CN213084767U

CN213084767U - Heavy-load truss robot

Info

Publication number: CN213084767U
Application number: CN202022147580.0U
Authority: CN
Inventors: 滕飞; 曹成明
Original assignee: Jinan Lianfei Cnc Equipment Co ltd
Current assignee: Jinan Lianfei Cnc Equipment Co ltd
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2021-04-30
Anticipated expiration: 2030-09-25

Abstract

The utility model provides a truss robot, which comprises a longitudinal guide rail, a lifting device and two transverse guide rails, wherein the longitudinal guide rail can transversely move and cross over the two transverse guide rails; the lifting device comprises a lifting support, and a grabbing hand is arranged at the lower end of the lifting device. The utility model discloses a elevating gear replaces wire rope to realize going up and down, then realizes multi-direction removal on transverse guide and longitudinal rail, can avoid removing the in-process, because the effect of inertia makes grabbing rocking of getting the thing to be difficult to confirm to place the position and snatch the position, improved the accuracy and the efficiency of snatching the operation.

Description

Heavy-load truss robot

Technical Field

The utility model relates to a relevant technical field of machine-building, specific theory relates to a heavy load truss robot.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In the processing process of most materials in the hot forging industry, various different process steps are often involved, and each step needs to be processed on special equipment; for example, after the seamless rings are hot-rolled, equipment is required to stack the rings.

The inventor finds that in the traditional hot forging processing ring stacking process, when stacking is carried out by adopting lifting, the steel wire rope rocks in the stacking process, so that the steel wire rope is not suitable for positioning the taking and placing positions of the ring, and therefore, workers need to observe the steel wire rope in a short distance so as to control the stacking of the ring by machinery, the safety is poor, and accidents easily occur to cause casualties.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve above-mentioned problem, provided a heavy load truss robot, can realize the reliable removal of space multidimension degree direction, improved the security of space utilization and pile up neatly operation, improved pile up neatly efficiency.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

one or more embodiments provide a truss robot, characterized in that: the lifting device is arranged on the longitudinal guide rail in a longitudinally movable manner; the lifting device comprises a lifting support, and a grabbing hand is arranged at the lower end of the lifting device.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the utility model discloses a elevating gear replaces wire rope to realize going up and down, then realizes multi-direction removal on transverse guide and longitudinal rail, can avoid removing the in-process, because the effect of inertia makes grabbing rocking of getting the thing to be difficult to confirm to place the position and snatch the position, improved the accuracy and the efficiency of snatching the operation. The utility model discloses can be according to the ring height of difference, automatic adjustment height that goes up and down accomplishes the automatic pile up neatly of ring.

(2) The utility model discloses the first guider and the second guider that set up adopt the leading wheel to realize the direction of two track faces and side respectively, have improved the stability and the accuracy of direction.

(3) The utility model discloses elevating gear has set up the vertical slider support that has the length effect of the vertical direction of extension, can improve the stability that elevating gear goes up and down.

(4) The utility model discloses can high-efficient operation under the adverse circumstances of high temperature, can greatly improve operating personnel's operational environment, can improve production efficiency again.

Drawings

The accompanying drawings, which form a part of the specification, are provided to provide a further understanding of the invention, and are included to explain the illustrative embodiments and the description of the invention, and not to constitute a limitation of the invention.

Fig. 1 is a schematic structural diagram of an apparatus of a truss robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of the lateral sliding block 3 according to the embodiment of the present invention;

fig. 3 is a longitudinal sectional view of the longitudinal slider 7 and the lifting device according to the embodiment of the present invention;

wherein: 1. the device comprises a transverse guide rail, 2, a transverse rack, 3, a transverse sliding block, 4, a guide rail bracket, 5, a longitudinal guide rail rack, 6, a longitudinal guide rail, 7, a longitudinal sliding block, 8, a vertical guide rail, 9, a lifting bracket, 10, a chain connecting piece, 11 and a grabbing hand;

301. a transverse sliding block bracket 302, an end face guide wheel 303, a second guide wheel shaft 304, a first motor bracket 305, a driving gear 306, a first driving motor 307, a side guide wheel 308, a first guide wheel shaft 601 and a guide rail groove;

701. the vertical sliding block type gear transmission mechanism comprises a longitudinal sliding block support 702, a direction-changing chain pressing wheel, 703, a third driving motor 704, a motor driving shaft 705, a driving chain wheel, 706, a torsion support 707, a torsion fixing shaft 708, a guide wheel support 709, a vertical roller 710, a side roller 711, a guide wheel support 712, a vertical guide wheel 713, a second motor support 714, a toothed wheel 715 and a second driving motor.

The specific implementation mode is as follows:

the present invention will be further explained with reference to the accompanying drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In the technical solution disclosed in one or more embodiments, as shown in fig. 1 to 3, a truss robot includes two cross rails 1, a longitudinal rail 6, and a lifting device, wherein the longitudinal rail 6 is transversely movably disposed across the two cross rails 1, and the lifting device is longitudinally movably disposed on the longitudinal rail 6; the lifting device comprises a lifting support 9, a grabbing hand 11 is arranged at the lower end of the lifting device, and the lifting support 9 moves up and down to drive the grabbing hand 11 to move up and down.

This embodiment adopts elevating gear to replace wire rope to realize going up and down, then realizes multi-directional removal on transverse guide and longitudinal rail, can avoid moving the in-process, because the effect of inertia makes grabbing the rocking of getting the thing to be difficult to confirm to place the position and snatch the position, improved the accuracy and the efficiency of grabbing the operation.

Optionally, the transverse guide rail 1 includes a bottom support frame and a guide surface on which an upper end surface of the support frame is disposed.

As an implementation manner, the longitudinal guide rail 6 is transversely movably disposed on the transverse guide rail 1, the transverse sliding blocks 3 are respectively disposed at two ends of the longitudinal guide rail 6 and movably connected to the two transverse guide rails, as shown in fig. 2, each transverse sliding block 3 includes a transverse sliding block bracket 301 and a first sliding mechanism, an upper end surface of the transverse sliding block bracket 301 is fixedly connected to a bottom surface of the longitudinal guide rail 6, and a lower end surface of the transverse sliding block bracket 301 is provided with the first sliding mechanism, and is slidably connected to the transverse guide rail 1 through the first sliding mechanism.

Optionally, the first sliding mechanism includes a first driving device, a first guiding device, and a sliding track assembly, the sliding track assembly includes a transverse rack 2 disposed on the upper end surface of the transverse guide rail 1 and a driving gear 305 disposed on the transverse slider 3, and the transverse rack 2 and the driving gear 305 are engaged.

Optionally, the first driving device may be electrically driven, and a first driving motor 306 is disposed in the lateral slider bracket 301, and a power output end of the driving motor is connected to the driving gear 305 for driving the gear 305 to rotate.

Specifically, the first driving motor 306 may be fixedly disposed within the lateral slider bracket 301 via the first motor bracket 304.

Optionally, the first guiding device includes an end face guide wheel 302 and a side guide wheel 307 arranged on the lateral slider bracket 301, the end face guide wheel 302 is engaged with the upper end face of the lateral guide rail 1, and the side guide wheels 30 are arranged on two side faces of the lateral guide rail 1.

Specifically, the side guide wheel 307 is fixed at the lower end of the transverse slider bracket 301 through a first guide wheel shaft 308; the end face guide wheel 302 is fixed in the transverse slider bracket 301 through a second guide wheel shaft 303.

Optionally, the number of the end face guide wheels 302 and the number of the side guide wheels 307 are set according to specific requirements, in this embodiment, two end face guide wheels 302 and three side guide wheels 307 are provided on each lateral slider 3, and accurate direction guiding is achieved through five guide wheels. The end face guide wheels 302 are arranged on the end face to realize certain support and guide, and the side guide wheels 307 are used for fixing the moving track on the transverse guide rail 1.

The first driving motor 306 rotates to drive the gear 305 to rotate, the transverse rack 2 is meshed with the gear 305, and the driving force can be transmitted to drive the gear 305 to move relative to the transverse rack 2, and meanwhile, the transverse guiding is performed under the action of the first guiding device, so that the transverse sliding block 3 and the structure fixed on the transverse sliding block 3 are driven to move transversely.

Optionally, the longitudinal rail 6 comprises a rail bracket 4 and a rail surface on which an upper end surface of the rail bracket 4 is disposed.

Optionally, the guide rail bracket 4 may be configured to be similar to a shape like a Chinese character 'hui', and the upper end surfaces of two sides of the guide rail bracket 4 are respectively provided with guide rail surfaces, so as to form two parallel guide rails. The hollow portion of the rail housing 4 is used to provide a space for the lifting housing 9 of the lifting device to move up and down.

Optionally, the guide surface of the longitudinal guide 6 is provided with a guide groove 601, and a longitudinal guide rack 5 arranged at the outer edge of the guide surface.

As a realizable mode, the lifting device can be longitudinally movably arranged on the longitudinal guide rail 6, and can be movably arranged on the longitudinal guide rail 6 through arranging the longitudinal slide block 7, as shown in fig. 3, which is a longitudinal sectional view, the longitudinal slide block 7 comprises a longitudinal slide block bracket 701, a second driving device arranged on the side surface of the longitudinal slide block bracket 7, and a second guiding device arranged on the bottom surface of the longitudinal slide block bracket 7, wherein the second guiding device is matched with the guide rail groove 601 for realizing guiding, and the second driving device is matched with the longitudinal guide rail rack 5 for realizing driving transmission.

Alternatively, the second guiding means may include a vertically disposed vertical roller 709 and a horizontally disposed side roller 710, wherein the vertical roller 709 is opposite to the bottom surface of the guide groove 601, and the side roller 710 is opposite to the vertical surface of the guide groove 601.

Optionally, the vertical roller 709 and the side roller 710 are fixed on the bottom surface of the longitudinal slider bracket 701 through the guide wheel bracket 708.

Alternatively, the second driving device may be configured to be electrically driven, and include a second motor bracket 713, a second driving motor 715, and a toothed wheel 714, where the second driving motor 715 is fixed to a side surface of the longitudinal slider bracket 701 through the second motor bracket 713, a power output end of the second motor bracket 713 is connected to the toothed wheel 714, and the toothed wheel 714 is engaged with the longitudinal rail rack 5 disposed on the longitudinal rail 6.

The embodiment is provided with the guide surface of the longitudinal guide rail 6 with the guide groove 601, and is provided with the second guide device matched with the groove 601, so that stable matching can be realized by guiding from two directions, shaking is avoided, and accurate guiding is realized.

In this embodiment, alternatively, the lifting device may be disposed on the longitudinal slider bracket 701 of the longitudinal slider 7, and a hollow portion through which the lifting bracket 9 passes is disposed on the longitudinal slider bracket 701.

Optionally, the lifting device includes a lifting support 9, a third driving device, a driving transmission mechanism and a third guiding device, the third driving device drives the lifting support 9 to move up and down through the driving transmission mechanism, and the third guiding device is used for guiding the lifting of the lifting support 9.

Optionally, the third driving device may be set to be motor-driven, and includes a third driving motor 703, an output end of the third driving motor is connected to the driving transmission mechanism, and is fixed to the longitudinal slider bracket 701 through the fixing component.

Optionally, the fixing component for fixing the third driving motor 703 includes a torsion bracket 706 and a torsion fixing shaft 707, one end of the torsion bracket 706 is fixedly connected to the fixing end of the third driving motor 703, the other end of the torsion bracket 706 is fixed to the torsion fixing shaft 707, and the torsion fixing shaft 707 is fixed to the longitudinal sliding block bracket 701.

Optionally, the driving transmission mechanism includes a motor driving shaft 704, a driving sprocket 705, and a direction-changing pressure sprocket 702 connected with the driving sprocket through a chain, and the direction-changing pressure sprocket 702 is fixedly connected to the longitudinal slider bracket 701 through a supporting shaft.

As an achievable structure, the direction-changing chain pressing wheel 702 comprises an upper direction-changing chain pressing wheel 702 and a lower direction-changing chain pressing wheel 702, one end of a chain arranged on the driving chain wheel 705 passes through the upper end of the direction-changing chain pressing wheel 702 and extends and is fixedly connected to the top end of the lifting bracket 9; the other end of the chain arranged on the driving chain wheel 705 passes through the change pressure chain wheel 702 at the lower end and is fixedly connected to the bottom end of the lifting bracket 9 in an extending way.

Optionally, the upper end and the lower end of the lifting support 9 are respectively provided with a chain connecting piece 10, and a connecting line of the upper chain connecting piece 10 and the lower chain connecting piece 10 is parallel to the axial direction of the lifting support 9.

In this embodiment, the direction-changing pressure sprocket 702 and the longitudinal slider bracket 701 are fixed structures, and the positions of the direction-changing pressure sprocket 702 and the longitudinal slider bracket 701 are fixed, and the driving sprocket 705 drives the direction-changing pressure sprocket 702 through a chain to change the length change of the chain at the upper end of the direction-changing pressure sprocket 702, so that the lifting mechanism is lifted under the pulling action of the chain.

In order to improve the up-and-down traction force of the lifting device, a plurality of groups of driving transmission mechanisms can be arranged, namely a plurality of pairs of direction-changing pressure chain wheels 702 are arranged to be connected with chains, and the bearing capacity of the lifting device is increased through the plurality of chains. In this embodiment, two sets of driving transmission mechanisms are provided, and the provision of the lifting traction force is realized through two chains.

In some embodiments, the deflecting and pressing sprocket may be arranged inside or outside the lifting bracket 9, in which case the longitudinal slider bracket 701 is provided with a hollow through which the chain can pass.

Optionally, the direction-changing pressure chain wheel 702 may be disposed inside the lifting support, an inner gear side of the direction-changing pressure chain wheel 702 is located inside the lifting support 9, and a hole is disposed on a side surface of the lifting support 9 from top to bottom, so as to provide a space for a support shaft of the direction-changing pressure chain wheel 702 to pass through in the lifting process of the lifting support 9.

Optionally, the third guiding device includes a vertical guide rail 8 disposed on the lifting support, and a vertical guide wheel 712 disposed on the longitudinal slider support 701, and the vertical guide wheel 712 is matched with the vertical guide rail 8.

Optionally, the vertical guide wheel 712 is disposed on the longitudinal slider bracket 701 through a guide wheel frame 711.

Optionally, the vertical guide wheels 712 are arranged oppositely left and right, and at least two vertical guide wheels 712 are arranged on each vertical guide rail in a matching manner. In this embodiment, 4 vertical guide rails 8 are provided, each vertical guide rail 8 is provided with an upper vertical guide wheel 712 and a lower vertical guide wheel 712 in a matching manner, and the left vertical guide wheel 712 and the right vertical guide wheel 712 which are opposite are arranged at the same height.

For improving the stability that lifting support reciprocated, avoid removing the in-process and appear rocking, can lengthen vertical guiding mechanism, optionally, vertical slider support 701 includes horizontal part and vertical part, the internal surface of vertical part is used for setting up vertical leading wheel 712.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims

1. A truss robot is characterized in that: the lifting device is arranged on the longitudinal guide rail in a longitudinally movable manner; the lifting device comprises a lifting support, and a grabbing hand is arranged at the lower end of the lifting device.

2. A truss robot as defined in claim 1 wherein: two ends of the longitudinal guide rail are respectively provided with a transverse sliding block which can be movably connected with the two transverse guide rails; the transverse sliding block comprises a transverse sliding block support and a first sliding mechanism, the upper end face of the transverse sliding block support is fixedly connected with the bottom face of the longitudinal guide rail, and the lower end face of the transverse sliding block support is provided with the first sliding mechanism which is connected with the transverse guide rail in a sliding mode through the first sliding mechanism.

3. A truss robot as defined in claim 2 wherein: the first sliding mechanism comprises a first driving device, a first guiding device and a sliding track assembly, the sliding track assembly comprises a transverse rack arranged on the upper end surface of the transverse guide rail and a driving gear arranged on the transverse sliding block, and the transverse rack is meshed with the driving gear;

or

The first driving device is electrically driven, a first driving motor is arranged in the transverse sliding block support, and the power output end of the driving motor is connected with the driving gear.

4. A truss robot as defined in claim 3 wherein: the first guide device comprises an end face guide wheel and side guide wheels which are arranged on the transverse sliding block bracket, the end face guide wheel is matched with the upper end face of the transverse guide rail, and the side guide wheels are arranged on two side faces of the transverse guide rail.

5. A truss robot as defined in claim 1 wherein: the longitudinal guide rail comprises a guide rail bracket and a guide rail surface arranged on the upper end surface of the guide rail bracket; the guide rail support is arranged in a shape similar to a Chinese character 'hui', guide rail surfaces are respectively arranged on the upper end surfaces of two sides of the guide rail support to form two parallel guide rails, and the hollow part of the guide rail support is used for providing a space for the lifting support of the lifting device to move up and down.

6. A truss robot as defined in claim 1 wherein: the guide rail surface of the longitudinal guide rail is provided with a guide rail groove and a longitudinal guide rail rack arranged on the outer edge of the guide rail surface;

the lifting device is movably arranged on the longitudinal guide rail by arranging a longitudinal sliding block, the longitudinal sliding block comprises a longitudinal sliding block support, a second driving device arranged on the side surface of the longitudinal sliding block support and a second guiding device arranged on the bottom surface of the longitudinal sliding block support, the second guiding device is matched with the guide rail groove to realize guiding, and the second driving device is matched with the longitudinal guide rail rack to realize driving transmission.

7. The truss robot of claim 6, wherein: the second guiding device comprises a vertical roller wheel and a side roller wheel, wherein the vertical roller wheel is vertically arranged, the side roller wheel is transversely arranged, the vertical roller wheel is opposite to the bottom surface of the guide rail groove, and the side roller wheel is opposite to the vertical surface of the guide rail groove.

8. The truss robot of claim 6, wherein: the second driving device is electrically driven and comprises a second motor support, a second driving motor and a toothed wheel, the second driving motor is fixed on the side face of the longitudinal sliding block support through the second motor support, the power output end of the second motor support is connected with a belt gear, and the belt gear is matched with a longitudinal guide rail rack arranged on the longitudinal guide rail.

9. A truss robot as defined in claim 1 wherein: the lifting device comprises a lifting support, a third driving device, a driving transmission mechanism and a third guiding device, the third driving device drives the lifting support to move up and down through the driving transmission mechanism, and the third guiding device is used for guiding the lifting of the lifting support;

the driving transmission mechanism comprises a motor driving shaft, a driving chain wheel and a turning pressure chain wheel connected with the driving chain wheel through a chain, and the turning pressure chain wheel is fixedly connected to the longitudinal sliding block support through a supporting shaft.

10. A truss robot as defined in claim 9 wherein: the turning chain pressing wheel is arranged inside the lifting support, the inner gear edge of the turning chain pressing wheel is located inside the lifting support, and the side face of the lifting support is provided with a hole channel from top to bottom and used for providing a space for the supporting shaft of the turning chain pressing wheel to pass through in the lifting process of the lifting support.