z-axis square tube 4, a Z-axis tail end rotating mechanism 5, a truss robot electric control cabinet 6, a robot tail end quick change 7, a robot clamp 8, a gear rack transmission mechanism 9, a roller guide rail bar 10 and a servo motor and precision speed reducer 11, wherein the X-axis cross beam 2 is arranged at the top end of the column 1, a fine adjustment mechanism is arranged on the X-axis cross beam 2, the Y-axis cross beam 3 is connected to the inner side of the X-axis cross beam 2, the servo motor and precision speed reducer 11 are arranged on the Y-axis cross beam 3, one side of the servo motor and precision speed reducer 11 is connected with the Z-axis square tube 4, the Z-axis tail end rotating mechanism 5 is arranged at the bottom of the Z-axis tail end rotating mechanism 5, the robot tail end quick change 7 is arranged at the bottom of the robot, the top of the X-axis beam 2 on the right side is provided with a roller guide rail bar 10, a gear rack transmission mechanism 9 is arranged on the roller guide rail bar 10, and one side of the upright post 1 is provided with a truss robot electric control cabinet 6.
The utility model provides a heavy load assembly robot, including 3 both sides of Y axle crossbeam through fixed with big iron plate, place on X axle crossbeam 2 behind the big iron plate installation roller case, Z axle side's pipe 4 is installed the stereoplasm guide rail and can be reciprocated, and Z axle side's pipe 4 integrative big board can be moved about 3 directions of Y axle crossbeam along, Z axle end rotary mechanism 5 is installed in the end of Z axle side's pipe 4, the terminal quick change 7 of robot is installed on Z axle end rotary mechanism 5, truss robot electric cabinet 6 is truss robot's control system, the transmission of X axle crossbeam 2 direction is gone on through rack and pinion drive mechanism 9 and gyro wheel guide rail strip 10 and servo motor and accurate speed reducer 11, 3 axle directions of Y axle crossbeam and the terminal rotary mechanism 5 axle directions of Z axle are similar with X axle crossbeam 2 axle transmission structure.
The working principle and the using process of the invention are as follows: after the truss robot is installed, a truss clamping product moves along the direction of an X-axis cross beam 2, the truss clamping product moves along the direction of a Y-axis cross beam 3, the truss clamping product moves along the direction of a Z-axis square tube 4, the truss clamping product rotates, the truss clamping product is placed at any position inside, a truss robot electric control cabinet 6 is a control system of the truss robot and is controlled through the truss robot electric control cabinet 6, and transmission in the X direction is formed by a gear and rack transmission mechanism 9, a roller guide rail bar 10, a servo motor and a precision speed reducer 11; the Y-axis direction and the Z-axis direction are similar to the X-axis transmission structure; whole truss robot can prolong X, Y, Z, 4 direction linkages of end rotation, all inside installation vacancy anchor clamps of truss robot can all cover and require under the unhappy condition of beat a plurality of heavy-duty joint robots of fungible, this truss robot end load can reach 2.5T, traditional joint robot does not have load so heavy yet, so this truss robot performance is better, this truss robot end load can reach 2.5 tons (including work piece and anchor clamps), satisfy Y axle direction 12 meters length, X axle length is 20 meters, the spare and accessory installation of all stations in the factory building, because the production beat requires not highly, can use a heavy-duty truss robot to replace dozens of heavy-duty joint robots, practice thrift a large amount of costs for the mill.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a heavy load assembly robot, includes post (1), X axle crossbeam (2), Y axle crossbeam (3), Z axle side's pipe (4), the terminal rotary mechanism of Z axle (5), automatically controlled cabinet of truss robot (6), the terminal quick change of robot (7), robot anchor clamps (8), rack and pinion drive mechanism (9), gyro wheel guide rail strip (10) and servo motor and accurate speed reducer (11), its characterized in that: the top of the upright post (1) is provided with an X-axis beam (2), the X-axis beam (2) is provided with a fine adjustment mechanism, the inner side of the X-axis beam (2) is connected with a Y-axis beam (3), the Y-axis beam (3) is provided with a servo motor and a precision speed reducer (11), one side of the servo motor and the precision speed reducer (11) is connected with a Z-axis square tube (4), the bottom of the Z-axis square tube (4) is provided with a Z-axis tail end rotating mechanism (5), the bottom of the Z-axis tail end rotating mechanism (5) is provided with a robot tail end quick change (7), the bottom of the robot tail end quick change (7) is provided with a robot clamp (8), the X-axis beams (2) are provided with two, the top of the X-axis beam (2) on the right side is provided with a roller guide rail (10), and the roller guide rail (, and one side of the upright post (1) is provided with a truss robot electric control cabinet (6).
2. A heavy-duty assembly robot as claimed in claim 1, wherein: two sides of the Y-axis beam (3) are fixed with a large iron plate, and the large iron plate is arranged on the X-axis beam (2) after being provided with the roller box.
3. A heavy-duty assembly robot as claimed in claim 1, wherein: the Z-axis square pipe (4) is provided with a hard guide rail which can move up and down, and the Z-axis square pipe (4) integrated large plate can move left and right along the direction of the Y-axis beam (3).
4. A heavy-duty assembly robot as claimed in claim 1, wherein: and the Z-axis tail end rotating mechanism (5) is arranged at the tail end of the Z-axis square pipe (4).
5. A heavy-duty assembly robot as claimed in claim 1, wherein: and the tail end quick change mechanism (7) of the robot is arranged on the Z-axis tail end rotating mechanism (5).
6. A heavy-duty assembly robot as claimed in claim 1, wherein: the truss robot electric control cabinet (6) is a control system of the truss robot, the transmission in the X-axis beam (2) direction is carried out through a gear and rack transmission mechanism (9), a roller guide rail bar (10), a servo motor and a precision speed reducer (11), and the axis directions of a Y-axis beam (3) and a Z-axis tail end rotating mechanism (5) are similar to the axis transmission structure of the X-axis beam (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010595738.2A CN111604892A (en) | 2020-06-28 | 2020-06-28 | Heavy-load assembly robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010595738.2A CN111604892A (en) | 2020-06-28 | 2020-06-28 | Heavy-load assembly robot |
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| Publication Number | Publication Date |
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| CN111604892A true CN111604892A (en) | 2020-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010595738.2A Pending CN111604892A (en) | 2020-06-28 | 2020-06-28 | Heavy-load assembly robot |
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| CN (1) | CN111604892A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112282393A (en) * | 2020-11-03 | 2021-01-29 | 广州江河幕墙***工程有限公司 | Intelligent positioning device with complex spatial structure |
| CN113277251A (en) * | 2021-05-21 | 2021-08-20 | 广州凯锐机械设备制造有限公司 | Automatic storage system for molds |
| CN113682193A (en) * | 2021-09-18 | 2021-11-23 | 南京普斯迪尔电子科技有限公司 | New energy heavy truck quick change battery package workstation |
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| WO2008043490A1 (en) * | 2006-10-06 | 2008-04-17 | Venjakob Maschinenbau Gmbh & Co. Kg | Device for painting workpieces |
| US20160089755A1 (en) * | 2014-09-30 | 2016-03-31 | Canon Kabushiki Kaisha | Automated assembly apparatus, automated assembly system and automated assembly method |
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| CN208528513U (en) * | 2018-07-18 | 2019-02-22 | 苏州菱欧自动化科技股份有限公司 | A kind of manipulator automatic assembling mechanism |
| CN109676581A (en) * | 2017-10-19 | 2019-04-26 | 上海顶欣机电设备有限公司 | A kind of truss robot and its control method |
| CN213499201U (en) * | 2020-06-28 | 2021-06-22 | 江苏博信机器人科技有限公司 | Heavy-load assembly robot |
-
2020
- 2020-06-28 CN CN202010595738.2A patent/CN111604892A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008043490A1 (en) * | 2006-10-06 | 2008-04-17 | Venjakob Maschinenbau Gmbh & Co. Kg | Device for painting workpieces |
| US20160089755A1 (en) * | 2014-09-30 | 2016-03-31 | Canon Kabushiki Kaisha | Automated assembly apparatus, automated assembly system and automated assembly method |
| CN206296898U (en) * | 2016-12-12 | 2017-07-04 | 山东好帮手机器人有限公司 | A kind of welding beam formula heavy type truss robot |
| CN107214724A (en) * | 2017-05-25 | 2017-09-29 | 上海博信机器人科技有限公司 | A kind of crystalline silicon rod carries transplant robot and method for carrying |
| CN109676581A (en) * | 2017-10-19 | 2019-04-26 | 上海顶欣机电设备有限公司 | A kind of truss robot and its control method |
| CN208528513U (en) * | 2018-07-18 | 2019-02-22 | 苏州菱欧自动化科技股份有限公司 | A kind of manipulator automatic assembling mechanism |
| CN213499201U (en) * | 2020-06-28 | 2021-06-22 | 江苏博信机器人科技有限公司 | Heavy-load assembly robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112282393A (en) * | 2020-11-03 | 2021-01-29 | 广州江河幕墙***工程有限公司 | Intelligent positioning device with complex spatial structure |
| CN113277251A (en) * | 2021-05-21 | 2021-08-20 | 广州凯锐机械设备制造有限公司 | Automatic storage system for molds |
| CN113682193A (en) * | 2021-09-18 | 2021-11-23 | 南京普斯迪尔电子科技有限公司 | New energy heavy truck quick change battery package workstation |
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| PB01 | Publication | ||
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 226000 first floor, building 11, No. 158, Xinsheng Road, Chongchuan District, Nantong City, Jiangsu Province Applicant after: Jiangsu Boxin Robot Technology Co.,Ltd. Address before: 226000 3rd floor, 377 Century Avenue, Chongchuan District, Nantong City, Jiangsu Province Applicant before: Jiangsu Boxin Robot Technology Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200901 |