Compressor barrel transfer robot

Abstract

The utility model discloses a compressor cylinder transfer manipulator, including support, longitudinal seat, lift square column, longitudinal drive servo motor and vertical servo motor, and the longitudinal beam is formed with the through slot between two, and the longitudinal beam is installed with longitudinal linear guide rail pair respectively, and the front part of longitudinal seat is connected with the longitudinal beam of the position of leaning forward through the corresponding longitudinal linear guide rail pair, and the rear part of longitudinal seat is connected with the longitudinal beam of the position of leaning backward through the corresponding longitudinal linear guide rail pair, and the square cylinder seat is installed on longitudinal seat, and the lift square column passes through square cylinder seat and through slot, and the left and right sides of lift square column and the back of lift square column are connected with square cylinder seat through the corresponding vertical linear guide rail pair respectively, and the lower extreme of lift square column is equipped with the finger cylinder for clamping cylinder, and longitudinal seat moves left and right under the drive of longitudinal drive servo motor, and lift square column moves up and down under the drive of vertical servo motor. The utility model discloses a compressor cylinder transfer manipulator is favorable to reduce the labor intensity, and is favorable to improve work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of auxiliary equipment for compressor housing production, specifically to a compressor cylinder transfer robot. Background Technology

[0002] Currently, the compressor casing includes a cylinder, as shown in the "Compressor Casing" patent with Chinese utility model publication number CN204984798U, where the cylinder is cylindrical. During the production of the compressor casing, the cylinder needs to be transferred from the conveyor line to the fixtures of processing or welding equipment. Currently, this is done manually. Because the cylinder is quite heavy, this involves strenuous labor, resulting in longer rest periods for workers and hindering production efficiency. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a compressor cylinder transfer robot that helps reduce labor intensity and improve production efficiency.

[0004] The objective of this utility model is achieved through the following technical solution.

[0005] This utility model discloses a compressor cylinder transfer robot, comprising a support, a longitudinal shift seat, a lifting square column, a longitudinal shift drive servo motor, and a vertical shift servo motor. The support includes a rectangular frame and two longitudinal beams arranged front to back, with the beams located within the rectangular frame and a through groove formed between them. The longitudinal shift seat is located on the upper side of the support. Each of the longitudinal beams is equipped with a longitudinal linear guide pair. The front part of the longitudinal shift seat is connected to the longitudinal beam located at the front position via the corresponding longitudinal linear guide pair, and the rear part of the longitudinal shift seat is connected to the longitudinal beam located at the rear position via the corresponding longitudinal linear guide pair. A square cylinder seat is mounted on the longitudinal shift seat. The lifting square column passes through the square cylinder seat and the through groove. The left and right sides and the rear side of the lifting square column are connected to the square cylinder seat via corresponding vertical linear guide pairs. The lower end of the lifting square column is provided with a finger cylinder for gripping the cylinder. The longitudinal shift drive servo motor drives the longitudinal shift seat to move left and right, and the vertical shift servo motor drives the lifting square column to move up and down.

[0006] Preferably, a crossbar is provided between the rectangular frame and the longitudinal beam, and the crossbar is arranged at longitudinal intervals.

[0007] Preferably, a longitudinal rack is installed at the rear of the rectangular frame, the longitudinal traverse drive servo motor is installed on the upper side of the longitudinal traverse base, and a first gear is installed on the output rotor of the longitudinal traverse drive servo motor, the first gear meshing with the longitudinal rack.

[0008] Preferably, the vertical servo motor is installed on the front side of the square tube base, a vertical rack is installed on the front side of the lifting square column, and a second gear is installed on the output shaft of the vertical servo motor, the second gear meshing with the vertical rack.

[0009] Preferably, the finger cylinder is provided with two gripping fingers, each gripping finger is equipped with a gripping block, the gripping block is formed with a fork, and a nylon pad for contacting the outer wall of the cylinder is detachably installed in the fork.

[0010] Compared with the prior art, the advantages of this utility model are as follows: By setting longitudinal beams and installing longitudinal linear guide pairs, the front part of the longitudinal transfer seat is connected to the longitudinal beam located at the front position through the corresponding longitudinal linear guide pairs, and the rear part of the longitudinal transfer seat is connected to the longitudinal beam located at the rear position through the corresponding longitudinal linear guide pairs. A square tube seat is installed on the longitudinal transfer seat, and the lifting square column passes through the square tube seat and the through groove. The left and right sides and the rear side of the lifting square column are connected to the square tube seat through the corresponding vertical linear guide pairs. The lower end of the lifting square column is provided with a finger cylinder for clamping the cylinder. The longitudinal transfer drive servo motor drives the longitudinal transfer seat to move left and right, and the vertical transfer servo motor drives the lifting square column to move up and down. Thus, the compressor cylinder transfer robot of this utility model can replace human hands to transfer the cylinder, thereby reducing labor intensity and improving work efficiency. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of the compressor cylinder transfer robot of this utility model.

[0012] Figure 2 This is an exploded view of the compressor cylinder transfer robot of this utility model.

[0013] Figure 3 This is a right-side three-dimensional structural diagram of the compressor cylinder transfer robot of this utility model, after the removal of the square cylinder base and the lifting square column.

[0014] Figure 4 This is a three-dimensional structural diagram of the lifting square column of this utility model.

[0015] Figure 5 For the corresponding Figure 4 A top-view structural diagram.

[0016] Figure 6 This is a left-side top-view three-dimensional structural diagram of the combination of the lifting square column, square tube base and vertical servo motor of this utility model.

[0017] Figure 7 This is a three-dimensional structural diagram of the combination of the finger cylinder and the cylinder mounting base of this utility model.

[0018] Labeling Explanation: Bracket 1; Through slot 101; Rectangular frame 11; Longitudinal beam 12; Crossbar 13; Longitudinal linear guide pair 14; Longitudinal guide rail 141; Longitudinal slider 142; Longitudinal rack 15; Longitudinal seat 2; Clearance through hole 201; Square tube seat 3; Lifting square column 4; Vertical linear guide pair 41; Vertical guide rail 411; Vertical slider 412; Vertical rack 42; Cylinder mounting seat 43; Finger cylinder 5; Finger clamp 501; Clamping block 51; Fork 510; Nylon pad 511; Longitudinal drive servo motor 6; First gear 61; Vertical servo motor 7; Second gear 71; Cylinder 99. Detailed Implementation

[0019] The present invention will now be further described with reference to the accompanying drawings.

[0020] The compressor cylinder transfer robot of this utility model, such as Figures 1 to 3 As shown, the system includes a support frame 1, a longitudinal sliding seat 2, a lifting square column 4, a longitudinal movement drive servo motor 6, and a vertical movement servo motor 7. The support frame 1 includes a rectangular frame 11 and two longitudinal beams 12, which are arranged front to back. The rectangular frame 11 can be made of square tubing welded together. The longitudinal beams 12 are located inside the rectangular frame 11, and the rectangular frame 11 is welded to the left and right ends of the longitudinal beams 12 respectively. A through groove 101 is formed between the two longitudinal beams 12 (front and back), that is, the through groove 101 extends longitudinally. Figure 1 From a visual perspective, the aforementioned "vertical" refers to the left-right direction; for example... Figure 3 As shown, the longitudinal sliding seat 2 is located on the upper side of the bracket 1. Longitudinal beams 12 are respectively equipped with longitudinal linear guide rail pairs 14. The front part of the longitudinal sliding seat 2 is connected to the longitudinal beam 12 located at the front position via the corresponding longitudinal linear guide rail pairs 14, and the rear part of the longitudinal sliding seat 2 is connected to the longitudinal beam 12 located at the rear position via the corresponding longitudinal linear guide rail pairs 14. That is, the longitudinal guide rails 141 of the longitudinal linear guide rail pairs 14 are installed on the upper side of the corresponding longitudinal beam 12 with corresponding screws, and the longitudinal sliding sliders 142 of the longitudinal linear guide rail pairs 14 are installed on the bottom of the longitudinal sliding seat 2 with corresponding screws. Thus, the longitudinal sliding seat 2 is slidably connected to the bracket 1 from left to right, and the longitudinal sliding seat 2 receives linear guidance from the two longitudinal guide rails 141. Figure 1 As shown, a square tube seat 3 is installed on the longitudinal sliding seat 2, specifically, as... Figure 2 As shown, the outer wall of the square tube base 3 is fitted with feet by corresponding screws, and the feet are connected to the longitudinal sliding base 2 by corresponding screws, as shown. Figure 1 and Figure 3 As shown, the lifting square column 4 passes through the square tube seat 3 and the through groove 101, as... Figure 3 As shown, a clearance through hole 201 is formed on the longitudinal sliding seat 2. The clearance through hole 201 is positioned directly opposite the square tube seat 3, so the lifting square column 4 also passes through the clearance through hole 201. Figure 5 and Figure 6As shown, the left and right sides and the rear side of the lifting column 4 are connected to the square tube base 3 via corresponding vertical linear guide pairs 41, thus allowing the lifting column 4 to slide up and down connected to the longitudinal sliding base 2. Specifically, as shown... Figures 4 to 6 As shown, the vertical linear guide pair 41 includes a vertical guide rail 411 and a vertical slider 412. The vertical guide rail 411 is installed on the outer wall of the lifting column 4, and the vertical slider 412 is installed on the inner wall of the square tube base 3. Therefore, the vertical guide rail 411 actually moves up and down with the lifting column 4. There are three vertical guide rails 411. Figure 1 As shown, the lower end of the lifting column 4 is equipped with a finger cylinder 5 for clamping the cylinder 99. Specifically, as... Figure 4 As shown, a cylinder mounting base 43 is installed at the lower end of the lifting column 4. The cylinder body of the finger cylinder 5 is connected to the cylinder mounting base 43. The longitudinal servo motor 6 drives the longitudinal base 2 to move left and right, and the vertical servo motor 7 drives the lifting column 4 to move up and down.

[0021] Four columns can be arranged on the lower side of the rectangular frame 11, with the lower ends of the columns connected to the ground. For example, when the compressor cylinder transfer robot of this invention needs to transfer the cylinder 99 from the conveyor line to the processing equipment, the control system controls the vertical servo motor 7 to drive the lifting column 4 and the finger cylinder 5 to descend. The control system controls the finger cylinder 5 to clamp the cylinder 99 on the conveyor line. Then, the control system controls the vertical servo motor 7 to drive the cylinder 99 to move upwards. The control system controls the longitudinal drive servo motor 6 to drive the longitudinal seat 2, the lifting column 4, and the finger cylinder 5 to move to the left, so that the cylinder 99 moves above the fixture of the processing equipment. Then, the control system controls the vertical servo motor 7 to lower the cylinder 99 into the fixture. Then, the control system controls the finger cylinder 5 to open and release the cylinder 99. The control system then controls the vertical servo motor 7 to raise the finger cylinder 5. Thus, the compressor cylinder transfer robot of this invention can replace human hands in transferring the cylinder 99, thereby reducing labor intensity and improving work efficiency. Figure 1As shown, this utility model connects the front of the longitudinal sliding seat 2 to the longitudinal beam 12 located at the front position via a corresponding longitudinal linear guide pair 14, and the rear of the longitudinal sliding seat 2 is also connected to the longitudinal beam 12 located at the rear position via the corresponding longitudinal linear guide pair 14. This means the longitudinal sliding seat 2 is horizontally sliding. Furthermore, the lifting column 4 passes through the through groove 101, meaning the lifting column 4 is located between the front and rear longitudinal guide rails 141. This reduces the torque generated by the weight of the lifting column 4 and the cylinder 99 on the longitudinal linear guide pair 14, which facilitates flexible left and right movement of the longitudinal sliding seat 2 and extends the service life of the longitudinal linear guide pair 14. By setting a longitudinal servo motor 6 to drive the longitudinal sliding seat 2 to move left and right, and a vertical servo motor 7 to drive the lifting column 4 to move up and down, the position of the finger cylinder 5 can be more precisely controlled, facilitating accurate transfer of the cylinder 99 (compared to using a cylinder to drive the longitudinal sliding seat 2). Since the left and right sides and the rear of the lifting column 4 are connected to the square tube base 3 through corresponding vertical linear guide rail pairs 41, the lifting column 4 has a strong linear guiding effect, which can reduce the swaying of the lifting column 4 during rapid movement.

[0022] Furthermore, such as Figure 3 As shown, a crossbar 13 is provided between the rectangular frame 11 and the longitudinal beam 12. The crossbars 13 are arranged longitudinally at intervals, that is, one end of the crossbar 13 is welded to the inner side of the rectangular frame 11, and the corresponding other end of the crossbar 13 is welded to the longitudinal beam 12. Thus, crossbars 13 are provided in front of the through groove 101 and behind the through groove 101 respectively. Since the crossbars 13 are arranged longitudinally at intervals, it is beneficial to increase the rigidity of the longitudinal beam 12 and avoid the longitudinal beam 12 from generating large elastic bending deformation. This can reduce the elastic bending amplitude of the longitudinal guide rail 141 and further facilitate the flexible left and right movement of the longitudinal sliding seat 2.

[0023] Furthermore, such as Figure 3 As shown, a longitudinal rack 15 is mounted on the rear of the rectangular frame 11. A longitudinal drive servo motor 6 is mounted on the upper side of the longitudinal base 2. A first gear 61 is mounted on the output rotor of the longitudinal drive servo motor 6. The first gear 61 meshes with the longitudinal rack 15. A through hole is formed at the rear end of the longitudinal base 2. The output rotor of the longitudinal drive servo motor 6 passes through the through hole, so that the first gear 61 is located on the lower side of the longitudinal base 2 and on the front side of the longitudinal rack 15. Therefore, when the longitudinal drive servo motor 6 operates, the output shaft of the longitudinal drive servo motor 6 drives the first gear 61 to rotate. Since the longitudinal rack 15 is relatively fixed to the rectangular frame 11, the axis of the first gear 61 moves in the left and right direction. Since the housing of the longitudinal drive servo motor 6 is relatively fixed to the longitudinal base 2, the longitudinal base 2 moves in the left and right direction. The transmission structure of the combination of the first gear 61 and the longitudinal rack 15 is simple, has low installation accuracy requirements, and low manufacturing cost.

[0024] Furthermore, such as Figure 1 and Figure 6 As shown, the vertical servo motor 7 is installed on the front side of the square tube base 3, and the vertical rack 42 is installed on the front side of the lifting square column 4. A second gear 71 is installed on the output shaft of the vertical servo motor 7. The second gear 71 meshes with the vertical rack 42. The output shaft of the vertical servo motor 7 passes through the square tube base 3, and the second gear 71 is located inside the square tube base 3. Therefore, when the vertical servo motor 7 is running, the output shaft of the vertical servo motor 7 drives the second gear 71 to rotate. Thus, the second gear 71 drives the vertical rack 42 to move up and down, thereby causing the lifting square column 4 to move up and down. The transmission structure of the combination of the second gear 71 and the vertical rack 42 is simple, has low installation accuracy requirements, and low manufacturing cost.

[0025] Furthermore, such as Figure 7 As shown, the finger cylinder 5 can be an SMC MHL2 type finger cylinder. The finger cylinder 5 has two finger grippers 501, each with a gripping block 51. Each gripping block 51 has a fork 510, which is a V-groove structure. A nylon pad 511 for contacting the outer wall of the cylinder 99 is detachably installed inside the fork 510. That is, the nylon pad 511 is installed on the inner wall of the aforementioned V-groove structure via corresponding screws. In other words, the nylon pad 511 is made of nylon. When the finger cylinder 5 drives the two... When the finger 501 moves in and out, the two clamping blocks 51 on the left and right move closer together to clamp the cylinder 99. Specifically, the nylon pad 511 contacts the outer wall of the cylinder 99 (the axis of the cylinder 99 is along the vertical direction). Since the nylon pad 511 and the cylinder 99 can generate a large static friction force, the relative slippage between the cylinder 99 and the clamping blocks 51 can be avoided. This is beneficial for the finger cylinder 5 to reliably clamp the cylinder 99 and can also prevent the cylinder 99 from being scratched. When the nylon pad 511 is worn, it can be disassembled and replaced.

Claims

1. A compressor cylinder transfer robot, characterized in that: The system includes a support (1), a longitudinal shift seat (2), a lifting column (4), a longitudinal shift drive servo motor (6), and a vertical shift servo motor (7). The support (1) includes a rectangular frame (11) and two longitudinal beams (12). The two longitudinal beams (12) are arranged front to back and are located within the rectangular frame (11). A through groove (101) is formed between the two longitudinal beams (12). The longitudinal shift seat (2) is located on the upper side of the support (1). Each of the longitudinal beams (12) is equipped with a longitudinal linear guide pair (14). The front part of the longitudinal shift seat (2) is connected to the longitudinal beam (12) located at the front position through the corresponding longitudinal linear guide pair (14). The rear part is connected to the longitudinal beam (12) located at the rear position through the corresponding longitudinal linear guide pair (14). A square tube seat (3) is installed on the longitudinal shift seat (2). The lifting square column (4) passes through the square tube seat (3) and the through groove (101). The left and right sides of the lifting square column (4) and the rear side of the lifting square column (4) are connected to the square tube seat (3) through the corresponding vertical linear guide pair (41). The lower end of the lifting square column (4) is provided with a finger cylinder (5) for clamping the cylinder (99). The longitudinal shift drive servo motor (6) drives the longitudinal shift seat (2) to move left and right, and the vertical shift servo motor (7) drives the lifting square column (4) to move up and down.

2. The compressor barrel transfer robot of claim 1, wherein: A crossbar (13) is provided between the rectangular frame (11) and the longitudinal beam (12), and the crossbar (13) is arranged longitudinally at intervals.

3. The compressor barrel transfer robot of claim 1 wherein: A longitudinal rack (15) is installed at the rear of the rectangular frame (11). The longitudinal traverse drive servo motor (6) is installed on the upper side of the longitudinal traverse seat (2). A first gear (61) is installed on the output rotor of the longitudinal traverse drive servo motor (6). The first gear (61) meshes with the longitudinal rack (15).

4. The compressor barrel transfer robot of claim 3 wherein: The vertical servo motor (7) is installed on the front side of the square tube base (3), and a vertical rack (42) is installed on the front side of the lifting square column (4). A second gear (71) is installed on the output shaft of the vertical servo motor (7), and the second gear (71) meshes with the vertical rack (42).

5. The compressor barrel transfer robot of claim 1 wherein: The finger cylinder (5) is provided with two finger clamps (501), each finger clamp (501) is equipped with a clamping block (51), and a fork (510) is formed on the clamping block (51). A nylon pad (511) for contacting the outer wall of the cylinder (99) is detachably installed in the fork (510).

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