CN205272039U - A truss manipulator for go up unloading - Google Patents

Abstract

The utility model relates to a truss manipulator for loading and unloading, which is composed of a support structure, a horizontal movement component, a vertical movement component, an automatic hand grip and a transition connecting plate between two axes, the top of the support structure is fixed with a horizontal movement component, Run the vertical motion assembly on the horizontal motion assembly, and install the automatic hand grab at the lower end of the vertical motion assembly. The utility model adopts a main structure supported by a single column, and the design uses reinforcing ribs to improve the strength and rigidity of the main structure of the truss; the horizontal movement adopts a V-shaped slide rail with a separate rack and pinion to realize transmission, and the rack and pinion adopt 6 precision grade modular helical teeth, this transmission method can well meet the requirements for high speed, and the transmission accuracy can be controlled within 0.1mm.

Description

A truss manipulator for loading and unloading

technical field

The utility model belongs to the field of mechanical engineering intelligent control, and relates to a manipulator, in particular to a truss manipulator for loading and unloading.

Background technique

The main structure of the existing truss manipulator used for loading and unloading is usually a double-supported column-type gantry structure, including a horizontal movement component installed on the beam and a vertical movement component perpendicular to the horizontal movement component. The bottom of the vertical movement component is connected Automatic mechanical gripper for loading and unloading, which realizes automatic loading and unloading actions. In terms of transmission form, the existing truss manipulator mainly adopts rack and pinion with linear slide rail, synchronous belt with linear slide rail or V-shaped slide rail and rack integrated structure for transmission. Synchronous belt transmission has safety and reliability issues, linear slide rails are not suitable for high-speed applications, and V-shaped slide rail and rack integrated transmission methods have the disadvantage of low precision. In short, the existing truss manipulator wastes materials, occupies a larger installation space for automated production, and has a more cumbersome overall structure.

Through the retrieval of published patent documents, a published patent document related to the utility model application was found:

A truss box sorting robot (CN101920847A), comprising a box sorter, the box sorter includes a first frame, the first frame is provided with a first conveying device; There is a Y-guiding rail, a sliding frame is arranged on the Y-guiding rail, and a first driving mechanism for driving the Y-guiding rail to move is arranged on the first frame. The sliding frame is provided with an X-guiding rail, the X-guiding rail is provided with a first slider, and the sliding frame is provided with a second driving mechanism for driving the movement of the first sliding block. The first slider is provided with a Z-direction chute, and a slide rail is provided in the Z-direction chute, and the first slider is provided with a third driving mechanism for driving the movement of the slide rail. A gripper mechanism is installed at the lower end. The truss box-splitting robot has high box-splitting efficiency, simple structure, and can rotate boxes.

Through the comparison of technical features, the above-mentioned published patent documents are different from the utility model application in terms of utility model purpose and technical solution.

Utility model content

The purpose of this utility model is to overcome the deficiencies of the prior art and provide a truss manipulator for loading and unloading. The manipulator adopts a single-column-supported main structure, and adopts a V-shaped slide rail with a separate rack and pinion. Horizontal transmission.

The purpose of this utility model is achieved by the following technical solutions:

A truss manipulator for loading and unloading, which is composed of a support structure, a horizontal movement component, a vertical movement component, an automatic hand grip and a transition connecting plate between the two axes. The top of the support structure is fixed with a horizontal movement component, and the horizontal movement component The vertical movement assembly is run on the top, the automatic hand grip is installed at the lower end of the vertical movement assembly, and a two-axis transition connecting plate is installed between the horizontal movement assembly and the vertical movement assembly.

Moreover, the lower part of the support structure is composed of a coaxially fixed base box-type steel column and an installation box-type steel column. A right-angle steel plate is horizontally fixed on the top of the box-type steel column. Umbrella-shaped stiffeners are fixed symmetrically between the box-type steel columns, stiffeners are evenly distributed on the right-angle steel plates through fasteners, and horizontal movement components are fixed on the vertical surface of the right-angle steel plates through fasteners.

Moreover, the horizontal movement assembly is composed of drag chains, rollers, V-shaped guide rails, X-axis racks, X-axis gears, and X-axis servo motors. Two V-shaped guide rails and X-axis gears are fixed on the right-angle steel plates by fasteners. The two V-shaped slide rails are matched with four rollers; the rollers are connected to the two-axis transition connecting plate through fasteners, and the X-axis servo motor is fixed on the two-axis transition connecting plate, and the X-axis servo motor passes the key It is connected with the X-axis gear, and the X-axis gear rotates to drive the X-axis rack drive.

Moreover, the vertical motion assembly includes a Z-axis servo motor, a Z-axis reducer, a Z-axis gear, a Z-axis rack, an aluminum profile and a linear guide rail slider, and the Z-axis servo motor and its Z-axis reducer, the Z-axis servo motor key is connected with the Z-axis gear, the Z-axis gear rotates to drive the Z-axis rack drive, and the vertical motion component realizes the movement in the up and down direction driven by the Z-axis servo motor; the Z-axis guide rail slider Fixed on the two-axis transition connecting plate, the linear guide rail slider is connected with the aluminum profile through the fastener, and the aluminum profile is connected with the Z-axis rack through the fastener; the lower part of the aluminum profile is connected with the automatic hand grip through the fastener, and the automatic There are two hand grips in the hand grip, which can realize the loading and unloading actions through the rotation driven by the cylinder.

Advantage and positive effect of the present utility model are:

1. The utility model adopts a single-column-supported main structure, and the reinforcement ribs are designed to improve the strength and rigidity of the truss main structure. Compared with the double-column support, this structure can meet the static and dynamic requirements At the same time, it saves materials, saves the installation space of automatic production, and makes the overall structure more beautiful and simple.

2. The horizontal movement of the manipulator adopts the V-shaped slide rail with a separate rack and pinion to realize the transmission. The rack and pinion all adopt the second helical gear with 6 precision grades. This transmission mode can well meet the requirements for high speed. requirements, and the transmission accuracy can be controlled within 0.1mm.

3. The structure of the manipulator is simple, light, and materials are saved; the transmission mode of V-shaped guide rail and rack and pinion can not only meet the requirements of high transmission speed, but also ensure the transmission accuracy.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is a schematic diagram of another angle of Fig. 1;

Fig. 3 is a schematic diagram of the assembly structure of the utility model horizontal movement assembly (X axis);

Fig. 4 is a schematic diagram of the assembly structure of the horizontal movement assembly (Y-axis) of the present invention.

In the figure: 1. Base box-type steel column, 2. Box-type steel column installed, 3. Rib plate, 4. Horizontal movement component (X axis), 5. Vertical movement component (Z axis), 6. Drag chain, 7. Automatic hand grip, 8. Two-axis transition connecting plate, 9. Right-angle steel plate, 10. Reinforcing rib, 11. Roller, 12. V-shaped guide rail, 13. X-axis rack, 14. X-axis gear, 15. X Axis servo motor, 16, Z axis servo motor, 17, Z axis reducer, 18, Z axis gear, 19, Z axis rack, 20, aluminum profile, 21, linear guide rail slider.

detailed description

The embodiments of the present utility model are described in further detail below in conjunction with the accompanying drawings; the present embodiments are descriptive, not restrictive, and cannot thereby limit the protection scope of the present utility model.

A truss manipulator for loading and unloading, consisting of a support structure, a horizontal movement component 4 (X axis), a vertical movement component 5 (Z axis), an automatic hand grip 7 and a transition connecting plate 8 between the two axes, the support structure The top of the horizontal movement assembly is fixed, the vertical movement assembly runs on the horizontal movement assembly, the automatic hand grip is installed at the lower end of the vertical movement assembly, and a two-axis transition connecting plate is installed between the horizontal movement assembly and the vertical movement assembly.

The lower part of the supporting structure is composed of two parts, the coaxially fixed base box-type steel column 1 and the installation box-type steel column 2. The two box-type steel columns are made of square steel materials of 350x350 and 280x280 respectively. Install right-angled steel plate 9 horizontally on the top of the box-type steel column, and an umbrella-shaped rib plate 3 is fixed symmetrically between the lower bottom sides of the right-angled steel plate and the box-type steel column. This rib plate can improve the overall strength, rigidity and stability. Reinforcing ribs 10 are installed on the right-angle steel plate at intervals through fasteners, and the horizontal movement assembly (X axis) is fixed by fasteners on the vertical surface of the right-angle steel plate. The horizontal movement assembly consists of drag chain 6, roller 11, V Shaped guide rail 12, X-axis rack 13, X-axis gear 14, and X-axis servo motor 15, two V-shaped guide rails and X-axis rack are fixed on the right-angle steel plate by fasteners, two V-shaped slide rails and four The two rollers cooperate; the rollers are connected with the two-axis transition connecting plate through fasteners, and the X-axis servo motor is fixed on the two-axis transition connecting plate, and the X-axis servo motor is connected with the X-axis gear through a key, and the X-axis gear rotates Drive the X-axis rack and rack transmission, thereby realizing that under the drive of the X-axis servo motor, the X-axis gear meshes with the drive rack to make the rollers guide and run horizontally in the V-shaped guide rail.

The vertical motion assembly includes a Z-axis servo motor 16, a Z-axis reducer 17, a Z-axis gear 18, a Z-axis rack 19, an aluminum profile 20 and a linear guide rail slider 21, and a Z axis is also installed on the two-axis transition connecting plate. The Z-axis servo motor and its Z-axis reducer, the Z-axis servo motor key is connected with the Z-axis gear, the Z-axis gear rotates to drive the Z-axis rack drive, and the vertical motion component realizes the movement in the up and down direction driven by the Z-axis servo motor. The Z-axis guide rail slider is fixed on the two-axis transition connecting plate, and the linear guide rail slider is connected with the aluminum profile through the fastener, and the aluminum profile is connected with the Z-axis rack through the fastener. The lower part of the aluminum profile is connected to the automatic gripper through fasteners. The automatic gripper is equipped with two grippers, which can be driven and rotated by the cylinder (no label) to realize the loading and unloading actions.

In the utility model, the horizontal movement adopts the V-shaped slide rail with a separate rack and pinion to realize the transmission, and the rack and pinions all adopt the mold two helical teeth with 6 precision grades. This transmission mode can well meet the requirements for high speed. requirements, and the transmission accuracy can be controlled within 0.1mm.

Claims (4)

1. the truss mechanical hand for loading and unloading, it is characterized in that: be made up of supporting construction, horizontal movement assembly, vertical motion assemblies, the transition connecting plate certainly starting to grab between two axles, the top of supporting construction is fixedly mounted with horizontal movement assembly, horizontal movement assembly runs vertical motion assemblies, install from starting to grab in the lower bottom of vertical motion assemblies, two axle transition connecting plate are installed between horizontal movement assembly and vertical motion assemblies.

2. the truss mechanical hand for loading and unloading according to claim 1, it is characterized in that: the bottom of described supporting construction is by the box steel column of the base being coaxially fixedly mounted with and installs box steel column and forms, it is fixedly mounted with right angle steel plate at the upper horizontal installing box steel column, the both sides and install between box steel column the symmetrical reinforcement gusset being fixed with umbrella shape of going to the bottom of this right angle steel plate, on right angle steel plate, uniform interval is fixed with reinforcement by securing member, by the fixing horizontal movement assembly of securing member on the vertical of right angle steel plate.

3. the truss mechanical hand for loading and unloading according to claim 1 and 2, it is characterized in that: described horizontal movement assembly is made up of drag chain, roller, V-way, X-axis tooth bar, X-axis gear, X-axis servomotor, right angle steel plate is fixed two V-type rails and X-axis tooth bar, two V-type slide rails and four rolling by securing member coordinate; Described roller is connected by securing member and two axle transition connecting plate, and this two axles transition connecting plate is fixed with X-axis servomotor, and this X-axis servomotor is connected with X-axis gear by key, and X-axis pinion rotation drives X-axis rack gear.

4. the truss mechanical hand for loading and unloading according to claim 1, it is characterized in that: described vertical motion assemblies includes Z axis servomotor, Z axis decelerator, Z axis gear, Z axis tooth bar, aluminium section bar and straight-line guide rail slide block, two axle transition connecting plate are provided with Z axis servomotor and Z axis reductor thereof, this Z axis servomotor key is connected with Z axis gear, Z axis pinion rotation drives Z axis rack gear, and vertical motion assemblies realizes the motion of above-below direction under the drive of Z axis servomotor; Z axis guide rail slide block is fixed in two axle transition connecting plate, and this straight-line guide rail slide block is connected with aluminium section bar by securing member, and this aluminium section bar is connected with Z axis tooth bar by securing member; Aluminium section bar bottom is connected from starting to grab by securing member, certainly starts to grab and is provided with two handss and grabs, and is rotated by cylinder and can realize feeding and blanking action.