CN104229446A - Diatom ooze carrying device - Google Patents
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Abstract
本发明提供了一种硅藻泥搬运装置,包括龙门架式直角坐标机器人、翻转机构和真空吸盘;所述龙门架式直角坐标机器人由机架、X轴、Y轴、Z轴和U轴组成,通过控制四轴的运动次序,实现硅藻泥位置和姿态的变化;所述翻转机构的一端与龙门架式直角坐标机器人末端连接,用于实现硅藻泥竖直状态到水平状态的调整;所述翻转机构末端设置有真空吸盘,用于实现硅藻泥的吸放,并对硅藻泥边缘进行修整,同时将其上的脱模水除掉。本发明硅藻泥搬运装置的使用可以从根本上解决工人在恶劣环境中工作的现状,使工作人员能完全摆脱感染的可能,更有利于环保;本发明具有节省劳动力、降低生产成本、提高工作效率、减少环境污染等优点。
The invention provides a diatom mud handling device, comprising a gantry type Cartesian coordinate robot, a turning mechanism and a vacuum suction cup; the gantry type Cartesian coordinate robot is composed of a frame, an X axis, a Y axis, a Z axis and a U axis , by controlling the movement sequence of the four axes, the change of the diatom ooze position and posture is realized; one end of the turning mechanism is connected with the end of the gantry type Cartesian coordinate robot, and is used to realize the adjustment of the diatom ooze from the vertical state to the horizontal state; The end of the turning mechanism is provided with a vacuum suction cup, which is used to suck and release the diatom ooze, trim the edge of the diatom ooze, and remove the demoulding water on it at the same time. The use of the diatom mud handling device of the present invention can fundamentally solve the current situation of workers working in harsh environments, so that the staff can completely get rid of the possibility of infection, and is more conducive to environmental protection; the present invention has the advantages of saving labor, reducing production costs, improving work efficiency and reduce environmental pollution.
Description
技术领域technical field
本发明属于码垛搬运设备技术领域,尤其涉及一种硅藻泥搬运装置。The invention belongs to the technical field of palletizing and handling equipment, and in particular relates to a diatom mud handling device.
背景技术Background technique
现行我国各种硅藻泥厂的硅藻泥均为人工搬运,由于现场环境比较恶劣,对操作人员的身体健康造成极大的伤害,且工作强度大,工作效率低,不利于硅藻泥生产自动化的实现。中国实用新型专利CN201310264842.3公开了一种‘搬运机械手’,包括底座、立柱、提升油缸、前臂杆、后臂杆、夹具,依靠夹具的夹持将硅藻泥抓起,虽然能够可靠的物料搬运,但硅藻泥材质柔软容易变形且对其接触部分的磨损较大。At present, the diatom mud in various diatom mud factories in my country is manually transported. Due to the harsh on-site environment, it will cause great harm to the health of the operators, and the work intensity is high and the work efficiency is low, which is not conducive to the production of diatom mud. Realization of automation. Chinese utility model patent CN201310264842.3 discloses a "handling manipulator", which includes a base, a column, a lifting cylinder, a forearm rod, a rear arm rod, and a clamp. The diatom mud can be picked up by the clamp, although it can reliably transport the material Handling, but the diatom mud material is soft and easy to deform and wears heavily on its contact parts.
发明内容Contents of the invention
针对现有技术中的不足,本发明要解决的问题是,提供一种能够节省劳动力、降低生产成本、提高工作效率、减少环境污染的硅藻泥搬运装置。Aiming at the deficiencies in the prior art, the problem to be solved by the present invention is to provide a diatom mud handling device that can save labor, reduce production costs, improve work efficiency and reduce environmental pollution.
为了解决上述技术问题,本发明所采用的技术方案是:一种硅藻泥搬运装置,包括龙门架式直角坐标机器人、翻转机构和真空吸盘;所述龙门架式直角坐标机器人由机架、X轴、Y轴、Z轴和U轴组成,所述X轴由电机连接减速器,驱动齿轮和齿条,使龙门架式直角坐标机器人沿导轨运动,Y轴的配置和运动方式与X轴相同,Z轴采用线性模组实现硅藻泥的搬运,U轴运动方式为旋转运动,由电机、减速机和支架依次连接组成,通过控制四轴的运动次序,实现硅藻泥位置和姿态的变化;所述翻转机构的一端与龙门架式直角坐标机器人末端连接,包括依次安装连接的支架、油缸和连杆,用于实现硅藻泥竖直状态到水平状态的调整;所述翻转机构末端设置有真空吸盘,用于实现硅藻泥的吸放,并对硅藻泥边缘进行修整,同时将其上的脱模水除掉。In order to solve the above technical problems, the technical solution adopted in the present invention is: a diatom mud handling device, comprising a gantry type Cartesian coordinate robot, a turning mechanism and a vacuum suction cup; the gantry type Cartesian coordinate robot consists of a frame, X Axis, Y-axis, Z-axis and U-axis, the X-axis is connected with the reducer by the motor, drives the gear and rack, so that the gantry-type Cartesian coordinate robot moves along the guide rail, the configuration and movement mode of the Y-axis is the same as that of the X-axis , the Z-axis uses a linear module to carry the diatom mud, and the U-axis moves in a rotary motion, which is composed of a motor, a reducer and a bracket connected in sequence. By controlling the movement sequence of the four axes, the position and posture of the diatom mud can be changed. One end of the overturning mechanism is connected to the end of the gantry type Cartesian robot, including a support, an oil cylinder and a connecting rod connected in sequence, for realizing the adjustment of the diatom ooze from a vertical state to a horizontal state; the end of the overturning mechanism is provided with There is a vacuum suction cup, which is used to realize the suction and release of diatom mud, and trim the edge of diatom mud, and remove the mold release water on it at the same time.
所述龙门架式直角坐标机器人X轴跨距为4000mm,采用双边驱动,两导轨的相对平行度为0.05mm,滑块跨距为400mm,以减小横梁对滑块产生的倾覆力矩。The X-axis span of the gantry-type Cartesian robot is 4000mm, and the bilateral drive is adopted. The relative parallelism of the two guide rails is 0.05mm, and the slider span is 400mm, so as to reduce the overturning moment generated by the beam on the slider.
所述翻转机构由油缸驱动,接头采用关节轴承,避免在安装过程中因过约束对设备产生损坏。The turning mechanism is driven by an oil cylinder, and the joint adopts joint bearings to avoid damage to the equipment due to over-constraint during installation.
所述真空吸盘前端设有修边、除水结构。The front end of the vacuum suction cup is provided with trimming and water removal structures.
所述真空吸盘的形状为凸型圆弧,以便于吸住凹型硅藻泥内腔。The shape of the vacuum suction cup is a convex arc, so as to suck the concave diatom ooze inner cavity.
所述真空吸盘最大吸附重量为20kg,且在设备周围设有真空储气泵,便于真空持续供给,提高系统工作效率。The maximum suction weight of the vacuum suction cup is 20kg, and a vacuum air storage pump is provided around the equipment to facilitate continuous vacuum supply and improve the working efficiency of the system.
与现有技术相比,由于采用上述技术方案,本发明硅藻泥搬运装置通过龙门架式直角坐标机器人以及真空吸附系统实现硅藻泥搬运排序,该装置的使用可以从根本上解决工人在恶劣环境中工作的现状,使工作人员能完全摆脱感染的可能,给硅藻泥行业带来更好的发展空间,更有利于环保;该装置的使用将使硅藻泥生产的自动化程度进一步提高,对企业的发展具有巨大经济和社会效益。Compared with the prior art, due to the adoption of the above-mentioned technical scheme, the diatom mud handling device of the present invention realizes the diatom mud handling sorting through the gantry type Cartesian coordinate robot and the vacuum adsorption system. The current situation of working in the environment enables the staff to completely get rid of the possibility of infection, brings better development space to the diatom mud industry, and is more conducive to environmental protection; the use of this device will further improve the automation of diatom mud production, It has huge economic and social benefits for the development of enterprises.
本发明的有益效果是:具有节省劳动力、降低生产成本、提高工作效率、减少环境污染等优点。The invention has the beneficial effects of saving labor force, reducing production cost, improving work efficiency, reducing environmental pollution and the like.
附图说明Description of drawings
下面通过参考附图并结合实例具体地描述本发明,本发明的优点和实现方式将会更加明显,其中附图所示内容仅用于对本发明的解释说明,而不构成对本发明的任何意义上的限制,在附图中:The advantages and implementation methods of the present invention will be more obvious by referring to the accompanying drawings and describing the present invention in conjunction with examples below, wherein the content shown in the accompanying drawings is only used for explaining the present invention, and does not constitute any sense of the present invention The constraints, in the attached image:
图1为本发明硅藻泥搬运装置立体结构示意图;Fig. 1 is the three-dimensional structure schematic diagram of diatom ooze handling device of the present invention;
图2为本发明硅藻泥搬运装置龙门架式直角坐标机器人示意图;Fig. 2 is a schematic diagram of a gantry type Cartesian coordinate robot of the diatom mud handling device of the present invention;
图3为本发明硅藻泥搬运装置翻转结构示意图;Fig. 3 is a schematic diagram of the overturning structure of the diatom mud handling device of the present invention;
图4为本发明硅藻泥搬运装置吸盘结构示意图;Fig. 4 is a schematic structural view of the sucker of the diatom mud handling device of the present invention;
图中:In the picture:
1、压机 2、硅藻泥 3、龙门架式直角坐标机器人1. Press machine 2. Diatom mud 3. Gantry type Cartesian coordinate robot
4、翻转机构 5、真空吸盘 6、料框4. Turning mechanism 5. Vacuum suction cup 6. Material frame
31、U轴 32、X轴 33、Y轴31. U-axis 32. X-axis 33. Y-axis
34、Z轴 35、机架 41、油缸34. Z axis 35. Rack 41. Oil cylinder
42、连杆 43、支架 51、修边除水结构42. Connecting rod 43. Bracket 51. Trimming and water removal structure
具体实施方式Detailed ways
下面结合实施例及其附图进一步叙述本发明:Further describe the present invention below in conjunction with embodiment and accompanying drawing thereof:
如图1至图4所示,本发明一种硅藻泥搬运装置,包括龙门架式直角坐标机器人3、翻转机构4和真空吸盘5;所述龙门架式直角坐标机器人由机架35、U轴31、X轴32、Y轴33和Z轴34组成,所述X轴32由电机连接减速器,驱动齿轮和齿条,使龙门架式直角坐标机器人沿导轨运动,Y轴33的配置和运动方式与X轴32相同,Z轴34采用线性模组实现硅藻泥的搬运,U轴31运动方式为旋转运动,由电机、减速机和支架依次连接组成,通过控制四轴的运动次序,实现硅藻泥位置和姿态的变化;所述翻转机构4的一端与龙门架式直角坐标机器人3末端连接,包括依次安装连接的油缸41、连杆42和支架43,用于实现硅藻泥竖直状态到水平状态的调整;所述翻转机构4末端设置有真空吸盘5,用于实现硅藻泥的吸放,并对硅藻泥边缘进行修整,同时将其上的脱模水除掉;As shown in Fig. 1 to Fig. 4, a kind of diatom mud handling device of the present invention comprises gantry type Cartesian coordinate robot 3, turnover mechanism 4 and vacuum sucker 5; Described gantry type Cartesian coordinate robot is made of frame 35, U Axis 31, X-axis 32, Y-axis 33 and Z-axis 34 are composed, and the X-axis 32 is connected with a reducer by a motor, drives a gear and a rack, so that the gantry type Cartesian coordinate robot moves along the guide rail, and the configuration of the Y-axis 33 and The movement mode is the same as that of the X-axis 32. The Z-axis 34 uses a linear module to carry diatom mud. The movement mode of the U-axis 31 is a rotary movement. It is composed of a motor, a reducer and a bracket connected in sequence. By controlling the movement sequence of the four axes, Realize the change of diatom ooze position and posture; One end of described overturning mechanism 4 is connected with gantry type Cartesian coordinate robot 3 end, comprises the oil cylinder 41 that connects in sequence, connecting rod 42 and support 43, is used for realizing diatom ooze vertically The adjustment from the straight state to the horizontal state; the end of the turning mechanism 4 is provided with a vacuum suction cup 5, which is used to realize the suction and discharge of the diatom ooze, and trim the edge of the diatom ooze, and remove the demoulding water on it at the same time;
所述龙门架式直角坐标机器人X轴31的跨距为4000mm,采用双边驱动,两导轨的相对平行度为0.05mm,滑块跨距为400mm,以减小横梁对滑块产生的倾覆力矩;The span of the X-axis 31 of the gantry-type Cartesian robot is 4000mm, and the bilateral drive is adopted. The relative parallelism of the two guide rails is 0.05mm, and the span of the slider is 400mm, so as to reduce the overturning moment generated by the beam to the slider;
所述翻转机构4由油缸41驱动,接头采用关节轴承,避免在安装过程中因过约束对设备产生损坏;The turning mechanism 4 is driven by the oil cylinder 41, and the joint adopts joint bearings to avoid damage to the equipment due to over-constraint during the installation process;
所述真空吸盘5前端设有修边除水结构51;The front end of the vacuum chuck 5 is provided with a trimming and water removal structure 51;
所述真空吸盘5的形状为凸型圆弧,以便于吸住凹型硅藻泥内腔;The shape of the vacuum chuck 5 is a convex arc, so as to suck the concave diatom ooze inner cavity;
所述真空吸盘5最大吸附重量为20kg,且在设备周围设有真空储气泵,便于真空持续供给,提高系统工作效率;The maximum adsorption weight of the vacuum chuck 5 is 20kg, and a vacuum air storage pump is provided around the equipment, which is convenient for continuous supply of vacuum and improves the working efficiency of the system;
为了保证真空系统的持续供给,本实施例采用真空泵供气而非传统的真空发生器,因为真空发生器一般只是适用于轻载场合,当系统气源不稳定时,极易出现掉落,而真空泵则可以提供充足的负压,促使吸盘牢牢吸住硅藻泥,在工程应用中,尽量将两位三通阀安装在吸盘5前端,这样可以实现硅藻泥的快速放置;In order to ensure the continuous supply of the vacuum system, this embodiment uses a vacuum pump to supply air instead of a traditional vacuum generator, because the vacuum generator is generally only suitable for light-load occasions. When the system air source is unstable, it is easy to fall, and The vacuum pump can provide sufficient negative pressure to make the suction cup firmly absorb the diatom mud. In engineering applications, try to install the two-position three-way valve at the front end of the suction cup 5, so that the diatom mud can be placed quickly;
所述翻转机构4采用油缸41推动连杆42实现硅藻泥的姿态变化,为了避免系统在加工以及装配过程出现过约束,在接头处安装关节轴承,增加设备的自适应性;The turning mechanism 4 uses the oil cylinder 41 to push the connecting rod 42 to realize the posture change of the diatom ooze. In order to avoid the over-constraint of the system during the processing and assembly process, joint bearings are installed at the joints to increase the adaptability of the equipment;
所述吸盘5末端吸附孔形状为沉孔,此种结构可以增大吸附面积,便于物体的吸放同时,可以较少泄漏量,吸附孔总面积应小于进气孔管径的截面积,避免因系统泄漏量较大影响吸附效果。The shape of the adsorption hole at the end of the sucker 5 is a counterbore. This structure can increase the adsorption area, facilitate the suction and release of objects, and can reduce leakage. The total area of the adsorption holes should be less than the cross-sectional area of the air inlet pipe diameter to avoid Due to the large leakage of the system, the adsorption effect is affected.
本实施例的工作过程是:压机1将硅藻泥2压铸成型后,经过一系列的工艺,硅藻泥被运送到底座平台上,此时,启动龙门架式直角坐标机器人3经四轴联动到达硅藻泥前端位置,首先控制机器人X轴32正方向移动300mm,其他轴保持静止状态,对硅藻泥2边缘进行修复且将内腔脱模水除掉,其次控制Z轴34向下运动10mm,同时启动真空系统将硅藻泥2吸住,待吸附完毕,Z轴34向上运动到特定位置,翻转机构4将硅藻泥翻转90度,最后,经直角坐标机器人各轴运动将硅藻泥放置在料框6内。The working process of this embodiment is: after the press 1 die-casts the diatom mud 2, after a series of processes, the diatom mud is transported to the base platform. At this time, the gantry type rectangular coordinate robot 3 is started Linkage reaches the front end of the diatom mud. First, control the X-axis 32 of the robot to move 300mm in the positive direction, and keep the other axes in a static state. Repair the edge of the diatom mud 2 and remove the mold release water in the inner cavity, and then control the Z-axis 34 to move downward. At the same time, start the vacuum system to absorb the diatom mud 2. After the adsorption is completed, the Z-axis 34 moves upward to a specific position, and the turning mechanism 4 turns the diatom mud 90 degrees. Finally, the diatom mud is moved by each axis of the rectangular coordinate robot. Mud is placed in the material frame 6.
尽管上面结合附图对本发明进行了描述,但是本发明并不局限于上述的具体实施方式,上述的具体实施方式仅仅是示意性的,而不是限制性的,本领域的普通技术人员在本发明的启示下,在不脱离本发明宗旨的情况下,还可以做出很多变形,这些均属于本发明的保护之内。Although the present invention has been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, rather than restrictive. Under the enlightenment of the present invention, many modifications can be made without departing from the gist of the present invention, and these all belong to the protection of the present invention.
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CN104842207A (en) * | 2015-04-30 | 2015-08-19 | 武汉薪火智能切割机器有限公司 | Intelligent movement material conveying device for gantry crane |
CN106743410A (en) * | 2017-01-20 | 2017-05-31 | 华中科技大学无锡研究院 | One kind automation slide fastener makes only machine |
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CN109551155A (en) * | 2018-12-25 | 2019-04-02 | 深圳市合尔为科技有限公司 | A kind of workbench |
CN115417045A (en) * | 2022-09-07 | 2022-12-02 | 北京德诚科技有限责任公司 | Buffer storage table and cargo access system |
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CN202321641U (en) * | 2011-11-28 | 2012-07-11 | 蔡少华 | All-in-one machine for automatically loading and unloading glass |
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CN104723322A (en) * | 2015-03-20 | 2015-06-24 | 中国科学院宁波材料技术与工程研究所 | Self-adaptive flexible connecting mechanism oriented to redundancy drive and X-Y-Z rectangular coordinate robot |
CN104723322B (en) * | 2015-03-20 | 2016-08-24 | 中国科学院宁波材料技术与工程研究所 | Self-adapting flexible bindiny mechanism and X-Y-Z Cartesian robot towards redundant drive |
CN104842207A (en) * | 2015-04-30 | 2015-08-19 | 武汉薪火智能切割机器有限公司 | Intelligent movement material conveying device for gantry crane |
CN106743410A (en) * | 2017-01-20 | 2017-05-31 | 华中科技大学无锡研究院 | One kind automation slide fastener makes only machine |
CN109132457A (en) * | 2018-09-17 | 2019-01-04 | 格林策巴赫机械(嘉善)有限公司 | Glass bag tipper |
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