CN114346993A - Cantilever type truss carrying manipulator - Google Patents
Cantilever type truss carrying manipulator Download PDFInfo
- Publication number
- CN114346993A CN114346993A CN202111581703.4A CN202111581703A CN114346993A CN 114346993 A CN114346993 A CN 114346993A CN 202111581703 A CN202111581703 A CN 202111581703A CN 114346993 A CN114346993 A CN 114346993A
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- walking
- lifting
- clamping jaw
- assembly
- shaft
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- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 2
- 238000009434 installation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 230000001681 protective effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a cantilever type truss carrying manipulator which comprises a base assembly arranged on the ground, wherein the side surface of the base assembly is connected with a walking assembly, the side surface of the walking assembly is connected with a lifting assembly, a clamping jaw assembly is connected below the lifting assembly, the cantilever type truss carrying manipulator further comprises a control unit, the control unit is electrically connected with a lifting drag chain of the lifting assembly and the walking assembly, and the control unit is electrically connected with a walking drag chain of the base assembly and the walking assembly. The telescopic clamping jaw device can realize telescopic movement of the clamping jaw with a large stroke in a limited plant height range, complete loading and unloading carrying operation of goods, and solve the problem of insufficient running stroke of carrying equipment in a space with limited height.
Description
Technical Field
The invention relates to the technical field of truss robots, in particular to a cantilever type truss carrying manipulator.
Background
The truss manipulator is a loading and unloading handling equipment used in the technical field of truss robots, and the existing market generally adopts a mode that a robot is provided with a tail end clamping jaw, and the mode is limited by the maximum operation space of the robot, so that the coverage of the robot is small, and the cost is high. The existing truss robot generally adopts a vertical sliding mode of a lifting shaft vertical plate, the lifting height of the mode is limited by the height of the lifting vertical plate and the height of a factory building, the actual lifting stroke requirement cannot be met frequently, and the loading and unloading carrying requirement in a height-limited space cannot be met.
It is therefore desirable to provide a cantilevered truss handling robot that addresses the above-mentioned problems.
Disclosure of Invention
In order to solve the design problem in the background technology, the invention provides the cantilever type truss carrying manipulator which is simple in structure and good in effect.
The specific technical scheme of the invention is as follows: the utility model provides a cantilever type truss transport manipulator, is including setting up the basic subassembly on ground, basic subassembly side is connected with walking assembly, the walking assembly side is connected with lifting unit, the lifting unit below is connected with clamping jaw assembly, still includes the control unit, the lift tow chain of the control unit electrical connection lifting unit and walking assembly, the basic subassembly of control unit electrical connection and walking assembly's walking tow chain.
Further, the basis subassembly includes the stand, the setting is installed below the stand and is set up at subaerial flat adjusting plate, the walking crossbeam is installed to the stand top, install the attention device on the walking crossbeam both ends, walking guide rail and walking rack are installed from top to bottom to the walking crossbeam side, walking crossbeam protection casing is installed to walking crossbeam upside, walking guide rail and walking rack both ends intermediate position are installed walking axle machinery spacing, walking bearing switch is installed to walking guide rail top.
Further, the walking assembly comprises a walking vertical plate, a walking shaft sliding block is arranged on the back face of the walking vertical plate, a walking driving unit is arranged on the front face of the walking vertical plate, a walking shaft motor protective cover is arranged above the walking driving unit, a lifting shaft guide rail and a lifting shaft rack which are arranged in parallel are vertically arranged on the walking vertical plate, the bottom end of the lifting shaft rack is provided with a lifting shaft mechanical limit, and a lifting shaft travel switch is arranged on the walking vertical plate.
Furthermore, the walking shaft sliding block is matched with the walking shaft guide rail, and the walking rack is matched with a gear of the walking driving unit.
Furthermore, the walking drive unit comprises a walking drive motor, a walking drive speed reducer and a walking drive gear, wherein the walking drive motor is connected with the walking drive speed reducer through a flat key, and the walking drive speed reducer is connected with the walking drive gear through a flat key.
Further, the lifting assembly comprises a lifting base, a lifting slide block and a clamping jaw in-place locking cylinder are mounted on the lifting base, a lifting driving unit is mounted on the lifting slide block, a lifting motor protective cover is mounted above the lifting driving unit, and an electromagnetic valve is mounted on the lifting motor protective cover.
Furthermore, the lifting slide block is matched with the lifting shaft guide rail, and a gear of the lifting driving unit is matched with a lifting shaft gear rack.
Further, clamping jaw assembly includes clamping jaw guide rail, clamping jaw slider, cylinder, clamping jaw guide rail and clamping jaw slider cooperation, and the clamping jaw is connected to the cylinder both sides and is realized pressing from both sides tightly and open the action.
Furthermore, the lifting drag chain is connected with the lifting base and the walking vertical plate, and the walking drag chain is connected with the walking beam and the walking vertical plate.
Furthermore, the control unit is connected with the walking drive unit, the lifting drive unit, the walking shaft travel switch, the lifting shaft travel switch and the warning device.
The invention has the following advantages: according to the cantilever type truss carrying manipulator disclosed by the invention, the lifting base slides on the walking vertical plate, the height of the walking vertical plate is the same as that of the walking cross beam, and by means of the layout form, a larger lifting stroke is obtained under the condition that the height space of a factory building is limited, so that the problem that the carrying operation stroke is insufficient due to the limitation of the height space can be solved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a left side view of the present invention;
FIG. 5 is a schematic diagram of the basic assembly structure of the present invention;
FIG. 6 is a schematic view of the walking assembly of the present invention;
FIG. 7 is a schematic structural diagram of a walking drive unit of the present invention;
FIG. 8 is a schematic view of the lift assembly of the present invention;
FIG. 9 is a schematic view of the jaw assembly of the present invention;
in the figure: a base component; 2. a walking assembly; 3. a lifting assembly; 4. a jaw assembly; 5. a control unit; 6. lifting a drag chain; 7. a walking drag chain; 11. a column; 12. leveling the bottom plate; 13. a walking beam; 14. a traveling shaft guide rail; 15. a walking shaft rack; 16. a walking beam shield; 17. mechanically limiting a walking shaft; 18. an alarm; 19. a travel switch of the traveling shaft; 21. a traveling vertical plate; 22. a traveling shaft slider; 23. a travel drive unit; 231. a travel driving motor; 232. a travel drive reducer; 233. a travel drive gear; 24. a traveling shaft motor protective cover; 25. mechanically limiting the lifting shaft; 26. a lift shaft travel switch; 27. a lift shaft guide rail; 28. a lifting shaft rack; 31. a lifting base; 32. a lifting shaft slider; 33. an electromagnetic valve; 34. a lifting drive unit; 35. a lift motor shield; 36. the clamping jaw locks the cylinder in place; 41. a jaw guide; 42. a jaw slide; 43. a cylinder; 44. a clamping jaw.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, 2, 3 and 4, the cantilever type truss handling manipulator comprises a base assembly 1 fixed on the ground, a traveling assembly 2 mounted on the base assembly 1 for traveling, a lifting assembly 3 mounted on the traveling assembly 2 for lifting, a clamping jaw assembly 4 mounted on the lower side of the lifting assembly, a control unit 5 mounted on the base assembly 1, a lifting drag chain 6 electrically connecting the traveling assembly 2 and the lifting assembly 3, and a traveling drag chain 7 electrically connecting the base assembly 1 and the traveling assembly 2. The lifting base 31 slides on the walking vertical plate 21, the height of the walking vertical plate 21 is the same as that of the walking cross beam 13, and by means of the layout mode, under the condition that the height space of a factory building is limited, a large lifting stroke is obtained, and the problem that the conveying stroke limited by the height space is insufficient is solved.
As shown in fig. 5, which is a schematic structural diagram of the foundation assembly of the present invention, the foundation assembly 1 includes upright posts 11, a leveling base plate 12, a walking beam 13, walking shaft guide rails 14, a walking shaft rack 15, a walking beam shield 16, walking shaft mechanical limits 17, an alarm 18, and a walking shaft travel switch 19, the upright posts 11 and the leveling base plate 12 are installed on the ground, the level of the foundation assembly 1 is adjusted by bolts, the walking beam 13 is installed on four upright posts 11, the walking guide rails 14 and the walking rack 15 are installed on the side surfaces of the walking beam 13, the walking beam shield 16 is installed on the upper side of the walking beam 13 to protect the walking beam 13 and the walking shaft travel switch 19, the walking shaft mechanical limits 17 are installed on both sides of the walking beam 13 to prevent the walking assembly 2 from exceeding the safe travel range, the alarm 18 is installed on both sides of the walking beam 13 to play a safety warning role, travel shaft travel switches 19 are arranged on two sides of the travel beam 13, and the running-in-place state of the travel assembly 2 is electrically detected.
As shown in fig. 6, which is a schematic structural diagram of the traveling assembly of the present invention, the traveling assembly 2 includes a traveling vertical plate 21, a traveling shaft slider 22, a traveling driving unit 23, a traveling shaft motor shield 24, a mechanical limit 25 for the lifting shaft, a lifting shaft travel switch 26, a lifting shaft guide 27, and a lifting rack 28, the traveling shaft slider 22 is installed on the back of the traveling vertical plate 21 and is matched with the traveling shaft guide 14, so that the traveling vertical plate 21 keeps linear motion on the traveling shaft guide 14, the traveling driving unit 23 is installed on the front of the traveling vertical plate 21 and is matched with the traveling shaft rack 15 to provide power for the traveling vertical plate 21, the traveling shaft motor shield 24 is installed on the upper side of the traveling driving unit 23 to play a role in protection, the mechanical limit 25 for the lifting shaft is installed on the lower side of the traveling vertical plate 21 to prevent the lifting assembly 3 from exceeding the safe travel range, the lifting shaft travel switch 26 is installed on both sides of the traveling vertical plate 21 to electrically detect the in-place state of the lifting assembly 3, the lifting guide rail 27 and the lifting rack 28 are arranged on the front surface of the walking vertical plate 21 and matched with the lifting assembly 3.
As shown in fig. 7, which is a schematic structural diagram of the walking drive unit of the present invention, the walking drive unit 23 includes a walking drive motor 231, a walking drive reducer 232, and a walking drive gear 233, the walking drive reducer 232 is installed on the front surface of the walking vertical plate 21, the drive motor 231 and the walking drive gear 233 are respectively installed on both sides of the walking drive reducer 232, an output shaft of the drive motor 231 is connected with an input shaft hole of the walking drive reducer 232 through a flat key, the walking drive gear 233 is connected with an output shaft of the walking drive reducer 232 through a flat key, the walking drive gear 233 is matched with the walking shaft rack 15, and the control unit 5 controls to provide power to the walking assembly 2.
As shown in fig. 8, which is a schematic structural diagram of the lifting assembly of the present invention, the lifting assembly 3 includes a lifting base 31, a lifting shaft slider 32, an electromagnetic valve 33, a lifting driving unit 34, a lifting motor protective cover 35, a clamping jaw in-place locking cylinder 36, the lifting base 31 is provided with the lifting slider 32 on the back side, the lifting shaft slider 32 is matched with the lifting shaft guide rail 27, the electromagnetic valve 33 controls the actions of the clamping jaw in-place locking cylinder 36 and the cylinder 43, the lifting driving unit 34 is installed on the front side of the lifting base 31, the lifting motor protective cover 35 is installed on the lifting driving unit 34 to play a protection role, the clamping jaw in-place locking cylinder 36 is controlled by the electromagnetic valve 33 and is matched with the clamping jaw 44, when the clamping jaw 44 is in place, the clamping jaw in-place locking cylinder 36 extends out of the locking clamping jaw 44 to ensure the clamping state of the clamping jaw 44.
As shown in fig. 9, which is a schematic structural diagram of the clamping jaw assembly of the present invention, the clamping jaw assembly 4 includes a clamping jaw guide rail 41, a clamping jaw slider 42, an air cylinder 43, and a clamping jaw 44, wherein the clamping jaw guide rail 41 is installed on the lifting base 31, the clamping jaw slider 42 is installed on the air cylinder 43 and is matched with the clamping jaw guide rail 41, the air cylinder 43 is installed on the lifting base 31, the front and rear clamping jaws 44 are installed on both sides of the air cylinder, and the electromagnetic valve 33 controls the air cylinder to clamp and open.
The walking assembly 2 and the lifting assembly 3 are driven by gears and racks, the walking driving unit 23 and the lifting driving unit 34 are respectively controlled to provide power through the control unit 5, and the lifting shaft is fixed on the walking vertical plate 21 through the lifting shaft guide rail 27, so that a large lifting stroke is obtained under the condition that the height space of a factory building is limited, and the loading and unloading operation of cargoes is completed. The technology has the advantages of simple structure, stable operation, high cost advantage and the like, and can solve the problem of insufficient carrying stroke with limited height space.
The foregoing is illustrative of the present invention and its embodiments, and the description is not limiting. The embodiment shown in the drawings is only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, without departing from the spirit of the present invention, a person skilled in the art shall appreciate that the present invention shall not be limited to the embodiments shown in the drawings.
Claims (10)
1. The utility model provides a cantilever type truss transport manipulator which characterized in that: including setting up basic subassembly (1) on ground, basic subassembly (1) side is connected with walking subassembly (2), walking subassembly (2) side is connected with lifting unit (3), lifting unit (3) below is connected with clamping jaw assembly (4), still includes control unit (5), control unit (5) electrical connection lifting unit (3) and walking subassembly (2) lift tow chain (6), control unit (5) electrical connection basic subassembly (1) and walking subassembly (2) walk tow chain (7).
2. The cantilevered truss handling robot of claim 1, wherein: basic subassembly (1) includes stand (11), set up leveling bottom plate (12) subaerial in stand (11) below installation, walking crossbeam (13) is installed to stand (11) top, install warning indicator (18) on walking crossbeam (13) both ends, walking crossbeam (13) side is installed walking guide rail (14) and walking rack (15) from top to bottom, walking crossbeam protection casing (16) is installed to walking crossbeam (13) upside, walking axle machinery is spacing (17) is installed to walking guide rail (14) and walking rack (15) both ends intermediate position, walking bearing switch (19) are installed to walking guide rail (14) top.
3. The cantilevered truss handling robot of claim 1, wherein: walking subassembly (2) are including walking riser (21), walking shaft slider (22) are provided with at walking riser (21) back, walking drive unit (23) are openly installed to walking riser (21), walking shaft motor protection casing (24) are installed to walking drive unit (23) top, walking riser (21) are vertical to be installed parallel placement's lift axle guide rail (27) and lift axle rack (28), lift axle machinery is spacing (25) are installed to lift axle rack (28) bottom, install lift axle travel switch (26) on walking riser (21).
4. A cantilevered truss handling robot as claimed in claim 2 or 3 wherein: the walking shaft sliding block (22) is matched with the walking shaft guide rail (14), and the walking rack (15) is matched with a gear of the walking driving unit (23).
5. The cantilevered truss handling robot of claim 4, wherein: the walking drive unit (23) comprises a walking drive motor (231), a walking drive speed reducer (232) and a walking drive gear (233), wherein the walking drive motor (231) is connected with the walking drive speed reducer (232) through a flat key, and the walking drive speed reducer (232) is connected with the walking drive gear (233) through a flat key.
6. The cantilevered truss handling robot of claim 1, wherein: lifting unit (3) are including lifting pedestal (31), install lifting slide (32), clamping jaw locking cylinder (36) that targets in place on lifting pedestal (31), install lift drive unit (34) on lifting slide (32), lift motor protection casing (35) is installed to lift drive unit (34) top, install solenoid valve (33) on lift motor protection casing (35).
7. The cantilevered truss handling robot of claim 3 or 6, wherein: the lifting slide block (32) is matched with the lifting shaft guide rail (27), and the gear of the lifting driving unit (34) is matched with the lifting shaft rack (28).
8. The cantilevered truss handling robot of claim 1, wherein: the clamping jaw assembly (4) comprises a jaw guide rail clamp (41), a clamping jaw sliding block (42), an air cylinder (43) and a clamping jaw (44), the clamping jaw guide rail (41) is matched with the clamping jaw sliding block (42), and the clamping jaw (44) is connected to two sides of the air cylinder (43) to realize clamping and opening actions.
9. A cantilevered truss handling robot as claimed in claim 2 or 3 or 6 wherein: the lifting drag chain (6) is connected with the lifting base (31) and the walking vertical plate (3), and the walking drag chain (7) is connected with the walking beam (2) and the walking vertical plate (3).
10. A cantilevered truss handling robot as claimed in claim 2 or 3 or 6 wherein: the control unit (5) is connected with the walking drive unit (23), the lifting drive unit (34), the walking shaft travel switch (19), the lifting shaft travel switch (26) and the warning device (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111581703.4A CN114346993A (en) | 2021-12-22 | 2021-12-22 | Cantilever type truss carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111581703.4A CN114346993A (en) | 2021-12-22 | 2021-12-22 | Cantilever type truss carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114346993A true CN114346993A (en) | 2022-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111581703.4A Pending CN114346993A (en) | 2021-12-22 | 2021-12-22 | Cantilever type truss carrying manipulator |
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| CN (1) | CN114346993A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140494A (en) * | 2023-10-27 | 2023-12-01 | 东台昊天智能装备科技有限公司 | Truss manipulator for carrying |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202292756U (en) * | 2011-09-29 | 2012-07-04 | 长城汽车股份有限公司 | Spare tyre conveying manipulator |
| CN209737343U (en) * | 2019-01-31 | 2019-12-06 | 青岛高测科技股份有限公司 | Clamping device capable of clamping round bar and square bar |
| CN111906760A (en) * | 2020-08-11 | 2020-11-10 | 安徽信息工程学院 | Two-shaft truss robot |
| WO2021022805A1 (en) * | 2019-08-06 | 2021-02-11 | 南通跃通数控设备股份有限公司 | Whole-row carrying robot for strip-shaped wood |
-
2021
- 2021-12-22 CN CN202111581703.4A patent/CN114346993A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202292756U (en) * | 2011-09-29 | 2012-07-04 | 长城汽车股份有限公司 | Spare tyre conveying manipulator |
| CN209737343U (en) * | 2019-01-31 | 2019-12-06 | 青岛高测科技股份有限公司 | Clamping device capable of clamping round bar and square bar |
| WO2021022805A1 (en) * | 2019-08-06 | 2021-02-11 | 南通跃通数控设备股份有限公司 | Whole-row carrying robot for strip-shaped wood |
| CN111906760A (en) * | 2020-08-11 | 2020-11-10 | 安徽信息工程学院 | Two-shaft truss robot |
Non-Patent Citations (1)
| Title |
|---|
| 兰虎 等: "《工业机器人技术及应用》", vol. 2, 机械工业出版社, pages: 114 - 115 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140494A (en) * | 2023-10-27 | 2023-12-01 | 东台昊天智能装备科技有限公司 | Truss manipulator for carrying |
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