CN113954059A

CN113954059A - Multidirectional electric transfer arm

Info

Publication number: CN113954059A
Application number: CN202111382146.3A
Authority: CN
Inventors: 陈建华; 贺新山; 胡春
Original assignee: Zhejiang Jinggong Robotics & Intelligent Equipment Co ltd
Current assignee: Zhejiang Jinggong Integrated Technology Co ltd
Priority date: 2021-11-22
Filing date: 2021-11-22
Publication date: 2022-01-21
Anticipated expiration: 2041-11-22
Also published as: CN113954059B

Abstract

A multidirectional electric load shifting arm belongs to the technical field of electric load shifting arm equipment; including vertical grudging post, its characterized in that: the top of the longitudinal vertical frame is provided with power equipment, the left side and the right side of the longitudinal vertical frame are both provided with side sliding grooves, the front side of the longitudinal vertical frame is provided with a front side sliding rail, the front side sliding rail is respectively provided with a first mounting frame and a second mounting frame, the front side sliding rail is provided with a plurality of sliding blocks, and the first mounting frame and the second mounting frame are slidably connected to the front side sliding rail through the sliding blocks; according to the invention, through the arrangement of the longitudinal vertical frame, the power screw arranged in the longitudinal vertical frame drives the first mounting frame connected with the power screw at two sides to move up and down through the screw nut and the nut sleeve, and the first mounting frame is connected with the electric transfer arm, so that the electric transfer arm can move up and down to be used for clamping materials and then lifting off the ground for collection.

Description

Multidirectional electric transfer arm

Technical Field

The invention belongs to the technical field of transfer arm equipment, and particularly relates to a multidirectional electric transfer arm.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. The mechanical arm is a complex system and has uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.

In the process of carrying relatively large-sized silk ingots inside, the surface of the silk ingots is stressed to carry, so that the silk yarns are easily damaged, but the manual carrying is very labor-consuming and time-consuming, and meanwhile, when the silk ingots need to be fed, the operation cannot be effectively carried out in a labor-saving manner, so that the electric carrying arm is invented.

Disclosure of Invention

The invention mainly solves the technical problems in the prior art and provides a multidirectional electric transfer arm.

The technical problem of the invention is mainly solved by the following technical scheme: a multidirectional electronic load shifting arm, includes vertical grudging post, its characterized in that: the top of the longitudinal vertical frame is provided with power equipment, the left side and the right side of the longitudinal vertical frame are respectively provided with a side sliding groove, the front of the longitudinal vertical frame is provided with a front sliding rail, the front sliding rail is respectively provided with a first mounting frame and a second mounting frame, the front sliding rail is provided with a plurality of sliding blocks, the first mounting frame and the second mounting frame are connected onto the front sliding rail in a sliding manner through the sliding blocks, the front of each sliding block, the front of each first mounting frame and the front of the corresponding second mounting frame are respectively provided with a mounting panel, the front sliding rail is as high as the longitudinal vertical frame, the front sliding rail is connected with an electric transfer arm in a sliding manner, the back of the electric transfer arm is respectively connected with the sliding blocks, the first mounting frame and the second mounting frame from top to bottom, the back of the longitudinal vertical frame is provided with a back sliding rail, the height of the back sliding rail is halved below the back of the longitudinal vertical frame, and the top of the back sliding rail is provided with a bracket, the top of bracket is provided with the block terminal, the back of bracket below is provided with the image screen, be provided with operating panel and operation handle on the slide rail of back respectively, the bottom of vertical grudging post is provided with the base, the left and right sides of the top of base all is provided with lead screw stop device, two lead screw stop device is located the side spout bottommost of both sides respectively, the top and the bottom of vertical grudging post one side all are provided with travel switch.

Preferably, power equipment includes first servo motor and power lead screw, first servo motor connects the back top at vertical grudging post, the power lead screw setting is in the inside of vertical grudging post and rotates the connection on the base, first servo motor's output sets up, and has cup jointed the driving pulley group between first servo motor's output and power lead screw's top.

Preferably, a screw nut is sleeved on the power screw, a nut sleeve is sleeved on the screw nut, sliding sheets are arranged on the left side and the right side of the nut sleeve, the sliding sheets extend towards the outside of the longitudinal vertical frame through side sliding grooves and are mutually connected with the left side and the right side of the first mounting frame, a fixing seat is arranged on the first mounting frame, and the sliding sheets are fixedly connected with the first mounting frame through the fixing seat.

Preferably, the top of the left side and the right side of the first mounting frame are provided with first hinged frames, the first hinged frames are hinged with first balance cylinders, and the output ends of the first balance cylinders are vertically downwards fixedly connected with the side faces of the second mounting frame through screws.

As preferred, electronic moving arm that carries includes first guard box, swivelling joint axle and second guard box, swivelling joint axle is used for connecting first guard box and second guard box, the right side of first guard box is provided with second servo motor, second servo motor's output is provided with the turbine speed reducer, the turbine speed reducer sets up in first guard box, the output and the swivelling joint axle interconnect of turbine speed reducer, the left side of first guard box is provided with the equipment box, the back of first guard box respectively with slider, first mounting bracket and second mounting bracket interconnect.

Preferably, the back of the second protection box is provided with a first fixing frame and a second fixing frame respectively, the second fixing frame is located below the first fixing frame, the top and the side of the second protection box are provided with equipment connectors, the back of the first fixing frame is provided with a plurality of ball cages, the bottom of each ball cage is correspondingly provided with a second balance cylinder, the output end of each second balance cylinder is connected with the back of the second fixing frame, the front of the second fixing frame is connected with a connecting air pipe, the output end of each connecting air pipe is provided with an air expansion shaft, the bottom of the second protection box is provided with an upper pressure control seat and a lower pressure control seat, the bottoms of the upper pressure control seat and the lower pressure control seat are mutually lapped with the connecting air pipes, and the front end of the middle part of the air expansion shaft is provided with a camera.

Preferably, the left and right sides of vertical grudging post all is provided with two side connecting strips, and two side connecting strips correspond the both sides that set up at the side spout, and the one side of two mutual subtends of side connecting strip of homonymy all is provided with the brush.

Preferably, a bottom drag chain fixing frame is arranged at the top of one side of the back face of the electric transfer arm, and a top drag chain fixing frame is arranged below the distribution box.

The invention has the following beneficial effects: the electric transfer arm can be arranged through the vertical stand, a power lead screw arranged in the vertical stand drives a first mounting rack with two sides connected with the first mounting rack to move up and down through a lead screw nut and a nut sleeve, the first mounting rack is connected with the electric transfer arm, so that the electric transfer arm can move up and down for clamping materials and then is lifted off the ground for collection, then a front slide rail is arranged on the front side of the vertical stand, the electric transfer arm is used for sliding up and down on the front slide rail, so that the limiting is convenient, the electric transfer arm is smoother during the up and down movement, then a first balance cylinder is arranged between the first mounting rack and a second mounting rack, the first balance cylinder is used for slowing down the pressing caused by the electric transfer arm during the up and down lifting process, then the electric transfer arm can rotate through a rotary connecting shaft through a second servo motor and a turbine speed reducer on one side, thereby make the second guard box of its below can rotate, thereby make the inflatable shaft on the second guard box output can carry out the centre gripping to the spindle, and be provided with the camera through the output middle part at inflatable shaft, when carrying out the centre gripping to the spindle, can observe the position through the camera, make control more steady, and be provided with a plurality of second balance cylinder at the back of second guard box, and the output of second balance cylinder and the second mount interconnect of below, thereby be used for increasing the stationarity to the inflatable shaft.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of a backside structure of the present invention;

FIG. 3 is a schematic perspective view of the motorized transfer arm of the present invention;

FIG. 4 is a schematic perspective view of a portion of the motorized transfer arm of the present invention;

FIG. 5 is a perspective view of an assembled longitudinal stand according to the present invention;

FIG. 6 is a schematic view of a disassembled three-dimensional structure of the vertical stand of the present invention;

fig. 7 is an enlarged view of a structure shown at a in fig. 5.

In the figure: 1. a longitudinal vertical frame; 11. a side chute; 12. a side connecting strip; 13. a brush; 14. a distribution box; 15. a base; 161. a bottom drag chain fixing frame; 162. a top drag chain fixing frame; 17. a front slide rail; 18. installing a panel; 19. a slider; 110. a first mounting bracket; 111. a second mounting bracket; 112. a first hinge frame; 113. a first balance cylinder; 114. a back slide rail; 115. a bracket; 2. a power plant; 21. a first servo motor; 22. a transmission pulley group; 23. a power screw; 24. a lead screw nut; 25. a nut sleeve; 26. a fixed seat; 27. sliding blades; 3. a screw rod limiting device; 31. a telescopic cylinder; 32. connecting sheets; 33. a brake head; 41. an image screen; 42. an operation panel; 43. operating the grip; 5. an electric transfer arm; 51. a first protective box; 52. an equipment box; 53. a turbine speed reducer; 55. a second servo motor; 56. rotating the connecting shaft; 57. a second protection box; 58. a device connector; 59. a first fixing frame; 510. a ball cage; 511. a second balance cylinder; 512. a second fixing frame; 513. an upper pressure control base and a lower pressure control base; 514. connecting an air pipe; 515. an air expansion shaft; 516. a camera; 6. a travel switch.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Example (b): a multidirectional electric transshipment arm is disclosed, as shown in figures 1-7, comprising a longitudinal vertical frame 1, a power device 2 is arranged on the top of the longitudinal vertical frame 1, side chutes 11 are respectively arranged on the left and right sides of the longitudinal vertical frame 1, a front slide rail 17 is arranged on the front of the longitudinal vertical frame 1, a first mounting frame 110 and a second mounting frame 111 are respectively arranged on the front slide rail 17, a plurality of sliders 19 are arranged on the front slide rail 17, the first mounting frame 110 and the second mounting frame 111 are slidably connected on the front slide rail 17 through the sliders 19, mounting panels 18 are respectively arranged on the front of the sliders 19, the first mounting frame 110 and the second mounting frame 111, the front slide rail 17 is equal to the longitudinal vertical frame 1 in height, an electric transshipment arm 5 is slidably connected on the front slide rail 17, the back of the electric transshipment arm 5 is respectively connected with the sliders 19, the first mounting frame 110 and the second mounting frame 111 from top to bottom, a back slide rail 114 is arranged on the back of the longitudinal vertical frame 1, the height of the back slide rail 114 is halved and is located below the back of the vertical stand 1, the top of the back slide rail 114 is provided with a bracket 115, the top of the bracket 115 is provided with a distribution box 14, the back below the bracket 115 is provided with an image screen 41, the back slide rail 114 is respectively provided with an operation panel 42 and an operation handle 43, the operation panel 42 and the operation handle 43 are level with the general height of a human body, thereby facilitating the operation of workers, the bottom of the vertical stand 1 is provided with a base 15, the left side and the right side of the top of the base 15 are respectively provided with a lead screw limiting device 3, the two lead screw limiting devices 3 are respectively located at the bottom ends of the side chutes 11 at two sides, and the top and the bottom of one side of the vertical stand 1 are respectively provided with a travel switch 6.

The power device 2 comprises a first servo motor 21 and a power screw 23, the first servo motor 21 is connected to the top of the back of the vertical stand 1, the power screw 23 is arranged in the vertical stand 1 and is rotatably connected to the base 15, the output end of the first servo motor 21 is arranged upward, a transmission belt pulley set 22 is sleeved between the output end of the first servo motor 21 and the top of the power screw 23, a screw nut 24 is sleeved on the power screw 23, a nut sleeve 25 is sleeved on the screw nut 24, sliding pieces 27 are arranged on the left side and the right side of the nut sleeve 25, the sliding pieces 27 extend to the outside of the vertical stand 1 through side sliding grooves 11 and are connected with the left side and the right side of a first mounting rack 110, a fixed seat 26 is arranged on the first mounting rack 110, the sliding pieces 27 are fixedly connected with the first mounting rack 110 through the fixed seat 26, first hinge racks 112 are arranged on the top of the left side and the right side of the first mounting rack 110, the first hinge frame 112 is hinged with a first balance cylinder 113, and the output end of the first balance cylinder 113 is vertically downwards fixedly inserted with the side surface of the second mounting frame 111 through a screw.

The electric transfer arm 5 comprises a first protection box 51, a rotary connecting shaft 56 and a second protection box 57, wherein the rotary connecting shaft 56 is used for connecting the first protection box 51 and the second protection box 57, a second servo motor 55 is arranged on the right side of the first protection box 51, a turbine speed reducer 53 is arranged at the output end of the second servo motor 55, the turbine speed reducer 53 is arranged in the first protection box 51, the output end of the turbine speed reducer 53 is connected with the rotary connecting shaft 56, an equipment box 52 is arranged on the left side of the first protection box 51, the back surface of the first protection box 51 is respectively connected with the sliding block 19, the first mounting frame 110 and the second mounting frame 111, a first fixing frame 59 and a second fixing frame 512 are respectively arranged on the back surface of the second protection box 57, the second fixing frame 512 is positioned below the first fixing frame 59, equipment joints 58 are respectively arranged on the top and the side surface of the second protection box 57, a multi-ball cage 510 is arranged on the back surface of the first fixing frame 59, the bottom of each ball cage 510 is correspondingly provided with a second balance cylinder 511, the output end of the second balance cylinder 511 is connected with the back of a second fixing frame 512, the front of the second fixing frame 512 is connected with a connecting air pipe 514, the output end of the connecting air pipe 514 is provided with an air expansion shaft 515, the bottom of the second protection box 57 is provided with an upper and lower pressure control seat 513, the bottom of the upper and lower pressure control seat 513 is mutually lapped with the connecting air pipe 514, and the front end of the middle part of the air expansion shaft 515 is provided with a camera 516.

The left and right sides of vertical grudging post 1 all is provided with two side connecting strip 12, and two side connecting strip 12 correspond and set up in the both sides of side spout 11, and the one side of two mutual subtends of side connecting strip 12 of homonymy all is provided with brush 13, and one side top at the electronic arm 5 back of carrying that moves is provided with bottom tow chain mount 161, and the below of block terminal 14 is provided with top tow chain mount 162.

The principle of the invention is as follows: when the lower spindle needs to be clamped and moved, a KBK track assembly for moving front and back and left and right is arranged at the top of the device, a worker holds an operation handle 43 with two hands to control an operation panel 42 to operate, at the moment, the power equipment 2 positioned at the top is started, a first servo motor 21 drives a transmission belt pulley set 22 at an output end to drive a power screw 23 to rotate, the power screw 23 drives a screw nut 24 and a nut sleeve 25 which are sleeved on the surfaces to move up and down, when the screw nut 24 moves up and down, connecting pieces 32 connected to the left side and the right side and a first mounting rack 110 are driven to synchronously move up and down, when the first mounting rack 110 moves up and down, a first balance cylinder 113 connected at two sides is controlled with a second mounting rack 111 at the lower part, the shaking and the deviation caused by the up and down movement are reduced, and then the position of the lower spindle is observed through a camera 516 at the output end of an air expansion shaft 515, thereby control inflatable shaft 515 pegs graft in the axis of spindle, inflatable shaft 515 work inflation carries out the centre gripping back to the spindle, opens the second servo motor 55 that is located first protection box 51 one side after that, drives the rotatory connecting axle 56 of one end and begins to rotate to make the spindle on the inflatable shaft 515 output can be parallel, after the position control of the spindle, thereby move the spindle to corresponding station and operate.

Finally, it should be noted that the above embodiments are merely representative examples of the present invention. It is obvious that the invention is not limited to the above-described embodiments, but that many variations are possible. Any simple modification, equivalent change and modification made to the above embodiments in accordance with the technical spirit of the present invention should be considered to be within the scope of the present invention.

Claims

1. A multidirectional electric load-shifting arm comprises a longitudinal vertical frame (1), and is characterized in that: the top of vertical grudging post (1) is provided with power equipment (2), side spout (11) have all been seted up to the left and right sides of vertical grudging post (1), the front of vertical grudging post (1) is provided with front slide rail (17), be provided with first mounting bracket (110) and second mounting bracket (111) on front slide rail (17) respectively, be provided with a plurality of sliders (19) on front slide rail (17), first mounting bracket (110) and second mounting bracket (111) pass through slider (19) sliding connection on front slide rail (17), the front of slider (19), first mounting bracket (110) and second mounting bracket (111) all is provided with mounting panel (18), front slide rail (17) are as high as vertical grudging post (1), sliding connection has electronic transfer arm (5) on front slide rail (17), electronic transfer arm (5) back from top to bottom respectively with slider (19), down, The first mounting rack (110) and the second mounting rack (111) are connected with each other, a back slide rail (114) is arranged on the back of the longitudinal vertical rack (1), the height of the back slide rail (114) is halved and is positioned below the back of the longitudinal vertical frame (1), a bracket (115) is arranged at the top of the back slide rail (114), a distribution box (14) is arranged at the top of the bracket (115), an image screen (41) is arranged on the back surface below the bracket (115), an operation panel (42) and an operation handle (43) are respectively arranged on the back surface slide rail (114), a base (15) is arranged at the bottom of the longitudinal vertical frame (1), the left side and the right side above the base (15) are respectively provided with a screw rod limiting device (3), the two screw rod limiting devices (3) are respectively positioned at the bottommost ends of the side sliding grooves (11) at the two sides, travel switches (6) are arranged at the top and the bottom of one side of the longitudinal vertical frame (1).

2. The multidirectional electric transfer arm of claim 1, further comprising: power equipment (2) include first servo motor (21) and power lead screw (23), the back top at vertical grudging post (1) is connected in first servo motor (21), power lead screw (23) set up in the inside of vertical grudging post (1) and rotate and connect on base (15), the output of first servo motor (21) sets up, and all cup jointed driving pulley group (22) between the output of first servo motor (21) and the top of power lead screw (23).

3. The multidirectional electric transfer arm of claim 2, wherein: screw nut (24) has been cup jointed on power lead screw (23), nut cover (25) has been cup jointed on screw nut (24), the left and right sides of nut cover (25) all is provided with gleitbretter (27), gleitbretter (27) extend to vertical grudging post (1) outside through side spout (11) to with the left and right sides interconnect of first mounting bracket (110), be provided with fixing base (26) on first mounting bracket (110), gleitbretter (27) are through fixing base (26) and first mounting bracket (110) mutual fixed connection.

4. A multidirectional electrical load-shifting arm as in claim 3, further comprising: the utility model discloses a pneumatic power transmission device, including first mounting bracket (110), first articulated frame (112) all are provided with at the left and right sides top of first mounting bracket (110), it has first balanced cylinder (113) to articulate on first articulated frame (112), the output of first balanced cylinder (113) is perpendicular downwards to be passed through the fixed grafting of screw with the side of second mounting bracket (111).

5. The multidirectional electric transfer arm of claim 1, further comprising: electronic transfer arm (5) are including first guard box (51), swivelling joint axle (56) and second guard box (57), swivelling joint axle (56) are used for connecting first guard box (51) and second guard box (57), the right side of first guard box (51) is provided with second servo motor (55), the output of second servo motor (55) is provided with turbine speed reducer (53), turbine speed reducer (53) set up in first guard box (51), the output and swivelling joint axle (56) interconnect of turbine speed reducer (53), the left side of first guard box (51) is provided with equipment box (52), the back of first guard box (51) respectively with slider (19), first mounting bracket (110) and second mounting bracket (111) interconnect.

6. The multidirectional electric transfer arm of claim 5, wherein: the back of the second protection box (57) is respectively provided with a first fixing frame (59) and a second fixing frame (512), the second fixing frame (512) is positioned below the first fixing frame (59), the top and the side of the second protection box (57) are respectively provided with an equipment joint (58), the back of the first fixing frame (59) is provided with a plurality of ball cages (510), the bottom of each ball cage (510) is correspondingly provided with a second balance cylinder (511), the output end of each second balance cylinder (511) is mutually connected with the back of the second fixing frame (512), the front of the second fixing frame (512) is connected with a connecting air pipe (514), the output end of the connecting air pipe (514) is provided with an air expansion shaft (515), the bottom of the second protection box (57) is provided with an upper pressure control seat and a lower pressure control seat (513), the bottoms of the upper pressure control seat and the lower pressure control seat (513) are mutually overlapped with the connecting air pipe (514), the front end of the middle part of the air expansion shaft (515) is provided with a camera (516).

7. The multidirectional electric transfer arm of claim 1, further comprising: the left and right sides of vertical grudging post (1) all is provided with two side connecting strip (12), and two side connecting strip (12) correspond and set up in the both sides of side spout (11), and the one side that two side connecting strip (12) of homonymy subtend each other all is provided with brush (13).

8. The multidirectional electric transfer arm of claim 1, further comprising: the top of one side at the back of electronic year arm (5) of moving is provided with bottom tow chain mount (161), the below of block terminal (14) is provided with top tow chain mount (162).