CN216189120U - Truss handling device suitable for heavy load long distance - Google Patents
Truss handling device suitable for heavy load long distance Download PDFInfo
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- CN216189120U CN216189120U CN202122631665.0U CN202122631665U CN216189120U CN 216189120 U CN216189120 U CN 216189120U CN 202122631665 U CN202122631665 U CN 202122631665U CN 216189120 U CN216189120 U CN 216189120U
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Abstract
The utility model relates to the technical field of automatic handling equipment manufacturing, in particular to a truss handling device which is high in walking precision, stable in bearing and capable of overcoming the influence of deflection of a large-load large-span truss and is suitable for large-load long distance.
Description
Technical Field
The utility model relates to the technical field of automatic handling equipment manufacturing, in particular to a truss handling device which is high in walking precision, stable in bearing and capable of overcoming the deflection influence of a large-load large-span truss and is suitable for a large-load long distance.
Background
The truss carrying robot is provided with the X, Y, Z-based three-axis position adjusting mechanism on the truss main body, and is matched with the manipulator grabbing mechanism, so that automatic operations of grabbing, carrying, stacking and the like of workpieces can be realized. The existing truss handling device can be fully used for handling small-weight (load 100-200 kg) and short-span loads, but for long-range handling of large materials, the long-range truss (with the length not less than 15 meters) often generates certain deflection under the influence of large loads (such as 2 tons) and has the problems of unsmooth walking or unstable load carrying and the like.
For example, chinese patent document CN111716326A discloses a truss manipulator based on transportation, which adopts a traveling guide structure in which a linear guide rail and a slider are combined, so that when a truss with a large span is bent due to a heavy load, the guide rail is twisted, the guide rail and the slider cannot be ideally matched to provide guidance for the entire traveling mechanism, and the problem of unsmooth traveling of equipment will occur.
In addition, when the equipment is used for realizing heavy-weight conveying operation, a single-side supporting beam is often adopted as a travelling mechanism for realizing load transverse position adjustment in the prior art, as shown in chinese patent document CN112499240A, when the structure is used for conveying heavy-weight materials, materials pull one side of the supporting beam of the transverse travelling mechanism under the action of gravity, and the supporting beam is twisted after long-term use, which causes equipment failure.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the utility model provides the truss carrying device which is high in walking precision, stable in bearing and capable of overcoming the deflection influence of a large-load large-span truss and is suitable for a large-load long distance.
The utility model is achieved by the following measures:
the utility model provides a truss handling device suitable for heavy load long distance is equipped with two X axle supporting beams that are parallel to each other, is equipped with Y axle walking beam on two X axle supporting beams, Y axle walking beam links to each other with the X axle supporting beam of both sides through rack and pinion drive mechanism respectively, and its characterized in that still is equipped with X axle walking guiding mechanism, X axle walking guiding mechanism is including setting up the gyro wheel rail on X axle supporting beam and setting up the roller train on Y axle walking beam, the gyro wheel rail sets up along X axle supporting beam's length direction, the roller train includes along the rolling walking gyro wheel of gyro wheel rail upper surface and offsets rolling positioning roller with the gyro wheel rail side.
The roller track is a strip-shaped boss arranged along an X-axis supporting beam, more than two walking rollers walking along the upper surface of the strip-shaped boss are arranged in a roller group on the Y-axis walking beam, the walking rollers are respectively connected to the side surface of the Y-axis walking beam through roller wheel shafts, the roller group also comprises a positioning roller group consisting of two positioning rollers symmetrically arranged at two sides of the strip-shaped boss roller track, the circumferential direction of the positioning roller is in contact rolling with the side wall of the strip-shaped boss roller track, the positioning rollers in the positioning roller group are connected with a positioning roller bracket through the roller wheel shafts, the positioning roller bracket is connected with the Y-axis walking beam, furthermore, the positioning roller bracket is a T-shaped bracket, the two positioning rollers are respectively arranged at two ends of the positioning roller bracket, in order to further improve the matching stability of the positioning roller group and the roller track, a guide groove matched with the strip-shaped boss track is arranged at the lower side of the positioning roller bracket, the positioning effect of the positioning roller group and the roller rail in the walking process of the mechanism is ensured.
The Y-axis walking beam is provided with a Z-axis carrying mechanism, the Y-axis walking beam comprises two Y-direction supporting beams which are parallel to each other, the Z-axis carrying mechanism is arranged between the two Y-direction supporting beams, and the Z-axis carrying mechanism is respectively connected with the two Y-direction supporting beams through a gear rack transmission mechanism.
The Z-axis carrying mechanism is provided with a vertical upright post, a supporting base, a gear rack transmission mechanism and a Z-axis motor, wherein a rack in the gear rack transmission mechanism is arranged along the vertical upright post, a gear is driven by the Z-axis motor through a speed reducer, and in order to meet the requirement of heavy load, the Z-axis carrying mechanism is also provided with a lifting cylinder which shares load weight with the lifting mechanism below the supporting base in the Z-axis carrying mechanism.
The lower part of the Z-axis carrying mechanism is connected with a suction/clamping mechanism which can be realized by an electromagnet suction mechanism or a mechanical arm or a clamping jaw, and further, a rotating mechanism realized by a steering motor, a steering shaft and a steering seat is arranged between the suction/clamping mechanism and the Z-axis carrying mechanism and is used for finishing the horizontal angle adjustment of the gripped materials.
The two groups of gear rack transmission mechanisms of the Y-axis walking beam can adopt the same motor to drive synchronous operation through the coupler, and can also adopt two motors outputting synchronous driving signals to drive operation.
According to the actual engineering requirements, more than two Y-axis walking beams can be arranged, and each Y-axis walking beam is correspondingly provided with a Z-axis conveying mechanism, so that the requirements of bidirectional conveying or multi-frequency conveying are met.
When the X-axis walking guide mechanism works, the adjustment of the front-back, left-right and vertical material carrying directions can be realized through the adjustment of the X, Y, Z three-axis direction, the X-axis walking guide mechanism is applied to large-span X-axis walking and carrying, for example, X-axis carrying walking larger than 15 meters is executed, accurate displacement in the X direction can be realized through the gear rack mechanism, the problem of unsmooth walking caused by the distortion and deformation of a support beam in the process of large-weight long-distance walking can be effectively solved through the X-axis walking guide mechanism, and the carrying efficiency is improved; in Y to the handling, through setting up Z axle handling mechanism between two Y to a supporting beam of Y to walking beam, avoid the heavy load to arouse Y to walking beam distortion deformation, utilize to promote the cylinder in the Z axle handling mechanism simultaneously and share heavy load weight, make whole equipment can satisfy the material handling demand that is not less than 2 tons.
Compared with the prior art, the utility model has the remarkable advantages of high walking and carrying precision, good stability and the like.
Description of the drawings:
FIG. 1 is a schematic diagram of the present invention.
FIG. 2 is a schematic structural view of an X-axis walking guide mechanism in the present invention.
FIG. 3 is a schematic structural view of the Y-axis walking beam of the present invention.
FIG. 4 is a schematic view of a Z-axis transport mechanism according to the present invention.
Reference numerals: the device comprises an X-axis support beam 1, a Y-axis walking beam 2, a roller rail 3, a walking roller 4, a positioning roller 5, a positioning roller bracket 6, a guide groove 7, a Z-axis carrying mechanism 8, a Y-axis support beam 9, a linear guide rail 10, a lifting cylinder 11, a motor 12 and a coupling 13.
The specific implementation mode is as follows:
the utility model is further described below with reference to the accompanying drawings and examples.
As shown in the attached figure 1, the utility model provides a truss carrying device suitable for large-load long distance, which is provided with two X-axis supporting beams 1 which are parallel to each other, wherein Y-axis walking beams 2 are arranged on the two X-axis supporting beams 1, the Y-axis walking beams 2 are respectively connected with the X-axis supporting beams 1 on two sides through a gear-rack transmission mechanism, and an X-axis walking guide mechanism is further arranged, the X-axis walking guide mechanism comprises a roller rail 3 arranged on the X-axis supporting beam 1 and a roller group arranged on the Y-axis walking beams, the roller rail is arranged along the length direction of the X-axis supporting beams, and the roller group comprises a walking roller 4 rolling along the upper surface of the roller rail and a positioning roller 5 rolling against the side surface of the roller rail.
The roller rail 3 is a strip-shaped boss arranged along an X-axis supporting beam 1, more than two walking rollers 4 walking along the upper surface of the strip-shaped boss are arranged in a roller group on the Y-axis walking beam 2, the walking rollers 4 are respectively connected with the side surface of the Y-axis walking beam 2 through roller wheel shafts, the roller group also comprises a positioning roller group consisting of two positioning rollers symmetrically arranged at two sides of the strip-shaped boss roller rail, the circumferential direction of the positioning roller 5 is contacted with the side wall of the strip-shaped boss roller rail 3 for rolling, the positioning rollers 5 in the positioning roller 5 group are connected with a positioning roller bracket through the roller wheel shafts, the positioning roller bracket 6 is connected with the Y-axis walking beam 2, furthermore, the positioning roller bracket 6 is a T-shaped bracket, the two positioning rollers 5 are respectively arranged at two ends of the positioning roller bracket 6, in order to further improve the matching stability of the positioning roller group and the roller rail, and a guide groove 7 matched with the strip-shaped boss roller rail is formed in the lower side of the positioning roller bracket, so that the positioning effect of the positioning roller group and the roller rail 3 in the walking process of the mechanism is ensured.
The Y-axis walking beam 2 is provided with a Z-axis carrying mechanism 8, the Y-axis walking beam 2 comprises two Y-direction supporting beams 9 which are parallel to each other, the Z-axis carrying mechanism is arranged between the two Y-direction supporting beams 9, the Z-axis carrying mechanism 8 is respectively connected with the two Y-direction supporting beams 9 through a gear rack transmission mechanism, further, in order to ensure the adjustment stability of the Z-axis carrying mechanism in the Y direction, the Y-axis walking guide mechanism is also provided, the Y-axis walking guide mechanism comprises a linear guide rail 10 arranged on the Y-direction supporting beams and a sliding block arranged on the Z-axis carrying mechanism 8, and the sliding block is matched with the linear guide rail 10.
The Z-axis carrying mechanism 8 is provided with a vertical upright post, a supporting base, a gear rack transmission mechanism and a Z-axis motor, wherein a rack in the gear rack transmission mechanism is arranged along the vertical upright post, a gear is driven by the Z-axis motor through a speed reducer, and in order to meet the requirement of heavy load, the Z-axis carrying mechanism 8 is also provided with a lifting cylinder 11, and the lifting cylinder 11 and the lifting mechanism below the supporting base in the Z-axis carrying mechanism share the load weight together.
The lower part of the Z-axis carrying mechanism is connected with a suction/clamping mechanism which can be realized by an electromagnet suction mechanism or a mechanical arm or a clamping jaw, and further, a rotating mechanism realized by a steering motor, a steering shaft and a steering seat is arranged between the suction/clamping mechanism and the Z-axis carrying mechanism and is used for finishing the horizontal angle adjustment of the gripped materials.
The two groups of gear rack transmission mechanisms of the Y-axis walking beam can adopt the same motor 12 to drive synchronous operation through the coupler 13, and can also adopt two motors outputting synchronous driving signals to drive operation.
According to the actual engineering requirements, more than two Y-axis walking beams can be arranged, and each Y-axis walking beam is correspondingly provided with a Z-axis conveying mechanism, so that the requirements of bidirectional conveying or multi-frequency conveying are met.
Example 1:
as shown in the attached figure 1, the present example provides a bidirectional large-load long-distance truss carrying device, which is provided with two X-axis supporting beams 1 parallel to each other, two sets of Y-axis walking beams 2 are arranged on the two X-axis supporting beams 1, the Y-axis walking beams 2 are respectively connected with the X-axis supporting beams 1 at two sides through a gear rack transmission mechanism, a Z-axis carrying mechanism 8 is arranged on the Y-axis walking beams 2, the Y-axis walking beams 2 comprise two Y-axis supporting beams 9 parallel to each other, the Z-axis carrying mechanism is arranged between the two Y-axis supporting beams 9, the Z-axis carrying mechanism 8 is respectively connected with the two Y-axis supporting beams 9 through a gear rack transmission mechanism, in order to ensure the Y-axis adjusting stability of the Z-axis carrying mechanism, a Y-axis walking guide mechanism is also arranged, the Y-axis walking guide mechanism comprises a linear guide rail 10 arranged on the Y-axis supporting beam and a slide block arranged on the Z-axis carrying mechanism 8, the slide block is matched with the linear guide rail 10;
the X-axis supporting beam 1 is provided with an X-axis walking guide mechanism which comprises a roller track 3 arranged on the X-axis supporting beam 1 and a roller group arranged on the Y-axis walking beam 2, the roller track 3 is arranged along the length direction of the X-axis supporting beam 1, and the roller group comprises a walking roller 4 rolling along the upper surface of the roller track 3 and a positioning roller 5 rolling against the side surface of the roller track;
as shown in the attached figure 2, the roller track 3 is a strip-shaped boss arranged along the X-axis support beam 1, more than two walking rollers 4 walking along the upper surface of the strip-shaped boss are arranged in a roller group on the Y-axis walking beam 2, the walking rollers 4 are respectively connected with the side surface of the Y-axis walking beam 2 through roller wheel shafts, the roller group also comprises a positioning roller group consisting of two positioning rollers symmetrically arranged at the two sides of the strip-shaped boss roller track, the circumferential direction of the positioning roller 5 is contacted with the side wall of the strip-shaped boss roller track 3 for rolling, the positioning rollers 5 in the positioning roller 5 group are connected with a positioning roller bracket through the roller wheel shafts, the positioning roller bracket 6 is connected with the Y-axis walking beam 2, the positioning roller bracket 6 is a T-shaped bracket in the example, the two positioning rollers 5 are respectively arranged at the two ends of the positioning roller bracket 6, and a guide groove 7 matched with the strip-shaped boss roller track is arranged at the lower side of the positioning roller bracket, the positioning effect of the positioning roller group and the roller rail 3 in the mechanism walking process is ensured;
the Z-axis carrying mechanism 8 is provided with a vertical upright post, a supporting base, a gear rack transmission mechanism and a Z-axis motor, wherein a rack in the gear rack transmission mechanism is arranged along the vertical upright post, a gear is driven by the Z-axis motor through a speed reducer, and in order to meet the requirement of heavy load, the Z-axis carrying mechanism 8 is also provided with a lifting cylinder 11, and the lifting cylinder 11 and the lifting mechanism below the supporting base in the Z-axis carrying mechanism share the load weight;
in the embodiment, the suction/clamping mechanism is connected below the Z-axis conveying mechanism 8, and when the material conveying mechanism works, the adjustment of the front-back, left-right and vertical conveying directions of the material can be realized through the adjustment of X, Y, Z three-axis direction; in Y to the handling, through setting up Z axle handling mechanism between two Y to a supporting beam of Y to walking beam, avoid the heavy load to arouse Y to walking beam distortion deformation, utilize to promote the cylinder in the Z axle handling mechanism simultaneously and share heavy load weight, make whole equipment can satisfy the material handling demand that is not less than 2 tons.
Compared with the prior art, the utility model has the remarkable advantages of high walking and carrying precision, good stability and the like.
Claims (7)
1. The utility model provides a truss handling device suitable for heavy load long distance is equipped with two X axle supporting beams that are parallel to each other, is equipped with Y axle walking beam on two X axle supporting beams, Y axle walking beam links to each other with the X axle supporting beam of both sides through rack and pinion drive mechanism respectively, and its characterized in that still is equipped with X axle walking guiding mechanism, X axle walking guiding mechanism is including setting up the gyro wheel rail on X axle supporting beam and setting up the roller train on Y axle walking beam, the gyro wheel rail sets up along X axle supporting beam's length direction, the roller train includes along the rolling walking gyro wheel of gyro wheel rail upper surface and offsets rolling positioning roller with the gyro wheel rail side.
2. The truss transporting device for the heavy load long distance as claimed in claim 1, wherein the roller track is a bar-shaped boss disposed along the X-axis supporting beam, more than two walking rollers walking along the upper surface of the bar-shaped boss are disposed in the roller group on the Y-axis walking beam, the walking rollers are respectively connected to the side surface of the Y-axis walking beam through roller shafts, the roller group further comprises two positioning roller groups symmetrically disposed at both sides of the bar-shaped boss roller track, the circumferential direction of the positioning rollers contact and roll with the side wall of the bar-shaped boss roller track, the positioning rollers in the positioning roller groups are connected to the positioning roller support through the roller shafts, and the positioning roller support is connected to the Y-axis walking beam.
3. The truss handling device suitable for large-load long distances as claimed in claim 2, wherein the positioning roller bracket is a T-shaped bracket, two positioning rollers are respectively arranged at two ends of the positioning roller bracket, and a guide groove matched with the strip-shaped boss roller rail is arranged at the lower side of the positioning roller bracket, so that the positioning effect of the positioning roller set and the roller rail is ensured in the mechanism walking process.
4. The truss transporting device for the large-load long distance as claimed in claim 1, wherein the Y-axis traveling beam is provided with a Z-axis transporting mechanism, the Y-axis traveling beam comprises two Y-direction supporting beams parallel to each other, the Z-axis transporting mechanism is arranged between the two Y-direction supporting beams, and the Z-axis transporting mechanism is connected with the two Y-direction supporting beams through a gear-rack transmission mechanism.
5. The truss handling device for large-load long distances as recited in claim 4, wherein the Z-axis handling mechanism is provided with a vertical column, a support base, a rack and pinion transmission mechanism, and a Z-axis motor, wherein a rack in the rack and pinion transmission mechanism is arranged along the vertical column, and a gear is driven by the Z-axis motor through a speed reducer.
6. The truss handling device for large-load long distances of claim 1, wherein the two sets of rack and pinion mechanisms of the Y-axis walking beam can be driven by the same motor through a coupler to run synchronously, or by two motors outputting synchronous driving signals.
7. The truss transport device for large loads and long distances of claim 1, wherein more than two Y-axis walking beams are provided, and a Z-axis transport mechanism is correspondingly provided on each Y-axis walking beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122631665.0U CN216189120U (en) | 2021-10-30 | 2021-10-30 | Truss handling device suitable for heavy load long distance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122631665.0U CN216189120U (en) | 2021-10-30 | 2021-10-30 | Truss handling device suitable for heavy load long distance |
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| CN216189120U true CN216189120U (en) | 2022-04-05 |
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| CN202122631665.0U Active CN216189120U (en) | 2021-10-30 | 2021-10-30 | Truss handling device suitable for heavy load long distance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114751143A (en) * | 2022-04-21 | 2022-07-15 | 中国船舶重工集团公司第七一三研究所 | Modularization heavy load packing box handling device |
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2021
- 2021-10-30 CN CN202122631665.0U patent/CN216189120U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114751143A (en) * | 2022-04-21 | 2022-07-15 | 中国船舶重工集团公司第七一三研究所 | Modularization heavy load packing box handling device |
| CN114751143B (en) * | 2022-04-21 | 2024-05-28 | 中国船舶重工集团公司第七一三研究所 | Modularized heavy-load cargo box carrying device |
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