CN208117844U - A kind of novel three track joist robot - Google Patents
A kind of novel three track joist robot Download PDFInfo
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- CN208117844U CN208117844U CN201721754058.0U CN201721754058U CN208117844U CN 208117844 U CN208117844 U CN 208117844U CN 201721754058 U CN201721754058 U CN 201721754058U CN 208117844 U CN208117844 U CN 208117844U
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- shaft assembly
- robot
- machine people
- small machine
- big
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Abstract
The utility model discloses a kind of novel three track joist robots, including structural framing, control system, the structural framing includes more root posts and crossbeam, the crossbeam is equipped with the X1 shaft assembly being parallel to each other, X2 shaft assembly, X3 shaft assembly, and the Y1 shaft assembly being parallel to each other, Y2 shaft assembly, the X1 shaft assembly, X2 shaft assembly, the Z1 shaft assembly being parallel to each other is respectively equipped on X3 shaft assembly, Z2 shaft assembly, Z3 shaft assembly, the X1 shaft assembly, Y1 shaft assembly, Z1 shaft assembly and X2 shaft assembly, Y1 shaft assembly and Z2 shaft assembly, which cooperate, forms Liang Ge great robot, the X3 shaft assembly, Y2 shaft assembly and Z3 shaft assembly, which cooperate, forms small machine people.The utility model solves to improve work efficiency as the widgets auxiliary operation work such as steel mesh braiding, reduce production cost and the workload of worker, avoid the influence because of artificial skills involved in the labour or other subjective factors to product quality.
Description
Technical field
The utility model relates to assemble technical field of buildings, and in particular to a kind of novel three track purlin of PC casting system
Frame robot.
Background technique
Currently, the central government and local governments at all levels, have put into effect many supports and incentives to assembled architecture, quickly
Ground pushes the development of " assembled architecture " industry, and building enterprise, be to Industry Policy it is very sensitive, some enterprises in order to
It gains the initiative, starts quickly to cut this industry, unquestionably become a hot word of building trade in recent years.Assembled is built
Build is technology upgrading as a result, in fact, the core of technology is to realize the means of assembled architecture, i.e. design, production, building course
Industrialization and information-based, a critically important link is exactly PC casting system in assembled architecture production process, is pouring
Truss manipulator acts as critically important role on system, and truss manipulator is a kind of establishes in right angle X, Y, Z system of 3 axes base
On plinth, station adjustment is carried out to workpiece, or the full-automatic equipment of the functions such as track movement for realizing workpiece, passes through industry
Controller controls manipulator and completes X, the Union Movement between tri- axis of Y, Z, to realize a whole set of entire roboticized work process, traditional PC
The truss manipulator of casting system includes a crossbeam or two crossbeams, sets a truss manipulator, these purlins on each crossbeam
Frame manipulator is only to upper and lower side mode or big structural member hoisting transportation, and as the widget group of the braiding of reinforced mesh etc.
Fill work, it is necessary to after the completion of manually weaving, then the specified position placed by truss manipulator hoisting transportation, it is semi-automatic in this way
Production not only affects production efficiency, increases the amount of labour of worker, improves production cost, and because of manual operation, deposits
It is influenced in the factors such as the maloperation of subjectivity and knack degree, it is possible to which the quality of production for influencing product is low to actual production
Bring very big puzzlement.Therefore how to solve the problems, such as this, become a brainstorm subject of the prior art.
Utility model content
To solve drawbacks described above, the purpose of the utility model is to provide a kind of novel three track joist robots, can not only
It solves and to improve work efficiency as the widgets auxiliary operation work such as steel mesh braiding, reduces production cost and worker
Workload particular avoids the influence because of artificial skills involved in the labour or other subjective factors to product quality, easy to use
Fast, effect is good, is worthy to be popularized.
In order to achieve the above objectives, the technical solution adopted in the utility model is：A kind of novel three track joist robot, packet
Structural framing, control system are included, the structural framing includes more root posts and crossbeam, and the crossbeam is equipped with the X1 being parallel to each other
Shaft assembly, X2 shaft assembly, X3 shaft assembly, and the Y1 shaft assembly, the Y2 shaft assembly that are parallel to each other, the X1 shaft assembly, X2 shaft assembly,
Be respectively equipped with the Z1 shaft assembly, Z2 shaft assembly, Z3 shaft assembly being parallel to each other on X3 shaft assembly, the X1 shaft assembly, Y1 shaft assembly,
Z1 shaft assembly and X2 shaft assembly, Y1 shaft assembly and Z2 shaft assembly, which cooperate, forms Liang Ge great robot, the X3 shaft assembly,
Y2 shaft assembly and Z3 shaft assembly, which cooperate, forms small machine people, and the big robot is associated with small machine people by control system
Connection, is realized non-interference when big robot and small machine people are cooperated with each other or worked independently；The X1 shaft assembly, X2 axis
Component, X3 shaft assembly respectively include cross slide way, horizontal rack, horizontal axis driving motor, travel switch, the Y1 shaft assembly, Y2 axis
Component respectively includes longitudinal slide rail, rack gear, driving motor, travel switch, and the rack gear and driving motor are 2, cooperates
It is arranged on cross slide way two sides, the Z1 shaft assembly, Z2 shaft assembly, Z3 shaft assembly respectively include vertical direction lifting beam, mention
Rise servo motor, movable plate, travel switch, manipulator；The control system acquires the defeated of travel switch by industrial control unit (ICU)
Enter signal, to send instruction X1 shaft assembly, X2 shaft assembly, X3 shaft assembly, Y1 shaft assembly, Y2 shaft assembly, Z1 shaft assembly, Z2 axis group
Part, each executive component of Z3 shaft assembly are gone to execute by set movement.
Further, the big robot is located at the upper surface of small machine people, the X1 shaft assembly, X2 shaft assembly infeed stroke
Greater than X3 shaft assembly infeed stroke, Y1 shaft assembly longitudinal stroke is greater than Y2 shaft assembly longitudinal stroke, and Z1 shaft assembly, Z2 shaft assembly hang down
Straight directional run is greater than Z3 shaft assembly vertical direction.
Further, the control system controls big robot and small machine people's associated connection by travel switch, guarantees
The two can cooperating but also work independently and it is non-interference.
Further, the manipulator is that vacuum chuck is drawn, chuck clamping, support take, pin type fixture is inserted and taken and mechanical folder
Pawl takes.
Compared with prior art, the utility model, can not only be real by the mutual cooperation of big robot and small machine people
The transhipment of the big component article such as existing side mode, and it is able to carry out the transhipment of widget, it is especially able to solve as steel mesh is compiled
Equal widgets auxiliary operation work is knitted, and is improved work efficiency, production cost and the workload of worker is reduced, especially keeps away
The influence because of artificial skills involved in the labour or other subjective factors to product quality is exempted from, convenient to use, effect is good, is worth
It promotes.
Detailed description of the invention
Below according to accompanying drawings and embodiments, the structure and features of the utility model is further described.
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the partial enlarged view of cross slide way.
Specific embodiment
It is the first embodiment of the utility model referring to attached drawing 1, Fig. 2, Fig. 3, Fig. 4.
A kind of novel three track joist robot, including structural framing, control system, the structural framing include more vertical
Column 1 and crossbeam 2, the crossbeam 2 is equipped with X1 shaft assembly 3, X2 shaft assembly 4, the X3 shaft assembly 5 being parallel to each other, and is parallel to each other
Y1 shaft assembly 6, Y2 shaft assembly 7, the X1 shaft assembly 3, X2 shaft assembly 4 are respectively equipped with the Z1 being parallel to each other on X3 shaft assembly 5
Shaft assembly 8, Z2 shaft assembly 9, Z3 shaft assembly 10, the X1 shaft assembly 3, Y1 shaft assembly 6, Z1 shaft assembly 8 and X2 shaft assembly 4, Y1
Shaft assembly 6 and Z2 shaft assembly 9, which cooperate, forms Liang Ge great robot 11, the X3 shaft assembly 5, Y2 shaft assembly 7 and Z3 axis group
Part 10 cooperates composition small machine people 12, the big robot 11 and small machine people 12 by control system associated connection, in fact
Xian great robot 11 and small machine people 12 are non-interference when cooperating with each other or working independently；The X1 shaft assembly 3, X2 axis group
Part 4, X3 shaft assembly 5 respectively include cross slide way 13, horizontal rack 14, horizontal axis driving motor 15, travel switch, the Y1 shaft assembly
6, Y2 shaft assembly 7 respectively includes longitudinal slide rail 16, rack gear 17, driving motor 18, travel switch, the rack gear 17 and driving motor
18 be 2, cooperates and is arranged on 13 two sides of cross slide way, guarantees X1 shaft assembly 3, X2 shaft assembly 4, X3 shaft assembly 5 vertical
It is more efficient when being moved on sliding rail 16, stable.The Z1 shaft assembly 8, Z2 shaft assembly 9, Z3 shaft assembly 10 respectively include vertically
Direction lifting beam 19 promotes servo motor 20, movable plate 21, travel switch, manipulator 22；The control system passes through industry control
Device processed acquires the input signal of travel switch, to send instruction X1 shaft assembly 3, X2 shaft assembly 4, X3 shaft assembly 5, Y1 shaft assembly
6, Y2 shaft assembly 7, Z1 shaft assembly 8, Z2 shaft assembly 9, each executive component of Z3 shaft assembly 10 are gone to execute by set movement.
The big robot 11 is located at the upper surface of small machine people 12, and the X1 shaft assembly 3,4 infeed stroke of X2 shaft assembly are big
In 5 infeed stroke of X3 shaft assembly, 6 longitudinal stroke of Y1 shaft assembly is greater than 7 longitudinal stroke of Y2 shaft assembly, Z1 shaft assembly 8, Z2 shaft assembly
9 vertical direction strokes are greater than 10 vertical direction of Z3 shaft assembly.Guarantee the component after small machine people 12 works, it can be by big machine
People 11 grabs.
The control system controls 12 associated connection of big robot 11 and small machine people by travel switch, has guaranteed the two both
It is able to cooperate work and can work independently and non-interference.When guaranteeing big robot motion to small machine people's certain distance, small machine
In people Y2 shaft assembly work, by rack gear and driving motor effect under sliding rail slide, slide into the side of crossbeam, be unlikely to
Big robot collision；After either small machine people moves to big robot certain distance, Y1 shaft assembly works in big robot, leads to
It crosses under rack gear and driving motor effect and is slided in sliding rail, slide into the side of crossbeam, avoid colliding with small machine people；When two big
When robot relative motion, after moving to certain distance between the two, another big robot will move to crossbeam side,
It is unlikely to Liang Ge great robot to collide；When big robot motion is to small machine people side, the two has common space rail
Mark, robot big in this way and small machine people can cooperatings.
Further, the manipulator 22 is that vacuum chuck is drawn, chuck clamping, support take, pin type fixture is inserted and taken and mechanical
Clamping jaw takes.Guarantee that big robot and small machine people can complete multiple motion actions, realizes more operative skills, make robot more
Add intelligence.
The utility model operating process is:
Firstly, big machine man-hour, X1 shaft assembly, the transverse shifting of X2 shaft assembly realization, Y1 shaft assembly are longitudinally moved
Dynamic, Z1 shaft assembly and Z2 shaft assembly realize that vertical direction is mobile, and control manipulator behavior, realize multiple operations；Small machine
Device man-hour, the transverse shifting of X3 shaft assembly realization, the longitudinal movement of Y2 shaft assembly, Z3 shaft assembly realize that vertical direction is mobile,
And control manipulator behavior, realize multiple operations；Then the component after the completion of small machine is manually made, big robot carry out again
Grab work；Or when big robot motion is to small machine people side, the two has a common space tracking, big robot and small
Robot can cooperating, be finally completed in PC casting system Component Intelligent operation.
Described above is only the preferred embodiment of the utility model, and above-mentioned specific embodiment is not to the utility model
Limitation, retouching, modification or the equivalent replacement that all those skilled in the art are made as described above belong to this reality
With novel protection scope.
Claims (3)
1. a kind of novel three track joist robot, including structural framing, control system, the structural framing include more root posts
And crossbeam, it is characterised in that：The crossbeam is equipped with X1 shaft assembly, X2 shaft assembly, the X3 shaft assembly being parallel to each other, and mutually flat
Capable Y1 shaft assembly, Y2 shaft assembly, the X1 shaft assembly, X2 shaft assembly are respectively equipped with the Z1 axis being parallel to each other on X3 shaft assembly
Component, Z2 shaft assembly, Z3 shaft assembly, the X1 shaft assembly, Y1 shaft assembly, Z1 shaft assembly, which cooperate, forms big robot, institute
It states X2 shaft assembly, Y1 shaft assembly and the mutual cooperation of Z2 shaft assembly and forms big robot, the X3 shaft assembly, Y2 shaft assembly and Z3
Shaft assembly, which cooperates, forms small machine people, and the big robot is located at the upper surface of small machine people, the X1 shaft assembly, X2 axis group
Part infeed stroke be greater than X3 shaft assembly infeed stroke, Y1 shaft assembly longitudinal stroke be greater than Y2 shaft assembly longitudinal stroke, Z1 shaft assembly,
Z2 shaft assembly vertical direction stroke is greater than Z3 shaft assembly vertical direction, the big robot and small machine people and is closed by control system
Connection connection, is realized non-interference when big robot and small machine people are cooperated with each other or worked independently；The X1 shaft assembly, X2
Shaft assembly, X3 shaft assembly respectively include cross slide way, horizontal rack, horizontal axis driving motor, travel switch, the Y1 shaft assembly, Y2
Shaft assembly respectively includes longitudinal slide rail, rack gear, driving motor, travel switch, and the rack gear and driving motor are 2, phase interworking
Close be arranged on cross slide way two sides, the Z1 shaft assembly, Z2 shaft assembly, Z3 shaft assembly respectively include vertical direction lifting beam,
Promote servo motor, movable plate, travel switch, manipulator；The control system acquires travel switch by industrial control unit (ICU)
Input signal, to send instruction X1 shaft assembly, X2 shaft assembly, X3 shaft assembly, Y1 shaft assembly, Y2 shaft assembly, Z1 shaft assembly, Z2 axis
Component, each executive component of Z3 shaft assembly are gone to execute by set movement.
2. novel three track joist of one kind according to claim 1 robot, it is characterised in that：The control system passes through
Travel switch controls big robot and small machine people's associated connection.
3. novel three track joist of one kind according to claim 1 robot, it is characterised in that：The manipulator is vacuum
Sucker is drawn, chuck clamping, support takes, pin type fixture is inserted and taken and mechanical grip takes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721754058.0U CN208117844U (en) | 2017-12-15 | 2017-12-15 | A kind of novel three track joist robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721754058.0U CN208117844U (en) | 2017-12-15 | 2017-12-15 | A kind of novel three track joist robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208117844U true CN208117844U (en) | 2018-11-20 |
Family
ID=64208516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721754058.0U Expired - Fee Related CN208117844U (en) | 2017-12-15 | 2017-12-15 | A kind of novel three track joist robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208117844U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111052926A (en) * | 2019-12-31 | 2020-04-24 | 河南大学 | Radish picking robot |
-
2017
- 2017-12-15 CN CN201721754058.0U patent/CN208117844U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111052926A (en) * | 2019-12-31 | 2020-04-24 | 河南大学 | Radish picking robot |
| CN111052926B (en) * | 2019-12-31 | 2021-07-06 | 河南大学 | Radish picking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190618 Address after: 473000 Northeast corner of the intersection of Weishi Road and Zhongjing Road in Lihe Township, Wancheng District, Nanyang City, Henan Province Patentee after: Nanyang Seiko Craftsman Assembly Construction Technology Co.,Ltd. Address before: 473000 Weishi Road, Wancheng Eco-Industrial Park, Nanyang City, Henan Province Patentee before: HENAN JINXIA INTELLIGENT ASSEMBLING ARCHITECTURAL TECHNOLOGY CO.,LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181120 Termination date: 20211215 |