Automatic feeding and discharging truss robot

Abstract

The utility model discloses an automatic feeding and discharging truss robot which comprises a stand column, an X-axis beam, an X-axis linear rail, an X-axis rack, an X-axis oil receiving disc, an X-axis sliding block, an X-axis transferring plate, a Y-axis beam, a Y-axis linear rail, a Y-axis rack, a first Z-axis mechanism, a Y-axis oil receiving disc, an X-axis driving mechanism and a second Z-axis mechanism. According to the utility model, the X-axis motor, the Y-axis motor and the Z-axis motor are started, so that the manipulator can drive a product to move along the X, Y and Z directions, and the product can be carried to a required position for processing; the first Z-axis mechanism and the second Z-axis mechanism can move in the Y direction and the Z direction respectively according to requirements, so that the requirement that two products move respectively is met, and machining efficiency is improved. The brakes are arranged in the first Z-axis mechanism and the second Z-axis mechanism, so that it is guaranteed that the first Z-axis mechanism and the second Z-axis mechanism cannot move vertically when not working, and the safety in use is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an automatic loading and unloading truss robot. Background Art

[0002] The truss automatic loading and unloading device is an automated equipment for realizing the intelligent production of pipe fittings. At present, in actual production, many pipe fittings are loaded by forks, but this method has disadvantages such as low efficiency and prominent safety hazards. The truss automatic loading and unloading device uses a truss manipulator as a workpiece handling tool, and realizes intelligent control through information interaction with machine tools and feeders, which can effectively reduce manual labor intensity and improve work efficiency. Utility Model Content

[0003] The purpose of the utility model is to provide an automatic loading and unloading truss robot in order to solve the above problems, which solves the problem that many pipes are currently loaded by forks in actual production, but this method has disadvantages such as low efficiency and prominent safety hazards.

[0004] In order to solve the above problems, the utility model provides a technical solution: an automatic loading and unloading truss robot, including a milling machine, and also including a column, an X-axis beam, an X-axis axis rail, an X-axis rack, an X-axis oil pan, an X-axis slider, an X-axis transfer plate, a Y-axis beam, a Y-axis axis rail, a Y-axis rack, a Z-axis mechanism 1, a Y-axis oil pan, an X-axis drive mechanism and a Z-axis mechanism 2; the X-axis beams are two, and the two X-axis beams are respectively located on both sides of the milling machine, and the two X-axis beams are fixedly connected to the bottom of the two X-axis beams on both sides, and the two X-axis beams are fixedly connected to the X-axis axis rails, and the X-axis axis rails are movably connected to a plurality of X-axis sliders, and the X-axis sliders An X-axis transfer plate is fixedly connected to the inner side surface, an X-axis rack is fixedly connected to the upper inner side surfaces of the two X-axis beams, and an X-axis oil receiving pan is fixedly connected to the lower inner side surfaces of the two X-axis beams; the two side ends of the Y-axis beam are respectively fixedly connected to the corresponding inner side surfaces of the X-axis transfer plate, the upper and lower surfaces of the Y-axis beam are fixedly connected to Y-axis line rails, and the Y-axis line rails are provided with Z-axis mechanism 1 and Z-axis mechanism 2, a Y-axis rack is fixedly connected to the upper side of one side of the Y-axis beam, a Y-axis oil receiving pan is fixedly connected to the lower side of one side of the Y-axis beam, an X-axis driving mechanism is provided on the other side of the Y-axis beam, and the two sides of the X-axis driving mechanism are respectively connected to the corresponding X-axis racks.

[0005] Preferably, the specific structure of the X-axis drive mechanism includes an X-axis motor, a coupling, a transmission shaft and an X-axis gear; the X-axis motor is fixedly connected to the center of the other side of the Y-axis beam, and the output shafts on both sides of the X-axis motor are fixedly connected to the transmission shaft through a coupling, and the outer ends of the transmission shaft are fixedly connected to the X-axis gears, and the X-axis gears are respectively connected to the corresponding X-axis racks.

[0006] Preferably, the X-axis motor is a servo motor.

[0007] Preferably, the structure of the Z-axis mechanism 2 is consistent with that of the Z-axis mechanism 1, and the specific structure of the Z-axis mechanism 1 includes a Y-axis slider, a Y-axis transfer plate, a Z-axis slider, a Z-axis line rail, a Z-axis arm, a manipulator mounting plate, a Y-axis motor, a Z-axis gear, a Z-axis motor, a Z-axis rack and a brake; the Y-axis sliders are fixedly connected to the upper and lower positions of one side of the Y-axis transfer plate, and the Y-axis sliders are movably connected to the corresponding Y-axis line rails respectively, the Y-axis motor is fixedly connected to one side of the Y-axis transfer plate, and the Y-axis gear is fixedly connected to the output shaft of the Y-axis motor, and the Y-axis gear is connected to the Y-axis rack, and the Y-axis transfer plate Z-axis sliders are fixedly connected on both sides of the other side of the plate, a Z-axis motor is fixedly connected on the top of the other side of the Y-axis transfer plate, and a Z-axis gear is fixedly connected on the output shaft of the Z-axis motor, a brake is fixedly connected on the bottom of the other side of the Y-axis transfer plate, and a transmission gear is fixedly connected on the shaft end of the brake, and the transmission gear is connected to the Z-axis rack; Z-axis line rails are fixedly connected on both sides of the Z-axis arm, and the Z-axis line rails are movably connected to the corresponding Z-axis sliders, a Z-axis rack is fixedly connected on the inner side of the Z-axis arm, and the Z-axis rack is connected to the Z-axis gear, and a manipulator mounting plate is fixedly connected to the bottom of the Z-axis arm.

[0008] Preferably, the Y-axis motor and the Z-axis motor are both servo motors.

[0009] Preferably, the brake is an electromagnetic brake.

[0010] The beneficial effects of the utility model are as follows: (1) The utility model has a reasonable and simple structure, low production cost, easy installation, and complete functions. Here, the X-axis motor, the Y-axis motor, and the Z-axis motor are started, so that the robot can drive the product to move along the XYZ directions, and thus the product can be transported to the required position for processing.

[0011] (2) The Z-axis mechanism 1 and the Z-axis mechanism 2 provided in the present invention can move in the Y and Z directions respectively as required, thereby meeting the need for moving two products separately and improving the processing efficiency.

[0012] (3) The Z-axis mechanism 1 and the Z-axis mechanism 2 of the utility model are both provided with brakes, thereby ensuring that the Z-axis mechanism 1 and the Z-axis mechanism 2 will not move vertically when not in operation, thereby improving the safety during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the utility model.

[0014] Figure 2 It is a structural schematic diagram of the X-axis drive mechanism.

[0015] Figure 3 It is a structural schematic diagram of the Z-axis mechanism 1.

[0016] 1-Milling machine; 2-column; 3-X-axis beam; 4-X-axis rail; 5-X-axis rack; 6-X-axis oil pan; 7-X-axis slider; 8-X-axis transfer plate; 9-Y-axis beam; 10-Y-axis rail; 11-Y-axis rack; 12-Z-axis mechanism one; 13-Y-axis oil pan; 14-X-axis drive mechanism; 15-Z-axis mechanism two; 141-X-axis motor; 142-coupling; 143-drive shaft; 144-X-axis gear; 121-Y-axis slider; 122-Y-axis transfer plate; 123-Z-axis slider; 124-Z-axis rail; 125-Z-axis arm; 126-manipulator mounting plate; 127-Y-axis motor; 128-Z-axis gear; 129-Z-axis motor; 1210-Z-axis rack; 1211-brake. DETAILED DESCRIPTION

[0017] like Figure 1 As shown, this specific embodiment adopts the following technical scheme: an automatic loading and unloading truss robot, including a milling machine 1, and also includes a column 2, an X-axis beam 3, an X-axis axis rail 4, an X-axis rack 5, an X-axis oil pan 6, an X-axis slider 7, an X-axis transfer plate 8, a Y-axis beam 9, a Y-axis axis rail 10, a Y-axis rack 11, a Z-axis mechanism 1 12, a Y-axis oil pan 13, an X-axis drive mechanism 14 and a Z-axis mechanism 2 15; the X-axis beams 3 are two, and the two X-axis beams 3 are respectively located on both sides of the milling machine 1, and the two bottom sides of the two X-axis beams 3 are fixedly connected with columns 2, and the two X-axis beams 3 are fixedly connected with X-axis axis rails 4, and the X-axis axis rails 4 are movably connected with a plurality of X-axis sliders 7, and the X-axis sliders 7 are inside An X-axis transfer plate 8 is fixedly connected to the side surface, an X-axis rack 5 is fixedly connected to the upper inner side surfaces of the two X-axis beams 3, and an X-axis oil receiving pan 6 is fixedly connected to the lower inner side surfaces of the two X-axis beams 3; the two side ends of the Y-axis beam 9 are respectively fixedly connected to the corresponding inner side surfaces of the X-axis transfer plate 8, and the Y-axis line rails 10 are fixedly connected to the upper and lower surfaces of the Y-axis beam 9, and the Y-axis line rails 10 are provided with a Z-axis mechanism 12 and a Z-axis mechanism 2 15, a Y-axis rack 11 is fixedly connected to the upper side of one side of the Y-axis beam 9, and a Y-axis oil receiving pan 13 is fixedly connected to the lower side of one side of the Y-axis beam 9, and an X-axis driving mechanism 14 is provided on the other side of the Y-axis beam 9, and the two sides of the X-axis driving mechanism 14 are respectively connected to the corresponding X-axis rack 5.

[0018] like Figure 2As shown, the specific structure of the X-axis driving mechanism 14 includes an X-axis motor 141, a coupling 142, a transmission shaft 143 and an X-axis gear 144; the X-axis motor 141 is fixedly connected to the center of the other side of the Y-axis beam 9, and the output shafts on both sides of the X-axis motor 141 are fixedly connected to the transmission shaft 143 through the coupling 142, and the outer ends of the transmission shaft 143 are fixedly connected to the X-axis gears 144, and the X-axis gears 144 are respectively connected to the corresponding X-axis racks 5.

[0019] The X-axis motor 141 is a servo motor, so it is convenient to control the X-axis motor 141 through existing automation technology.

[0020] like Figure 3 As shown, the structure of the Z-axis mechanism 15 is consistent with that of the Z-axis mechanism 12. The specific structure of the Z-axis mechanism 12 includes a Y-axis slider 121, a Y-axis transfer plate 122, a Z-axis slider 123, a Z-axis axis rail 124, a Z-axis arm 125, a manipulator mounting plate 126, a Y-axis motor 127, a Z-axis gear 128, a Z-axis motor 129, a Z-axis rack 1210 and a brake 1211; the Y-axis slider 121 is fixedly connected to the upper and lower positions of one side of the Y-axis transfer plate 122, and the Y-axis slider 121 is movably connected to the corresponding Y-axis axis rail 10, and the Y-axis motor 127 is fixedly connected to one side of the Y-axis transfer plate 122, and the output shaft of the Y-axis motor 127 is fixedly connected to the Y-axis gear, and the Y-axis gear is connected to the Y-axis rack 11, and the Y-axis transfer plate 1 22, both sides of the other side are fixedly connected with Z-axis sliders 123, the other side of the Y-axis transfer plate 122 is fixedly connected with a Z-axis motor 129 on the top, and the output shaft of the Z-axis motor 129 is fixedly connected with a Z-axis gear 128, the other side of the Y-axis transfer plate 122 is fixedly connected with a brake 1211 on the bottom, and the shaft end of the brake 1211 is fixedly connected with a transmission gear, and the transmission gear is connected to the Z-axis rack 1210; both sides of the Z-axis arm 125 are fixedly connected with Z-axis axis rails 124, and the Z-axis axis rails 124 are movably connected to the corresponding Z-axis sliders 123, the inner side of the Z-axis arm 125 is fixedly connected with a Z-axis rack 1210, and the Z-axis rack 1210 is connected to the Z-axis gear 128, and the bottom of the Z-axis arm 125 is fixedly connected with a manipulator mounting plate 126.

[0021] Wherein, the Y-axis motor 127 and the Z-axis motor 129 are both servo motors, so that it is convenient to control the Y-axis motor 127 and the Z-axis motor 129 through existing automation technology; the brake 1211 is an electromagnetic brake, so that it is convenient to control through existing automation technology.

[0022] The use status of the utility model is as follows: the utility model has a reasonable and simple structure, low production cost, easy installation, and complete functions. When using, first select a suitable manipulator according to the product, and then install and fix the manipulator to the bottom of the manipulator mounting plate 126, and then start the X-axis motor 141, the Y-axis motor 127, and the Z-axis motor 129, so that the manipulator can drive the product to move along the XYZ directions, and can also transport the product to the required position for processing. In addition, the Z-axis mechanism 1 12 and the Z-axis mechanism 2 15 can be moved in the YZ directions respectively as needed, thereby meeting the needs of moving the two products separately, and also improving the processing efficiency. In addition, the Z-axis mechanism 1 12 and the Z-axis mechanism 2 15 are both provided with brakes 1211, thereby ensuring that the Z-axis mechanism 1 12 and the Z-axis mechanism 2 15 will not produce vertical movement when they are not working, and also improving the safety during use.

[0023] The control method in the present invention is to start manually or control by existing automation technology. The wiring diagram of the power element and the provision of power supply belong to the common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0024] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0025] In the present utility model, unless otherwise clearly stipulated and limited, the terms "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0026] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which shall fall within the scope of the utility model to be protected. The scope of protection of the utility model shall be defined by the attached claims and their equivalents.

Claims

1. An automated loading and unloading truss robot, comprising a milling machine (1), characterized in that: It also includes a column (2), an X-axis beam (3), an X-axis axis rail (4), an X-axis rack (5), an X-axis oil receiving pan (6), an X-axis slider (7), an X-axis transfer plate (8), a Y-axis beam (9), a Y-axis axis rail (10), a Y-axis rack (11), a Z-axis mechanism 1 (12), a Y-axis oil receiving pan (13), an X-axis drive mechanism (14) and a Z-axis mechanism 2 (15); There are two X-axis beams (3), and the two X-axis beams (3) are respectively located on both sides of the milling machine (1). Both sides of the bottom of the two X-axis beams (3) are fixedly connected to columns (2). The two X-axis beams (3) are fixedly connected to X-axis rails (4), and the X-axis rails (4) are movably connected to a plurality of X-axis sliders (7), and the inner side of the X-axis slider (7) is fixedly connected to an X-axis transfer plate (8), the upper inner side of the two X-axis beams (3) is fixedly connected to an X-axis rack (5), and the lower inner side of the two X-axis beams (3) is fixedly connected to an X-axis oil pan (6); The ends of both sides of the Y-axis beam (9) are respectively fixedly connected to the inner side surfaces of the corresponding X-axis transfer plate (8); the upper and lower surfaces of the Y-axis beam (9) are both fixedly connected to Y-axis rails (10); and the Y-axis rails (10) are provided with a Z-axis mechanism 1 (12) and a Z-axis mechanism 2 (15); a Y-axis rack (11) is fixedly connected to the upper side of one side of the Y-axis beam (9); a Y-axis oil receiving pan (13) is fixedly connected to the lower side of one side of the Y-axis beam (9); an X-axis drive mechanism (14) is provided on the other side of the Y-axis beam (9); and both sides of the X-axis drive mechanism (14) are respectively connected to the corresponding X-axis racks (5).

2. The automatic loading and unloading truss robot according to claim 1, characterized in that: The specific structure of the X-axis driving mechanism (14) includes an X-axis motor (141), a coupling (142), a transmission shaft (143) and an X-axis gear (144); The X-axis motor (141) is fixedly connected to the center of the other side of the Y-axis beam (9), and the output shafts on both sides of the X-axis motor (141) are fixedly connected to the transmission shaft (143) through the coupling (142), and the outer ends of the transmission shaft (143) are fixedly connected to the X-axis gears (144), and the X-axis gears (144) are respectively connected to the corresponding X-axis racks (5).

3. The automatic loading and unloading truss robot according to claim 2, characterized in that: The X-axis motor (141) is a servo motor.

4. The automatic loading and unloading truss robot according to claim 1, characterized in that: The structure of the Z-axis mechanism 2 (15) is consistent with that of the Z-axis mechanism 1 (12). The specific structure of the Z-axis mechanism 1 (12) includes a Y-axis slider (121), a Y-axis transfer plate (122), a Z-axis slider (123), a Z-axis axis rail (124), a Z-axis arm (125), a manipulator mounting plate (126), a Y-axis motor (127), a Z-axis gear (128), a Z-axis motor (129), a Z-axis rack (1210) and a brake (1211); The Y-axis transfer plate (122) is fixedly connected to a Y-axis slider (121) at the upper and lower positions of one side thereof, and the Y-axis slider (121) is movably connected to the corresponding Y-axis axis rail (10) respectively. The Y-axis transfer plate (122) is fixedly connected to a Y-axis motor (127) at one side thereof, and a Y-axis gear is fixedly connected to the output shaft of the Y-axis motor (127), and the Y-axis gear is connected to the Y-axis rack (11). The Y-axis transfer plate (122) is fixedly connected to a Y-axis motor (127) at the other side thereof. Both sides are fixedly connected with Z-axis sliders (123); the other side of the Y-axis transfer plate (122) is fixedly connected with a Z-axis motor (129) on the top, and the output shaft of the Z-axis motor (129) is fixedly connected with a Z-axis gear (128); the other side of the Y-axis transfer plate (122) is fixedly connected with a brake (1211) on the bottom, and the shaft end of the brake (1211) is fixedly connected with a transmission gear, and the transmission gear is connected to the Z-axis rack (1210); Both sides of the Z-axis arm (125) are fixedly connected to Z-axis axis rails (124), and the Z-axis axis rails (124) are movably connected to corresponding Z-axis sliders (123), a Z-axis rack (1210) is fixedly connected to the inner side of the Z-axis arm (125), and the Z-axis rack (1210) is connected to the Z-axis gear (128), and a manipulator mounting plate (126) is fixedly connected to the bottom of the Z-axis arm (125).

5. The automatic loading and unloading truss robot according to claim 4, characterized in that: The Y-axis motor (127) and the Z-axis motor (129) are both servo motors.

6. The automatic loading and unloading truss robot according to claim 4, characterized in that: The brake (1211) is an electromagnetic brake.

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