Multi-shaft mechanical arm translation type automatic bolt dismounting device

Abstract

The utility model provides a multi-shaft mechanical arm translation type automatic bolt dismounting device which comprises a fixedly-arranged supporting truss, a translation table movably installed on the supporting truss, a bolt dismounting mechanism and a multi-shaft mechanical arm installed on the translation table, and the bolt dismounting mechanism is installed at the output end of the multi-shaft mechanical arm. The bolt dismounting mechanism is provided with a bolt sleeve which can rotate and is used for sleeving a to-be-dismounted bolt. According to the device, the translation table moves along the supporting truss to drive the multi-axis mechanical arm and the bolt dismounting mechanism to move to the precast pile production line where bolts need to be dismounted, then the multi-axis mechanical arm drives the bolt dismounting mechanism to move, the bolt sleeve is arranged on the to-be-dismounted bolt of the locking pipe die in a sleeving mode, the bolt sleeve drives the to-be-dismounted bolt to rotate, and the bolt dismounting process is completed. The to-be-dismounted bolt is screwed out of the pipe die, automatic dismounting of the bolt on the pipe die is achieved, the labor requirement of a precast pile production line is reduced, the labor intensity of operators is reduced, and the production efficiency of precast piles is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of precast pile production and manufacturing, in particular to a multi-axis robotic arm translational bolt automatic disassembly device. Background Art

[0002] Disassembling the clamping die spring bolts of the pipe mold is an essential step in the production process of precast piles. At present, the method for disassembling the clamping die spring bolts is as follows: an operator holds an air gun with an internal hexagonal socket at the head. However, this manual disassembly method has the following defects: 1. The speed of disassembling the clamping die spring bolts needs to meet the production capacity requirements of the workshop. Usually, several precast pile production lines are configured in the workshop, which requires the operator to disassemble the clamping die spring bolts on several precast pile production lines. This results in a very high labor intensity for the operator, with almost no time to rest, and even requires multiple production line workers to be configured; 2. The air gun generates relatively large vibrations during operation, and the vibrations are directly transmitted to the operator's arms, causing the operator's arms to go numb after working in this link for a day. It is very laborious and not conducive to improving the disassembly efficiency of the clamping die spring bolts, and thus not conducive to increasing the production capacity of precast piles. Summary of the Utility Model

[0003] In view of the above-mentioned disadvantages of the prior art, the purpose of the present utility model is to provide a multi-axis robotic arm translational bolt automatic disassembly device that can automatically disassemble bolts.

[0004] To achieve the above purpose, the present utility model provides a multi-axis robotic arm translational bolt automatic disassembly device, including a fixedly arranged support truss, a translation table movably installed on the support truss, a bolt disassembly mechanism, and a multi-axis robotic arm installed on the translation table. The bolt disassembly mechanism is installed at the output end of the multi-axis robotic arm, and the bolt disassembly mechanism has a rotatable bolt sleeve for sleeving the bolt to be disassembled.

[0005] The preferred solution of the above technical solution is: the moving direction of the translation table, the side-by-side direction of several precast pile production lines in the workshop, and the horizontal radial direction of the precast pile are all the same. Several production line channels corresponding to several precast pile production lines one by one are provided in the support truss, and the production line channels allow the precast piles and pipe molds on the precast pile production lines to pass through.

[0006] The preferred solution of the above technical solution is: there are two multi-axis robotic arms, and the two multi-axis robotic arms are arranged opposite to each other along the moving direction of the translation table. The bolt disassembly mechanism is installed at the output end of each multi-axis robotic arm, and a disassembly operation through slot that is distributed between the two multi-axis robotic arms and penetrates up and down is provided in the translation table.

[0007] A preferred embodiment of the above technical solution is as follows: the supporting truss comprises a pair of truss beams arranged relative to each other in a direction perpendicular to the moving direction of the translation table, and an array of fixed support units arranged side by side at the bottom of the pair of truss beams along the moving direction of the translation table, the truss beams extend straight along the moving direction of the translation table, the translation table is movably installed between the pair of truss beams, and the production line channel is formed between two adjacent groups of fixed support units.

[0008] A preferred embodiment of the above technical solution is: the multi-axis robotic arm translational bolt automatic removal device also includes a dual-axis drive mechanism, the support truss has a pair of truss beams arranged relatively to each other in a direction perpendicular to the moving direction of the translation platform, the truss beams extend straight along the moving direction of the translation platform, the translation platform is movably installed between the pair of truss beams, and the dual-axis drive mechanism is transmission-connected between the translation platform and the truss beams.

[0009] The preferred scheme of the above technical scheme is: a transmission rack extending straight along the moving direction of the translation table is fixed on each of the truss beams; the dual-axis drive mechanism is arranged at the end of the translation table along the moving direction of the translation table, and the dual-axis drive mechanism includes a dual-axis drive source installed on the translation table, two transmission shafts rotatably installed on the translation table, and a transmission gear fixed to the outer end of the transmission shaft, the two transmission shafts are symmetrically arranged on both sides of the dual-axis drive source along a direction perpendicular to the moving direction of the translation table, and are connected to the dual-axis drive source, and the transmission rack and the transmission gear are meshed.

[0010] A preferred embodiment of the above technical solution is: the dual-axis drive mechanism also includes a first mounting plate fixed to the translation stage by a first locking bolt, a second mounting plate fixed to the translation stage by a second locking bolt, a bearing seat fixed to the second mounting plate, a first adjustment component acting on the first mounting plate, and a second adjustment component acting on the second mounting plate, the first mounting plate is provided with a first adjustment hole for accommodating the first locking bolt, the second mounting plate is provided with a second adjustment hole for accommodating the second locking bolt, the dual-axis drive source is fixed to the first mounting plate, and the transmission shaft is rotatably supported in the bearing seat.

[0011] A preferred embodiment of the above technical solution is: the first adjustment assembly and the second adjustment assembly both include a pair of adjustment fixing plates fixed to the translation stage, and adjustment bolts threadedly connected to each adjustment fixing plate; the pair of adjustment fixing plates in the first adjustment assembly are distributed on the upper and lower sides of the first mounting plate, and the adjustment bolts abut against the upper and lower sides of the first mounting plate; the pair of adjustment fixing plates in the second adjustment assembly are distributed on the upper and lower sides of the second mounting plate, and the adjustment bolts abut against the upper and lower sides of the second mounting plate.

[0012] The preferred solution of the above technical solution is as follows: The support truss further includes a pair of hard stop limiting components symmetrically distributed at both ends of the support truss along the moving direction of the translation table, and the translation table is distributed between the two groups of hard stop limiting components; each group of hard stop limiting components includes a hard stop limiting bracket fixed between a pair of truss girders, and a buffer plate fixed on the inner end face of the hard stop limiting bracket facing the translation table. The translation table can contact the buffer plate. The hard stop limiting bracket is made of steel, and the buffer plate is made of polyurethane.

[0013] The preferred solution of the above technical solution is as follows: The multi-axis robotic arm translational bolt automatic disassembly device further includes a proximity switch fixed to the support truss and a sensing member fixed to the side of the translation table, and the sensing member can trigger the proximity switch.

[0014] As described above, the multi-axis robotic arm translational bolt automatic disassembly device involved in the present invention has the following beneficial effects:

[0015] In this application, through the movement of the translation table along the support truss, the multi-axis robotic arm and the bolt disassembly mechanism are driven to move to the precast pile production line where bolts need to be disassembled. Subsequently, the multi-axis robotic arm drives the bolt disassembly mechanism to move, so that the bolt sleeve is sleeved on the bolt to be disassembled of the locking pipe mold, and the bolt sleeve drives the bolt to be disassembled to rotate, and the bolt to be disassembled is screwed out of the pipe mold, realizing the automatic disassembly of the bolts on the pipe mold, reducing the manual requirements of the precast pile production line, reducing the labor intensity of the operators, and effectively improving the production efficiency of precast piles. Description of the Drawings

[0016] Figure 1 is a structural schematic diagram of the multi-axis robotic arm translational bolt automatic disassembly device of this application, and the bolt disassembly mechanism is omitted in this figure.

[0017] Figure 2 is a structural schematic diagram of the support truss in this application.

[0018] Figure 3 is Figure 2 the front view of

[0019] Figure 4 and Figure 5 are structural schematic diagrams of the translation table and the dual-axis drive mechanism in this application from different perspectives.

[0020] Figure 6 is Figure 4 the top view of

[0021] Figure 7 is a structural schematic diagram of the dual-axis drive mechanism in this application.

[0022] Figure 8 is a structural schematic diagram of the multi-axis robotic arm in this application.

[0023] Description of Component Labels

[0024] 10 Transmission Rack

[0025] 20 Support Truss

[0026] 21 Production Line Passage

[0027] 22 Truss Girder

[0028] 23 Fixed Support Column Unit

[0029] 231 Support Column

[0030] 232 Support Crossbeam

[0031] 233 Installation Embedded Plate

[0032] 234 Column Plate

[0033] 235 Leveling Transition Plate

[0034] 236 Leveling Bolt

[0035] 24 Hard Stop Limit Bracket

[0036] 25 Buffer Plate

[0037] 26 Linear Guide Rail Assembly

[0038] 27 Protective Cover

[0039] 28 Drag Chain Groove

[0040] 29 Cable Groove

[0041] 210 Crossbeam Installation Auxiliary Bracket

[0042] 30 Translation Table

[0043] 31 Disassembly Operation Through Slot

[0044] 32 Robot Arm Installation Area

[0045] 33 Robot Arm Installation Base Plate

[0046] 34 Shear Resistance Plate

[0047] 35 Cable Guide Channel Steel

[0048] 36 Fire Sprayed Plastic Cable Tray

[0049] 37 Emitter-Receiver Photoelectric Sensor

[0050] 40 Multi-Axis Robot Arm

[0051] 41 Robot Arm Base

[0052] 42 First arm

[0053] 43 Second arm

[0054] 44 Third arm

[0055] 45 Fourth arm

[0056] 46 Fifth arm

[0057] 47 Connecting flange

[0058] 50 Biaxial drive mechanism

[0059] 51 Biaxial drive source

[0060] 52 Transmission rotating shaft

[0061] 53 Transmission gear

[0062] 54 First locking bolt

[0063] 55 First mounting plate

[0064] 56 Second locking bolt

[0065] 57 Second mounting plate

[0066] 58 Bearing seat

[0067] 59 First adjustment component

[0068] 510 Second adjustment component

[0069] 511 Adjustment fixing plate

[0070] 512 Adjusting bolt

[0071] 60 Proximity switch

[0072] 70 Inductive element Specific implementation mode

[0073] The following specific embodiments illustrate the implementation modes of the present utility model, and those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification.

[0074] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of this utility model. Therefore, they do not have substantial technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the efficacy that this utility model can produce and the purpose that can be achieved, should still fall within the scope covered by the technical content disclosed in this utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of description and are not used to limit the scope of implementation of this utility model. The change or adjustment of their relative relationship, without substantial change in the technical content, should also be regarded as the scope of implementation of this utility model.

[0075] It should also be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element present at the same time. When an element is referred to as "connected to" another element, it can be directly connected to the other element or it can also be indirectly connected to the other element through an intermediate element.

[0076] In addition, the descriptions involving "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0077] This utility model provides a multi-axis robotic arm translational bolt automatic disassembly device for automatically disassembling bolts. The following takes the multi-axis robotic arm translational bolt automatic disassembly device for disassembling the mold closing spring bolts on a precast pile production line as an example for description. Then, the mold closing spring bolts are the bolts to be disassembled. On the precast pile production line, the pipe mold is locked by the mold closing spring bolts to achieve mold closing of the pipe mold; when demolding, the mold closing spring bolts are removed first. In addition, for the convenience of description, the axial direction of the precast pile on the precast pile production line is defined as the front-back direction, the horizontal radial direction of the precast pile on the precast pile production line is defined as the left-right direction, and the vertical radial direction of the precast pile on the precast pile production line is defined as the up-down direction.

[0078] Such as Figure 1As shown in the figure, the multi-axis robotic arm translational bolt automatic disassembly device involved in the present utility model includes a fixedly arranged support truss 20, a translation table 30 movably installed on the support truss 20, a bolt disassembly mechanism, and a multi-axis robotic arm 40 installed on the translation table 30. The bolt disassembly mechanism is installed at the output end of the multi-axis robotic arm 40, and the bolt disassembly mechanism has a rotatable bolt sleeve, and the bolt sleeve is used to be sleeved on the outer periphery of the head of the die closing spring bolt.

[0079] During mold removal, through the movement of the translation table 30 along the support truss 20, the multi-axis robotic arm 40 and the bolt disassembly mechanism are driven to move to the precast pile production line where the die closing spring bolt needs to be disassembled; subsequently, the multi-axis robotic arm 40 drives the bolt disassembly mechanism to move, so that the bolt sleeve is sleeved on the die closing spring bolt for locking the pipe mold; then, the bolt sleeve in the bolt disassembly mechanism rotates, and it drives the die closing spring bolt to rotate together, and screws out the die closing spring bolt from the pipe mold, realizing the automatic disassembly of the die closing spring bolt on the pipe mold during mold removal, reducing the manual requirement of the precast pile production line, reducing the labor intensity of the operator, and effectively improving the production efficiency of the precast pile.

[0080] Furthermore, the layout method of the multi-axis robotic arm translational bolt automatic disassembly device in the precast pile production workshop (i.e., the mold removal area workshop), and the moving direction of the translation table 30 in the multi-axis robotic arm translational bolt automatic disassembly device can be various. For example: One multi-axis robotic arm translational bolt automatic disassembly device can be arranged on the side of each precast pile production line, or multiple precast pile production lines can share one multi-axis robotic arm translational bolt automatic disassembly device.

[0081] In this embodiment, multiple precast pile production lines share one multi-axis robotic arm translational bolt automatic disassembly device, reducing the equipment cost. Specifically, there are several precast pile production lines in the precast pile production workshop. The several precast pile production lines are arranged side by side left and right along the horizontal radial direction of the precast pile. Each precast pile production line is equipped with a production line cart for loading precast piles and pipe molds, and the production line cart moves back and forth along the axial direction of the precast pile. The support truss 20 spans several precast pile production lines along the left and right side-by-side direction of several precast pile production lines. Several production line channels 21 corresponding one by one to several precast pile production lines are opened in the support truss 20. The production line channels 21 penetrate through from front to back and allow the precast piles and pipe molds on the precast pile production lines to pass through. The moving direction of the translation table 30, the side-by-side direction of several precast pile production lines in the workshop, and the horizontal radial direction of the precast pile are all the same, which is the left and right direction. That is, the translation table 30 is movably installed on the support truss 20 along the horizontal radial direction of the precast pile and can move left and right. Through the left and right movement of the translation table 30, the multi-axis robotic arm 40 and the bolt disassembly mechanism on the translation table 30 are driven to move to the precast pile production line where the die closing spring bolt needs to be disassembled, thereby meeting the need to disassemble the die closing spring bolt of several precast pile production lines in the precast pile production workshop, effectively reducing the manual requirement of the precast pile production line, and reducing the labor cost.

[0082] Furthermore, as Figure 1 shown, there are two multi-axis robotic arms 40, and the two multi-axis robotic arms 40 are arranged opposite to each other left and right along the moving direction of the translation stage 30. A bolt disassembly mechanism is installed at the output end of each multi-axis robotic arm 40. Based on this, as Figure 4 and Figure 6 shown, a disassembly operation through slot 31 that is distributed between the two multi-axis robotic arms 40 and runs through from top to bottom is provided in the translation stage 30. The present application adopts double multi-axis robotic arms 40 and double bolt disassembly mechanisms, which can simultaneously disassemble the mold closing spring bolts on the left and right sides of the same pipe mold, more effectively improve the bolt disassembly efficiency, and is more conducive to improving the production efficiency of precast piles.

[0083] Furthermore, the preferred structure of the support truss 20 is: as Figure 2 and Figure 3 shown, the support truss 20 is a frame structure. The support truss 20 includes a pair of truss girders 22 and an array of fixed support unit 23 that are all fixed to the bottom of the pair of truss girders 22. The pair of truss girders 22 are arranged opposite to each other front and back along the direction perpendicular to the moving direction of the translation stage 30. The two truss girders 22 both extend straight left and right along the moving direction of the translation stage 30. The array of fixed support unit 23 are arranged side by side left and right along the moving direction of the translation stage 30. The production line passage 21 is formed between adjacent two groups of fixed support unit 23, or rather, the empty area that runs through from front to back between adjacent two groups of fixed support unit 23 constitutes the production line passage 21. Then the production line passage 21 is distributed at the bottom of the pair of truss girders 22. The translation stage 30 is movably installed left and right between the pair of truss girders 22; preferably, a linear guide rail assembly 26 is fixed to the top of each truss girder 22, and the translation stage 30 is movably installed on the truss girder 22 through the linear guide rail assembly 26.

[0084] Preferably, as Figures 1 to 3As shown, each set of fixed support column units 23 includes two support columns 231 arranged side by side front and back, a support cross beam 232 fixed between the two support columns 231, and a mounting embedded plate 233 embedded and fixed on the ground of the precast pile production workshop. The lower end of the support column 231 is fixed on the mounting embedded plate 233 through a leveling assembly, thereby fixing the entire support truss 20 on the ground of the precast pile production workshop. The leveling assembly includes a column plate 234 welded and fixed to the lower end of the support column 231, a leveling transition plate 235 welded and fixed to the top of the mounting embedded plate 233, several leveling bolts 236 screwed into the column plate 234 and the leveling transition plate 235, and two leveling nuts threadedly connected to each leveling bolt 236. The two leveling nuts abut against the upper and lower sides of the column plate 234. In this way, by adjusting the high point position of the leveling nut, the height position of the support column 231 can be adjusted to achieve the overall leveling of the support truss 20; after leveling, the leveling transition plate 235 is welded and fixed to the top of the mounting embedded plate 233 to complete the overall fixed installation.

[0085] Preferably, as Figure 2 and Figure 3 shown, the support truss 20 further includes a plurality of protective covers 27, a drag chain groove 28 for accommodating the drag chain, and a cable groove 29 and a wire rack for arranging wires; wherein, the protective cover 27 is fixed on the top of each truss girder 22 through a sheet metal bracket, and the protective cover 27 can cover the transmission rack 10 and the transmission gear 53 for the following transmission, playing a good protective role; the wire racks are distributed on the front side or the rear side of the support truss 20 and are located below the truss girders 22, and the wire racks are preferably fixed to the support columns 231.

[0086] Furthermore, as Figure 2 shown, the support truss 20 further includes a pair of hard stop limit components symmetrically distributed at the left and right ends of the support truss 20 along the moving direction of the translation table 30. The translation table 30 is distributed between the two sets of hard stop limit components. Each set of hard stop limit components includes a hard stop limit bracket 24 fixed between a pair of truss girders 22, and a buffer plate 25 fixed on the inner end face of the hard stop limit bracket 24 facing the translation table 30. The translation table 30 can contact the buffer plate 25. The material of the hard stop limit bracket 24 is steel, and the material of the buffer plate 25 is polyurethane. The hard stop limit bracket 24 and the buffer plate 25 provide hard limits for the left and right movement of the translation table 30. Preferably, as Figure 2 shown, the support truss 20 further includes a cross beam installation auxiliary bracket 210 fixed between a pair of truss girders 22. The cross beam installation auxiliary bracket 210 and the hard stop limit bracket 24 work together to ensure the installation accuracy of the front and rear truss girders 22 during the assembly of the support truss 20.

[0087] Furthermore, the preferred structure of the translation table 30 is: as Figures 4 to 6As shown, the translation platform 30 is a welded frame structure. The translation platform 30 is provided with a robot arm installation area 32 on both sides of the disassembly operation slot 31. Two multi-axis robot arms 40 are respectively installed in the two robot arm installation areas 32 and fixedly installed on the robot arm installation base plate 33 at the bottom of the robot arm installation area 32. Several shear plates 34 arranged side by side are fixed on the front and back sides of the translation platform 30. The shear plates 34 are fixed to the translation platform 30 by several hexagon socket cylindrical head screws. The shear plates 34 can withstand the shear force caused by the weight of the translation platform 30 and the weight of the multi-axis robot arm 40, prevent the weld of the translation platform 30 from being overstressed, and make the translation platform 30 durable. A cable guide channel steel 35 is fixed above the right end side of the translation platform 30 for wiring. A fire-proof spray-coated cable tray 36 is fixed on the top surface of the rear side of the translation platform 30. The translation stage 30 also includes two front-to-back side-by-side opposing photoelectric sensors 37, which are arranged on the front and rear sides of the disassembly operation slot 31. The transmitter and receiver of each opposing photoelectric sensor 37 are arranged opposite to each other on the left and right sides and are respectively distributed on the left and right sides of the disassembly operation slot 31, and are used to detect whether the multi-axis robot arm 40 has reached the limit position.

[0088] Furthermore, if Figures 4 to 6 As shown, the multi-axis robot arm translation type bolt automatic disassembly device also includes a dual-axis drive mechanism 50, which is arranged on the right end side of the translation platform 30, and the dual-axis drive mechanism 50 is transmission-connected between the translation platform 30 and the truss beam 22, and the translation platform 30 is driven to move left and right along the truss beam 22 by the dual-axis drive mechanism 50. The structure of the dual-axis drive mechanism 50 is preferably as follows: Figure 7 As shown, the dual-axis driving mechanism 50 includes a dual-axis driving source 51 mounted on the translation stage 30, two transmission shafts 52 that are rotatably mounted on the translation stage 30 and extend forward and backward, and a transmission gear 53 fixed to the outer end of the transmission shaft 52. The two transmission shafts 52 are symmetrically arranged on both sides of the dual-axis driving source 51 along a direction perpendicular to the moving direction of the translation stage 30, and are both connected to the dual-axis driving source 51. At the same time, as shown in FIG. Figure 1 and Figure 2 As shown, a transmission rack 10 extending straightly left and right along the moving direction of the translation platform 30 is fixed on each truss beam 22; the transmission rack 10 is meshed with the transmission gear 53. In this way, when the dual-axis driving source 51 is in motion, the dual-axis driving source 51 drives the two transmission shafts 52 to rotate simultaneously, and the translation platform 30 is driven to move left and right along the transmission rack 10 through the meshing of the transmission rack 10 and the transmission gear 53.

[0089] Preferably, if Figure 7As shown in the figure, the dual-axis drive source 51 includes a motor and a dual-output shaft speed reducer. The motor shaft of the motor is connected to the dual-output shaft speed reducer and fixed between them by a flange. The output shafts on the left and right sides of the dual-output shaft speed reducer are each connected to the inner ends of two transmission rotating shafts 52 through couplings. At the same time, the transmission gear 53 is a helical gear, and the transmission rack 10 is a helical rack. A rack positioning pin is connected between the transmission rack 10 and the truss girder 22, and the rack positioning pin can ensure the installation accuracy of the transmission rack 10.

[0090] Further, as Figure 5 shown in the figure, the dual-axis drive mechanism 50 further includes a first mounting plate 55 fixed to the translation stage 30 by a first locking bolt 54, a second mounting plate 57 fixed to the translation stage 30 by a second locking bolt 56, a bearing seat 58 fixed to the second mounting plate 57, a first adjustment assembly 59 acting on the first mounting plate 55, and a second adjustment assembly 510 acting on the second mounting plate 57. A first adjustment hole for accommodating the first locking bolt 54 is provided on the first mounting plate 55, and a second adjustment hole for accommodating the second locking bolt 56 is provided on the second mounting plate 57. Both the first adjustment hole and the second adjustment hole extend vertically. The dual-output shaft speed reducer in the dual-axis drive source 51 is directly fixed to the first mounting plate 55, and the two transmission rotating shafts 52 are rotatably supported in the two bearing seats 58. Then, there are four groups of bearing seats 58 and two groups of the second adjustment assembly 510. Deep groove ball bearings are arranged in the bearing seats 58. Both the first adjustment assembly 59 and the second adjustment assembly 510 include a pair of adjustment fixing plates 511 both fixed to the translation stage 30 and adjustment bolts 512 threadedly connected to the respective adjustment fixing plates 511. The pair of adjustment fixing plates 511 in the first adjustment assembly 59 are distributed on the upper and lower sides of the first mounting plate 55, and the adjustment bolts 512 abut against the upper and lower sides of the first mounting plate 55. The pair of adjustment fixing plates 511 in the second adjustment assembly 510 are distributed on the upper and lower sides of the second mounting plate 57, and the adjustment bolts 512 abut against the upper and lower sides of the second mounting plate 57. In this way, after loosening the first locking bolt 54, the height of the dual-output shaft speed reducer can be adjusted through the first adjustment assembly 59; after loosening the second locking bolt 56, the height of the bearing seat 58 and the transmission rotating shaft 52 can be adjusted through the second adjustment assembly 510, thereby ensuring the coaxiality of the output shaft of the dual-output shaft speed reducer and the transmission rotating shaft 52, ensuring the accuracy of power transmission, and finally ensuring the control accuracy of the left and right movement of the translation stage 30.

[0091] Further, as Figure 3 and Figure 4As shown in the figure, the multi-axis robotic arm translational bolt automatic disassembly device further includes a proximity switch 60 fixed to the support truss 20 and a sensing member 70 fixed to the side of the translation stage 30. There are several proximity switches 60 arranged side by side from left to right. The sensing member 70 is a long external hexagonal bolt, providing a detection point for the proximity switch 60. In this way, during the process of the dual-axis drive mechanism 50 driving the translation stage 30 to move left and right, the sensing member 70 can trigger a certain proximity switch 60, and the position information of the translation stage 30 can be determined through the output signal of the proximity switch 60.

[0092] Furthermore, the multi-axis robotic arm 40 is a six-axis robotic arm. Combining with the left and right translation of the translation stage 30, the multi-axis robotic arm translational bolt automatic disassembly device involved in the present invention is a seven-axis device. The preferred structure of the six-axis robotic arm is as follows. Figure 8 As shown in the figure, the six-axis robotic arm includes a robotic arm base 41 fixed on the robotic arm mounting base plate 33 in the translation stage 30, a first arm portion 42 rotatably mounted on the robotic arm base 41 around a vertical axis, a second arm portion 43 rotatably mounted at the upper end of the first arm portion 42 around a horizontal axis, a third arm portion 44 rotatably mounted at the upper end of the second arm portion 43 around a horizontal axis, a fourth arm portion 45 rotatably mounted on the third arm portion 44 around its own central axis, a fifth arm portion 46 rotatably mounted at the upper end of the fourth arm portion 45 around a horizontal axis, and a connecting flange 47 rotatably mounted on the fifth arm portion 46 around its own central axis. The connecting flange 47 is connected to the bolt disassembly mechanism. The bolt disassembly mechanism can select a screw disassembly and assembly device with floating adjustment ability disclosed in the Chinese utility model patent with the application number 202323022800.7, so it will not be elaborated here.

[0093] In summary, the working process of the multi-axis robotic arm translational bolt automatic disassembly device with the above structure is as follows.

[0094] In the initial state, the dual-axis drive mechanism 50 drives the translation stage 30 to translate along the truss girder 22. After the proximity switch 60 feeds back that the translation stage 30 has moved to the specified position, the motor in the dual-axis drive source 51 is locked. Then, the multi-axis robotic arm 40 and the bolt disassembly mechanism execute the control instructions, and the production line trolley drives the pipe mold and the precast pile to move a set step towards the translation stage 30 to complete the automatic disassembly of multiple mold closing spring bolts on the pipe mold. After the disassembly operation of the current position of the precast pile production line is completed, the multi-axis robotic arm 40 executes the reset instruction, and the dual-axis drive mechanism 50 drives the translation stage 30 to move to the next working station for the disassembly operation of the next precast pile production line. Therefore, the multi-axis robotic arm translation type bolt automatic disassembly device involved in the present application can replace the operator to simultaneously disassemble the mold closing spring bolts on both the left and right sides of the precast pile pipe mold, can meet the requirements of disassembling the mold closing spring bolts of multiple precast pile production lines in the workshop, realize the automatic disassembly of the mold closing spring bolts of the precast pile pipe mold, effectively reduce the labor demand of the precast pile production line, reduce the labor intensity, and improve the production efficiency of the precast pile.

[0095] In summary, the utility model effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0096] The above embodiments are only illustrative of the principles and effects of the utility model, and are not used to limit the utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the utility model. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the utility model should still be covered by the claims of the utility model.

Claims

1. A multi-axis mechanical arm translation type automatic bolt removal device, comprising a fixed support truss (20), a translation platform (30) movably mounted on the support truss (20), and a bolt removal mechanism, Features: It also includes a multi-axis mechanical arm (40) mounted on the translation platform (30), the bolt removal mechanism being mounted on the output end of the multi-axis mechanical arm (40), and the bolt removal mechanism comprising a rotatable bolt sleeve for fitting a bolt to be removed.

2. The multi-axis mechanical arm translation type automatic bolt removal device according to claim 1, Features: The moving direction of the translation platform (30), the parallel direction of the plurality of precast pile production lines in the workshop, and the horizontal radial direction of the precast piles are consistent. The support truss (20) is provided with a plurality of production line channels (21) corresponding to the plurality of precast pile production lines one by one. The production line channels (21) allow the precast piles and pipe molds on the precast pile production lines to pass through.

3. The multi-axis mechanical arm translation type automatic bolt removal device according to claim 2, Features: There are two multi-axis mechanical arms (40), and the two multi-axis mechanical arms (40) are arranged opposite to each other along the moving direction of the translation platform (30). A bolt disassembly mechanism is installed at the output end of each multi-axis mechanical arm (40), and a disassembly operation slot (31) is provided in the translation platform (30), which is distributed between the two multi-axis mechanical arms (40) and passes through from top to bottom.

4. The multi-axis mechanical arm translation type automatic bolt removal device according to claim 2, Features: The supporting truss (20) comprises a pair of truss girders (22) arranged relative to each other in a direction perpendicular to the moving direction of the translation platform (30), and an array of fixed support pillar units (23) arranged side by side at the bottom of the pair of truss girders (22) along the moving direction of the translation platform (30). The truss girders (22) extend straight along the moving direction of the translation platform (30). The translation platform (30) is movably installed between the pair of truss girders (22). The production line channel (21) is formed between two adjacent groups of fixed support pillar units (23).

5. The multi-axis mechanical arm translation type automatic bolt removal device according to claim 1, Features: It also includes a dual-axis driving mechanism (50), wherein the supporting truss (20) has a pair of truss beams (22) arranged relative to each other in a direction perpendicular to the moving direction of the translation platform (30), the truss beams (22) extend straight along the moving direction of the translation platform (30), the translation platform (30) is movably installed between the pair of truss beams (22), and the dual-axis driving mechanism (50) is drivingly connected between the translation platform (30) and the truss beams (22).

6. The multi-axis mechanical arm translation type automatic bolt removal device according to claim 5, Features: A transmission rack (10) extending straight along the moving direction of the translation stage (30) is fixed on each of the truss girders (22); the biaxial drive mechanism (50) is arranged at the end of the translation stage (30) along the moving direction of the translation stage (30), and the biaxial drive mechanism (50) includes a biaxial drive source (51) installed on the translation stage (30), two transmission rotating shafts (52) rotatably installed on the translation stage (30), and transmission gears (53) fixed to the outer ends of the transmission rotating shafts (52). The two transmission rotating shafts (52) are symmetrically arranged on both sides of the biaxial drive source (51) along the direction perpendicular to the moving direction of the translation stage (30) and are both connected to the biaxial drive source (51), and the transmission rack (10) is engaged with the transmission gear (53).

7. The multi-axis robotic arm translation type bolt automatic disassembly device according to claim 6, characterized in that: The biaxial drive mechanism (50) further includes a first mounting plate (55) fixed to the translation stage (30) by a first locking bolt (54), a second mounting plate (57) fixed to the translation stage (30) by a second locking bolt (56), a bearing seat (58) fixed to the second mounting plate (57), a first adjustment assembly (59) acting on the first mounting plate (55), and a second adjustment assembly (510) acting on the second mounting plate (57). A first adjustment hole for accommodating the first locking bolt (54) is provided on the first mounting plate (55), and a second adjustment hole for accommodating the second locking bolt (56) is provided on the second mounting plate (57). The biaxial drive source (51) is fixed to the first mounting plate (55), and the transmission rotating shaft (52) is rotatably supported in the bearing seat (58).

8. The multi-axis robotic arm translation type bolt automatic disassembly device according to claim 7, characterized in that: Both the first adjustment assembly (59) and the second adjustment assembly (510) include a pair of adjustment fixing plates (511) both fixed to the translation stage (30) and adjustment bolts (512) threadedly connected to the adjustment fixing plates (511); the pair of adjustment fixing plates (511) in the first adjustment assembly (59) are distributed on the upper and lower sides of the first mounting plate (55), and the adjustment bolts (512) abut against the upper and lower sides of the first mounting plate (55); the pair of adjustment fixing plates (511) in the second adjustment assembly (510) are distributed on the upper and lower sides of the second mounting plate (57), and the adjustment bolts (512) abut against the upper and lower sides of the second mounting plate (57).

9. The multi-axis robotic arm translation type bolt automatic disassembly device according to claim 5, characterized in that: The support truss (20) further includes a pair of hard stop limit components symmetrically distributed at both ends of the support truss (20) along the moving direction of the translation table (30), and the translation table (30) is disposed between the two sets of hard stop limit components; each set of hard stop limit components includes a hard stop limit bracket (24) fixed between a pair of truss girders (22), and a buffer plate (25) fixed on the inner end surface of the hard stop limit bracket (24) facing the translation table (30). The translation table (30) can contact the buffer plate (25). The hard stop limit bracket (24) is made of steel, and the buffer plate (25) is made of polyurethane.

10. The multi-axis robotic arm translational bolt automatic disassembly device according to claim 5, wherein: it further includes a proximity switch (60) fixed to the support truss (20), and an inductor (70) fixed to the side of the translation table (30), and the inductor (70) can trigger the proximity switch (60).

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