CN105438827B - Chase lifts transportation manipulator - Google Patents

Abstract

Chase lifts transportation manipulator, it is characterized in that the manipulator includes, hoisting mechanism, transverse-moving mechanism and frame, the frame includes the top-level boxes being made up of top layer crossbeam, 2 contour intermediate transverse girders and the crossbeam pillar being fixedly connected vertical with the corner of top-level boxes, the transverse-moving mechanism and hoisting mechanism are installed in frame, frame can be along cross moving track mechanism linear reciprocating motion, using the direction of motion of the frame in cross moving track mechanism as x-axis direction, the top-level boxes are rectangle frame, 2 intermediate transverse girders connect adjacent crossbeam pillar and parallel with x-axis direction respectively, adjacent beams branch intercolumniation positioned at the frame side vertical with x-axis is only connected by top layer crossbeam.

Description

Iron frame lifting transfer manipulator

technical field

The invention relates to the field of mechanical equipment, in particular to a manipulator for lifting and transferring iron frames.

Background technique

In the existing large-scale industrial production, most of the assembly line operations have been realized. After the relevant processing of the workpiece is completed, it needs to be assembled and transferred to the set storage area. General-purpose manipulators have been widely used in the handling of assembly lines, loading and unloading of process equipment, and material transfer. However, there are certain limitations in the application of manipulators in the prior art. For the transfer of some large-load and large-volume materials, ordinary manipulators cannot works well here.

CN201520060139.5 discloses a high-precision truss type gantry manipulator. It includes a frame, an X-axis assembly, a Y-axis assembly and a Z-axis assembly, and can realize three-axis high-precision movement. However, its structure is complex and the rigidity of the manipulator is not strong, so it cannot transfer and lift some large-load and large-volume materials.

The Chinese patent of CN201420369408.1 discloses a gantry manipulator, which can grasp workpieces at the end of the assembly line, traverse them to the workpiece placement area, and release materials. However, it uses a cylinder to provide power for the lifting assembly, which is difficult to adjust the height of the material, and the stroke and carrying capacity of the cylinder are limited.

CN201510511348.1, which was previously applied by the applicant, discloses a conveying device suitable for large coil packaging iron frames. The length, width and height of the packaging iron frame are both 2-3m. In order to grab the frame beam on the top of the iron frame with the manipulator, adjust the height of the iron frame with the guide column mechanism, and use two guide rails as the components to support the lateral movement of the entire manipulator mechanism, but the device does not indicate how to drive the manipulator Lateral movement, in practical application, we found that the use of this structure makes it necessary to drive the sliding mechanisms on the two guide rails separately, which increases the cost of the equipment, and at the same time, it is easy to cause mechanism jams due to the asynchronous sliding mechanisms on the two guide rails. live problem. Moreover, the lifting device of this application actually needs to use a screw guide rail structure for lifting, which has poor bearing capacity, requires high installation accuracy, and is not resistant to impact and shaking.

For the transport iron frame transfer used in the large-scale coil automatic packaging line, shaking and impact during the transport process are inevitable, but the existing manipulators and transport devices have poor bearing capacity, high installation accuracy requirements, It is not resistant to impact and shaking, so it provides a large bearing capacity, suitable for the transportation of large coil packaging iron frames, and can be used in the iron frame lifting and transfer manipulator and iron frame conveying device of the large iron frame packaging production line. technical problems to be solved.

Contents of the invention

Aiming at the deficiencies in the above-mentioned technologies, the present invention provides a simple structure, large bearing capacity, suitable for the transportation of large-scale coil packaging iron frames, resistant to impact and shaking, and can be used for the lifting and transfer of iron frames in large-scale iron frame packaging production lines. manipulator.

The invention provides an iron-frame lifting and transferring manipulator, which is characterized in that the manipulator includes a lifting mechanism, a traverse mechanism and a frame. The frame includes a top frame made of top beams 111, 2 middle beams of equal height, and beam pillars vertically fixedly connected to the four corners of the top frame, and the traverse mechanism and lifting mechanism are installed on the frame, The frame can move back and forth linearly along the traversing track mechanism, and the movement direction of the frame on the traversing track mechanism is the x-axis direction. The axis direction is parallel, and the adjacent beam pillars on the side of the rack perpendicular to the x-axis are only connected by the top beam

The traversing mechanism includes a traversing motor 121, a traversing reducer 122, a traversing gear and a traversing track mechanism, and the traversing track mechanism includes 4 parallel traversing guide rails 126 and a traversing rack 123. There is a slider 125 on the guide rail, and the rack can move linearly and reciprocatingly on the traversing guide rail through the slider. The slider is fixedly connected to the outer side of the top beam and the middle beam parallel to the x-axis of the top frame through an L-shaped connecting flap. The top beam or the middle beam is fixedly connected to at least two sliders, the connection position between the slider and the top beam and the middle beam is close to the end of the beam, and the traversing rack is located above the top frame of the rack,

The traverse motor and the traverse reducer are fixedly installed on the top of the frame, the power input shaft of the traverse reducer 122 is connected with the power output shaft of the traverse motor, and the traverse gear is installed on the power output shaft of the traverse reducer. The traversing gear is engaged with the traversing rack, and the traversing gear is driven by the traversing motor to rotate to drive the entire frame to reciprocate linearly along the traversing track mechanism.

In described lifting mechanism, comprise lifting side plate 138, positioning pin 134, positioning cylinder 133, lifting motor 131, lifting speed reducer 132, lifting driving sprocket 135, lifting driving chain 136, lifting chain 137, low position sprocket 139.

The lifting motor, the lifting reducer and the lifting drive sprocket are installed on the top of the frame, the power output shaft of the lifting motor is connected with the power input shaft of the lifting reducer, and the lifting drive sprocket includes a coaxial driving chain Wheel 1351 and high-position sprocket 1352, the power output sprocket installed on the power output shaft of the lifting reducer is driven and connected with the driving sprocket in the lifting drive sprocket through the lifting drive chain, and there are four high-position sprockets, respectively Located on the outside of the top of the four beam pillars of the frame; the low sprocket also has 4, which are respectively located under the high sprocket and installed on the outside of the bottom of the beam pillar, and the lifting side plates are 2 upright side plates, respectively Located on the inner side of the frame side with the middle beam, there are four positioning cylinders, which are respectively installed on the outer surface of each lifting side plate. The positioning pin is driven and extended by the cylinder rod of the positioning cylinder, and the end of the positioning pin is located on the lifting side. The inner facade of the board, the installation position of the positioning cylinder and the positioning pin can make it possible for the four positioning cylinders to drive the positioning pin to extend into the positioning lug on the top of the iron frame at the same time when the iron frame is in the frame. The end of the lifting side plate close to the beam pillar is also equipped with a movable pulley. The high-position sprocket, movable pulley, and low-position chain near the same beam column are connected and matched by a lifting chain. When the lifting motor is running, the high-position sprocket and the low-position chain can be driven. The wheel rotates and drives the lifting side plate up and down through the movable pulley.

The iron frame lifting transfer manipulator is characterized in that there are 2 lifting motors and 2 lifting reducers, and 2 lifting drive sprockets, and each lifting drive sprocket includes 1 coaxial driving sprocket and 2 The high-position sprocket, the driving sprocket is located in the middle of the two high-position sprockets, and each hoisting motor and its hoisting reducer drive the two high-positioning sprockets coaxially through the driving sprocket, and each hoisting motor passes through its hoisting reducer and One driving sprocket is driven and connected by a lifting drive chain, and the two lower sprockets matched with the two coaxial high sprockets are also coaxial and fixed at the bottom of the beam pillar. The sprocket shaft of the lifting drive sprocket is located on the frame Above the top beam parallel to the x-axis at the top, the top frame also has a reinforcement beam 114 for installing the traverse motor, traverse deceleration, and hoisting motor lifting reducer, and the reinforcement beam spans the two parallel top beams between.

Compared with the prior art, the iron frame lifting transfer manipulator provided by the present invention has the following beneficial effects

1) The frame structure is adopted. The frame has an intermediate beam in the direction parallel to the x-axis, and an open gantry structure in the direction perpendicular to the x-axis, which simplifies the structure and improves the structural strength at the same time. The structure is more convenient for the iron frame to enter and exit, and can be applied to a higher height iron frame or in the case of transferring the same height iron frame, the total installation height of the manipulator can be reduced;

2) The traversing mechanism uses four guide rails and one rack as the traversing track mechanism. Compared with the existing technology, the top beam in the frame and the outer side of the middle beam are used to connect the traversing guide rails, which not only increases the number of guide rails, but also improves the overall carrying capacity. At the same time, the horizontal guide rail is divided into two layers and arranged outside the mechanism, which can reduce the mechanism height of the manipulator and adapt to a higher height iron frame;

3) The lifting mechanism uses the positioning pins and the lifting lugs at the top four corners of the iron frame to complete the grasping of the iron frame. Therefore, the operation of material loading can be carried out without releasing the iron frame, which is conducive to simplifying the workflow of the entire packaging production line;

4) In the embodiment of the present invention, the number and layout of the lifting motor and the lifting reducer are further optimized, that is, each lifting side plate is equipped with a set of lifting motors and lifting reducers, which avoids the asynchronous lifting of both ends of the lifting side plate At the same time, due to the use of the sprocket lifting mechanism with strong anti-shaking ability, different lifting side plates can be equipped with lifting motors, which reduces the number of motors reasonably, and avoids the problems caused by lifting out of sync. At the same time, it will also lift the motor , hoisting reducer, traversing motor, and mounting frame of traversing reducer are used as reinforcing beams across the top beams to further increase the load capacity of the rack.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the iron frame lifting transfer manipulator provided by the embodiment of the present invention

Fig. 2 is a schematic front view of the iron frame lifting transfer manipulator provided by the embodiment of the present invention;

Fig. 3 is a schematic front view of an iron-frame lifting transfer manipulator (excluding traversing guide rails) provided by an embodiment of the present invention;

Fig. 4 is a schematic top view of the iron-frame lifting and transfer manipulator provided by the embodiment of the present invention;

Fig. 5 is a schematic left view of the iron frame lifting and transferring manipulator provided by the embodiment of the present invention.

In the picture:

11, frame, 111, top beam, 112, middle beam, 113, beam pillar, 114, reinforcing beam;

12. Traversing mechanism, 121. Traversing motor, 122. Traversing reducer, 123. Traversing rack, 125. Slider, 126. Traversing guide rail,

13. Lifting mechanism, 131. Lifting motor, 132. Lifting reducer, 133. Positioning cylinder, 135. Lifting drive sprocket, 1351. Driving sprocket, 1352. High sprocket, 136. Lifting drive chain, 137. Lifting chain , 138, lifting side plate, 139, low position sprocket wheel.

detailed description

In order to express the functions of the present invention more clearly, the present invention will be further described below in conjunction with the accompanying drawings.

The iron frame of the manipulator provided in this specific embodiment for transfer is a rectangular parallelepiped iron frame, and four corners of the top are equipped with lifting lugs for grabbing.

The invention provides an iron-frame lifting and transferring manipulator, which is characterized in that the manipulator includes a lifting mechanism, a traverse mechanism and a frame. The frame includes a top frame made of top beams 111, 2 middle beams of equal height, and beam pillars vertically fixedly connected to the four corners of the top frame, and the traverse mechanism and lifting mechanism are installed on the frame, The frame can move back and forth linearly along the traversing track mechanism, and the movement direction of the frame on the traversing track mechanism is the x-axis direction. The axis direction is parallel, and the adjacent beam pillars on the side of the rack perpendicular to the x-axis are only connected by the top beam

The traversing mechanism includes a traversing motor 121, a traversing reducer 122, a traversing gear and a traversing track mechanism, and the traversing track mechanism includes 4 parallel traversing guide rails 126 and a traversing rack 123. There is a slider 125 on the guide rail, and the rack can move linearly and reciprocatingly on the traversing guide rail through the slider. The slider is fixedly connected to the outer side of the top beam and the middle beam parallel to the x-axis of the top frame through an L-shaped connecting flap. The top beam or the middle beam is fixedly connected to at least two sliders, the connection position between the slider and the top beam and the middle beam is close to the end of the beam, and the traversing rack is located above the top frame of the rack,

The traverse motor and the traverse reducer are fixedly installed on the top of the frame, the power input shaft of the traverse reducer 122 is connected with the power output shaft of the traverse motor, and the traverse gear is installed on the power output shaft of the traverse reducer. The traversing gear is engaged with the traversing rack, and the traversing gear is driven by the traversing motor to rotate to drive the entire frame to reciprocate linearly along the traversing track mechanism.

The lifting mechanism includes a lifting side plate 138, a positioning pin, a positioning cylinder 133, a lifting motor 131, a lifting speed reducer 132, a lifting drive sprocket 135, a lifting drive chain 136, a lifting chain 137, and a lower sprocket 139.

The lifting motor, the lifting reducer and the lifting drive sprocket are installed on the top of the frame, the power output shaft of the lifting motor is connected with the power input shaft of the lifting reducer, and the lifting drive sprocket includes a coaxial driving chain Wheel 1351 and high-position sprocket 1352, the power output sprocket installed on the power output shaft of the lifting reducer is driven and connected with the driving sprocket in the lifting drive sprocket through the lifting drive chain, and there are four high-position sprockets, respectively Located on the outside of the top of the four beam pillars of the frame; the low sprocket also has 4, which are respectively located under the high sprocket and installed on the outside of the bottom of the beam pillar, and the lifting side plates are 2 upright side plates, respectively Located on the inner side of the frame side with the middle beam, there are four positioning cylinders, which are respectively installed on the outer surface of each lifting side plate. The positioning pin is driven and extended by the cylinder rod of the positioning cylinder, and the end of the positioning pin is located on the lifting side. The inner facade of the board, the installation position of the positioning cylinder and the positioning pin can make it possible for the four positioning cylinders to drive the positioning pin to extend into the positioning lug on the top of the iron frame at the same time when the iron frame is in the frame. The end of the lifting side plate close to the beam pillar is also equipped with a movable pulley. The high-position sprocket, movable pulley, and low-position chain near the same beam column are connected and matched by a lifting chain. When the lifting motor is running, the high-position sprocket and the low-position chain can be driven. The wheel rotates and drives the lifting side plate up and down through the movable pulley.

Example

In this embodiment, there are 2 lifting motors and 2 lifting reducers, and 2 lifting drive sprockets. Each lifting drive sprocket includes 1 coaxial driving sprocket and 2 high-level sprockets. The driving sprocket It is located in the middle of the two high-position sprockets, and each hoisting motor and its hoisting reducer drive the two high-positioning sprockets coaxially through the driving sprocket. The drive chain drive connection, the two low sprockets matched with the two coaxial high sprockets are also coaxial and fixed at the bottom of the beam pillar, the sprocket shaft of the lifting drive sprocket is located at the top of the frame parallel to the x axis Above the crossbeams, the top frame also has a reinforcing crossbeam 114 for installing the traverse motor, traverse deceleration, hoisting motor hoisting reducer, and the reinforcement crossbeam is connected between the two parallel top-floor crossbeams.

The schematic diagram of the overall structure of the iron frame lifting transfer manipulator described in the embodiment is shown in Figure 1, the schematic diagram of the front view is shown in Figure 2, the schematic diagram of the front view excluding the traverse guide rail is shown in Figure 3, and the schematic diagram of the top view is shown in Figure 4 , and the schematic left view is shown in Figure 5.

The working principle of the iron frame lifting transfer manipulator provided by the present invention is as follows:

1) Grab and lift the iron frame

Start the traversing motor to move the frame along the traversing guide rails to the top of the iron frame, start the lifting motor to align the positioning pins with the lifting lugs at the four corners on the top of the iron frame, and start the positioning cylinder to insert the positioning pins into the iron frame. Lift the lifting lug, start the lifting motor, lift the iron frame to the predetermined height, and complete the grabbing and lifting of the iron frame

2) The iron frame moves laterally

Start the traverse motor, so that the frame drives the iron frame to move laterally to the designated position, and then start the lifting motor to adjust the height according to the process needs. After adjusting the height of the iron frame to an appropriate height, the loading process of the materials to be packaged can be carried out;

3) Iron frame reset release

When the process of filling the iron frame with materials to be packaged is completed, start the lifting motor, lift the iron frame to a predetermined height, and then start the traverse motor to make the frame drive the iron frame to move horizontally above the initial placement of the iron frame, and then start the lifting The motor lowers the iron frame to a predetermined height, and finally starts the positioning cylinder to pull out the positioning pin from the lifting lug of the iron frame to complete the reset release of the iron frame.

Claims (2)

1. a kind of chase lifts transportation manipulator, it is characterized in that the manipulator includes hoisting mechanism, transverse-moving mechanism and frame, institute State top-level boxes, 2 contour intermediate transverse girders and fixed company vertical with the corner of top-level boxes that frame includes being made up of top layer crossbeam The crossbeam pillar connect, the transverse-moving mechanism and hoisting mechanism are installed in frame, and frame can be reciprocal along cross moving track mechanism Linear motion, using the direction of motion of the frame in cross moving track mechanism as x-axis direction, the top-level boxes are rectangle frame, 2 centres Crossbeam connects adjacent crossbeam pillar and parallel with x-axis direction respectively, the adjacent beams branch positioned at the frame side vertical with x-axis Intercolumniation is only connected by top layer crossbeam；

The transverse-moving mechanism includes traversing motor, traversing reductor and traversing gear and cross moving track mechanism, the cross moving track Mechanism includes having sliding block on parallel 4 traversing guide rails and traversing rack, traversing guide rail, and frame can be by sliding block traversing Straight reciprocating motion on guide rail, sliding block by L-type connect folded plate be fixedly connected on top-level boxes top layer crossbeam parallel to x-axis and On the outside of intermediate transverse girder, every top layer crossbeam or intermediate transverse girder are at least fixedly connected with two sliding blocks, the sliding block and top layer crossbeam Link position is close to top layer beam-end, and the link position of the sliding block and intermediate transverse girder is close to intermediate transverse girder end, the horizontal stroke The top-level boxes top that rack is located at frame is moved, traversing motor and traversing reductor are fixedly mounted on the top of frame, traversing deceleration The power input shaft of machine is connected with the power output shaft of traversing motor, and traversing gear is arranged on the power output shaft of traversing reductor On, traversing gear is engaged with traversing rack, drives traversing pinion rotation to drive whole frame along traversing by traversing motor Rail mechanism linear reciprocating motion；

In the hoisting mechanism, including lifting side plate, fastening screw, positioning cylinder, lifting motor, lifting speed reducer, lifting drive Movable sprocket, lifting drive chain, elevating chain, low level sprocket wheel；The lifting motor, lifting speed reducer and lifting drive sprocket peace Loaded on frame top, the power output shaft of the lifting motor is connected with the power input shaft of lifting speed reducer, the lifting Drive sprocket includes coaxial drive sprocket and high-order sprocket wheel, the power output on the power output shaft of lifting speed reducer Sprocket wheel has four by lifting drive chain and the drive sprocket drive connection in lifting drive sprocket, the high-order sprocket wheel, point Not Wei Yu frame four crossbeam pillar tops on the outside of；The low level sprocket wheel also has with 4, respectively below high-order sprocket wheel And crossbeam pillar is installed on close to the outside of bottom, described lifting side plate is 2 blocks of upright side plates, respectively positioned at middle horizontal The inner side of the frame side of beam, positioning cylinder has four, is separately mounted to the alien invasion of every block of lifting side plate, fastening screw is by fixed The cylinder rod driving of position cylinder is flexible, and the end of fastening screw is located at the interior facade for lifting side plate, positioning cylinder and fastening screw Installation site, can make when chase is located in frame, four positioning cylinders driving fastening screws can be stretched simultaneously when stretching out Enter in the positioning hanger at the top of chase, the end of lifting side plate close to the crossbeam pillar is also equipped with movable pulley, close to same Elevating chain matching connection is used between the high-order sprocket wheel of root cross beam and upright post, movable pulley, low level chain, when lifting motor is operated High-order sprocket wheel and low level sprocket wheel can be driven to rotate and drive lifting side plate to lift by movable pulley.

2. chase as claimed in claim 1 lifts transportation manipulator, it is characterized in that the lifting motor and its lifting speed reducer each 2 Platform, lifting drive sprocket also has 2, and each lifting drive sprocket includes coaxial 1 drive sprocket and 2 high-order sprocket wheels, main Movable sprocket is located in the middle of 2 high-order sprocket wheels, with every lifting motor and its lifting speed reducer by drive sprocket drive with it is coaxial Two high-order sprocket wheels, every lifting motor passes through its lifting speed reducer with 1 drive sprocket using lifting drive chain driving Connection, the two low level sprocket wheels matched respectively with coaxial two high-order sprocket wheels are also coaxial and are fixed on crossbeam pillar bottom, rise The sprocket shaft for dropping drive sprocket is located above the frame top top cross-bar parallel with x-axis, and the top-level boxes, which also have, to be used to pacify Traversing motor, traversing deceleration, the web beam of lifting motor lifting speed reducer are filled, the web beam is connected across parallel 2 Between top layer crossbeam.