CN216229387U - High-speed walking frame manipulator and production line - Google Patents
High-speed walking frame manipulator and production line Download PDFInfo
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- CN216229387U CN216229387U CN202122209862.3U CN202122209862U CN216229387U CN 216229387 U CN216229387 U CN 216229387U CN 202122209862 U CN202122209862 U CN 202122209862U CN 216229387 U CN216229387 U CN 216229387U
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Abstract
The utility model provides a high-speed truss manipulator and a production line. Wherein, high-speed truss manipulator includes: the manipulator comprises a travelling frame and a manipulator body; the truss includes: the sliding rail is transversely arranged on the traveling frame body; the manipulator body includes: the device comprises a driving mechanism, a pivoting mechanical arm mechanism and a sucker mechanism; the pivoting mechanical arm mechanism can reciprocate along the slide rail under the driving of the driving mechanism, and at least one mechanical arm of the pivoting mechanical arm mechanism can drive the sucking disc mechanism connected with the pivoting mechanical arm mechanism to synchronously pivot. When the high-speed travelling rack manipulator disclosed by the utility model is used for feeding, the manipulator body can perform integral translation motion along the travelling rack while performing pivoting feeding, so that the feeding speed of a workpiece is increased through the combined motion of pivoting translation and integral translation, the feeding movement stroke is larger, and the actual processing requirements of an industrial production line are fully met.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a high-speed traveling rack manipulator and a production line.
Background
In industrial production, it is often necessary to complete a workpiece loading operation to load a workpiece to a station requiring processing, such as stamping. With the development of automation technology, in order to achieve high feeding efficiency, workpiece feeding is usually performed by a hand-arm robot. However, the existing arm robot mainly realizes the turnover of workpieces at two stations by means of pivoting and translation, and has the problems of low moving speed and low loading efficiency. Therefore, it is necessary to provide a further solution to the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a high-speed truss manipulator and a production line, which aim to overcome the defects in the prior art.
In order to solve the technical problems, the technical scheme of the utility model is as follows:
a high-speed traveling frame robot, comprising: the manipulator comprises a travelling frame and a manipulator body;
the truss includes: the sliding rail is transversely arranged on the travelling frame body;
the manipulator body includes: the device comprises a driving mechanism, a pivoting mechanical arm mechanism and a sucker mechanism;
the pivoting mechanical arm mechanism can reciprocate along the slide rail under the driving of the driving mechanism, and at least one mechanical arm of the pivoting mechanical arm mechanism can drive the sucking disc mechanism connected with the pivoting mechanical arm mechanism to perform synchronous pivoting motion.
As an improvement of the high-speed truss manipulator of the utility model, the truss body comprises: a cross beam and at least one vertical beam supporting the cross beam; the slide rail is arranged on the cross beam.
As an improvement of the high-speed traveling rack robot of the present invention, the driving mechanism includes: the traveling rack comprises a traveling motor, a gear arranged on the output end of the traveling motor and a rack arranged on the traveling rack body;
the walking motor is arranged at one end of the pivoting mechanical arm mechanism, a gear on the walking motor is meshed with the rack, and a sliding block capable of sliding along the sliding rail is further arranged on the base where the walking motor is arranged.
As an improvement of the high-speed traveling rack robot of the present invention, the pivoting robot arm mechanism includes: the device comprises a first mechanical arm, a second mechanical arm, a first pivoting module, a second pivoting module, a lifting module and a third pivoting module;
one end of the first mechanical arm is connected with the base where the driving mechanism is located through the first pivot module, the other end of the first mechanical arm is connected with the base where the lifting module is located through the second pivot module, the output end of the lifting module is connected with one end of the second mechanical arm, and the other end of the second mechanical arm is connected with the sucker mechanism through the third pivot module.
As an improvement of the high-speed traveling frame robot of the present invention, the first pivoting module includes: a first rotating electrical machine and a first reducer; the first rotating motor is vertically arranged and is connected with one end of the first mechanical arm through the first speed reducer.
As an improvement of the high-speed traveling frame robot of the present invention, the second pivot module includes: a second rotating electrical machine and a second reducer; the second rotating motor is vertically arranged and is connected with the base where the lifting module is located through the second speed reducer.
As an improvement of the high-speed traveling rack manipulator of the present invention, the lifting module comprises: the lifting device comprises a lifting motor, a driving belt wheel, a driven belt wheel, a screw rod and a lifting slide block;
the driving belt wheel is installed on the output end of the lifting motor, the driven belt wheel is installed at the bottom of the screw rod, the driving belt wheel is linked with the driven belt wheel through a transmission belt, the lifting slide block is matched with the screw rod and can reciprocate up and down under the driving of the screw rod, and one end of the second mechanical arm is connected with the lifting slide block.
As an improvement of the high-speed traveling frame robot of the present invention, the third pivoting module includes: a third rotating electrical machine and a third reducer; the third rotating motor is vertically arranged and is connected with the sucking disc mechanism through the third speed reducer.
As an improvement of the high-speed traveling rack robot of the present invention, the pivoting robot arm mechanism further includes a fourth rotation module, which includes: a fourth rotating electrical machine and a fourth speed reducer;
the base where the fourth rotating module is located is connected with the output end of the third pivoting module, and the fourth rotating motor is horizontally arranged and connected with the sucker mechanism through the fourth speed reducer.
In order to solve the technical problems, the technical scheme of the utility model is as follows:
a production line, comprising: an upstream processing device, a downstream processing device and a high-speed traveling rack manipulator as described above;
the upstream processing equipment and the downstream processing equipment are oppositely arranged, and the high-speed travelling rack manipulator is arranged between the upstream processing equipment and the downstream processing equipment;
or the upstream processing equipment and the downstream processing equipment are arranged side by side, and the high-speed travelling frame manipulator is arranged on the outer side between the upstream processing equipment and the downstream processing equipment.
Compared with the prior art, the utility model has the beneficial effects that: when the high-speed travelling rack manipulator disclosed by the utility model is used for feeding, the manipulator body can perform integral translation motion along the travelling rack while performing pivoting feeding, so that the feeding speed of a workpiece is increased through the combined motion of pivoting translation and integral translation, the feeding movement stroke is larger, and the actual processing requirements of an industrial production line are fully met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a high-speed gantry robot according to an embodiment of the present invention;
FIG. 2 is a perspective view of another perspective of the high speed gantry robot of the present invention;
FIG. 3 is an enlarged perspective view of the circled portion of FIG. 2;
FIG. 4 is an enlarged perspective view of the pivoting robotic arm mechanism and the suction cup mechanism of FIG. 1;
FIG. 5 is an exploded perspective view of the lifting module of FIG. 1;
FIG. 6 is a top view of one embodiment of a manufacturing line of the present invention;
FIG. 7 is a top view of another embodiment of the manufacturing line of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a high-speed rack robot 100, which includes: a traveling frame 10 and a robot body 20.
The traveling frame 10 is used for realizing the integral translation of the manipulator body 20, and comprises: the manipulator comprises a traveling frame body 11 and a sliding rail 12 transversely arranged on the traveling frame body 11, wherein the manipulator body 20 can integrally perform reciprocating translational motion along the sliding rail 12 under the driving of a driving mechanism.
Wherein, the truss body 11 includes: a cross beam 111 and at least one vertical beam 112 supporting the cross beam 111; the slide rail 12 is disposed on the cross member 111. In one embodiment, the traveling frame 10 may be in the form of a gantry, in which two vertical beams 112 support a cross beam 111, and the slide rail 12 is transversely disposed on the cross beam 111.
The robot body 20 includes: a drive mechanism 21, a pivoting robot arm mechanism 22, and a suction cup mechanism 23.
The pivoting mechanical arm mechanism 22 can reciprocate along the slide rail 12 under the driving of the driving mechanism 21, and at least one mechanical arm of the pivoting mechanical arm mechanism 22 can drive the suction cup mechanism 23 connected with the pivoting mechanical arm mechanism to perform synchronous pivoting motion. Like this, manipulator body 20 snatchs the work piece through sucking disc mechanism 23 after, when carrying out pivot material loading, can also carry out whole translation motion along the bank 10 to through the combined motion of pivot translation and whole translation, improved the material loading speed of work piece, and have great material loading motion stroke.
As shown in fig. 2 and 3, the drive mechanism 21 includes: a traveling motor 211, a gear 212 mounted on the output end of the traveling motor 211, and a rack 213 mounted on the traveling frame body 11. At this time, the traveling motor 211 is disposed at one end of the pivoting robot arm mechanism 22, a gear 212 thereon is engaged with a rack 213, and a base 214 on which the traveling motor 211 is disposed is further provided with a slider that can slide along the slide rail 12. Thus, when the travel motor 211 is operated, the gear 212 is driven to travel along the rack 213, and the pivot robot mechanism 22 and the suction cup mechanism 23 connected thereto are integrally driven to perform a translational motion.
In one embodiment, the base 214 is an L-shaped base, and two ends of the L-shaped base slide along the slide rails 12 disposed on the side and bottom surfaces of the traveling frame body 11 through the sliders, respectively. So, slide rail 12 accessible two directions support the translational motion of manipulator body 20 that leads, and then are favorable to improving manipulator body 20 translational motion's stability, reduce rocking that the translational motion in-process produced.
As shown in fig. 4, the pivoting robot arm mechanism 22 includes: a first robot arm 221, a second robot arm 222, a first pivot module 223, a second pivot module 224, a lift module 225, and a third pivot module 226.
One end of the first robot arm 221 is connected to the base 214 where the driving mechanism 21 is located through the first pivot module 223, the other end of the first robot arm is connected to the base where the lifting module 225 is located through the second pivot module, the output end of the lifting module 225 is connected to one end of the second robot arm 222, and the other end of the second robot arm 222 is connected to the suction mechanism 23 through the third pivot module 226. Thus, the first robot 221 and the second robot 222 can perform translational and pivotal motions while the pivoting robot mechanism 22 performs overall translational motion under the driving of the rotation modules and the lift module 225.
The base of the first pivot module 223 is connected to the base 214 of the driving mechanism 21, and the first pivot module 223 includes: a first rotating electrical machine and a first reducer; the first rotating motor is vertically disposed and connected to one end of the first robot arm 221 via a first reducer. Thus, the first pivot module 223 can drive the first robot 221, the second robot 222, the second pivot module 224, the lift module 225, and the third pivot module 226 to integrally horizontally pivot.
The base of the second pivot module 224 is connected to the other end of the first robot arm 221, and includes: a second rotating electrical machine and a second reducer; the second rotating motor is vertically arranged and is connected with the base where the lifting module 225 is located through a second speed reducer. Thus, the second pivot module 224 can drive the second robot 222, the lift module 225 and the third pivot module 226 to integrally pivot and translate.
As shown in fig. 5, the base where the lifting module 225 is located is connected with a second speed reducer, which includes: a lift motor 2251, a drive pulley 2252, a driven pulley 2253, a lead screw 2254, and a lift slide 2255.
Wherein, driving pulley 2252 is installed on the output of elevator motor 2251, and driven pulley installs in the bottom of lead screw 2254, and driving pulley 2252 and driven pulley 2253 link together through a driving belt, and lift slider 2255 and lead screw 2254 cooperate to can carry out reciprocating motion from top to bottom under the drive of lead screw 2254, and the one end of second arm 222 is connected with lift slider 2255. Therefore, when the lifting motor 2251 works, the second mechanical arm 222 and the suction cup mechanism 23 can be driven to perform synchronous up-and-down reciprocating motion, and the suction cup mechanism 23 is further cooperated to take and discharge materials.
The base of the third pivot module 226 is connected to the other end of the second robot 222, and includes: a third rotating electrical machine and a third reducer; the third rotating motor is vertically arranged and is connected with the suction cup mechanism 23 through a third speed reducer. Thus, the third pivot module 226 can drive the suction cup mechanism 23 to perform translational pivot in the horizontal plane.
In addition, the pivoting robot arm mechanism 22 further includes a fourth rotation module (not shown) including: a fourth rotating electrical machine and a fourth reducer. At this time, the base where the fourth rotation module is located is connected to the output end of the third pivot module 226, and the fourth rotation motor is horizontally disposed and connected to the suction cup mechanism 23 through the fourth speed reducer. So, because the fourth motor level sets up, and then can drive sucking disc mechanism 23 and carry out the vertical upset to realize the turn-over of work piece turnover in-process, the low reaches station of being convenient for is processed different surfaces.
The suction cup mechanism 23 includes: the suction cup comprises a suction cup frame and a plurality of suction cup frames arranged on the suction cup frame. The workpiece to be circulated can be sucked by the suction cup 23.
Based on the same technical concept, the utility model further provides a production line adopting the high-speed truss manipulator of the embodiment.
As shown in fig. 6, the production line of the present embodiment includes: an upstream processing apparatus 200, a downstream processing apparatus 300, and a high-speed gantry robot 100 as described in the above embodiments. In the present embodiment, the upstream processing apparatus 200 and the downstream processing apparatus 300 may be a press apparatus or the like. At this time, the upstream processing tool 200 and the downstream processing tool 300 are disposed to face each other, and the high-speed gantry robot 100 is disposed between the upstream processing tool 200 and the downstream processing tool 300. In this manner, the high-speed gantry robot 100 can transfer and translate the workpiece that has been processed by the upstream processing tool 200 to the downstream processing tool 300.
Based on the same technical concept, the utility model further provides a production line adopting the high-speed truss manipulator of the embodiment.
As shown in fig. 7, the production line of the present embodiment includes: an upstream processing apparatus 400, a downstream processing apparatus 500, and a high speed gantry robot 100 as described in the above embodiments. In this embodiment, the upstream processing apparatus 400 and the downstream processing apparatus 500 may be a punching apparatus or the like. At this time, the upstream processing device 400 and the downstream processing device 500 are arranged side by side, and the high-speed traveling robot 100 is arranged outside between the upstream processing device and the downstream processing device 500. In this manner, the high-speed gantry robot 100 can transfer and translate the workpieces that have been processed by the upstream processing tool 400 into the downstream processing tool 500.
In conclusion, when the high-speed truss manipulator disclosed by the utility model is used for feeding, the manipulator body can perform integral translation motion along the truss while performing pivoting feeding, so that the feeding speed of a workpiece is increased through the combined motion of pivoting translation and integral translation, the feeding motion stroke is large, and the actual processing requirements of an industrial production line are fully met.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A high-speed traveling frame robot, comprising: the manipulator comprises a travelling frame and a manipulator body;
the truss includes: the sliding rail is transversely arranged on the travelling frame body;
the manipulator body includes: the device comprises a driving mechanism, a pivoting mechanical arm mechanism and a sucker mechanism;
the pivoting mechanical arm mechanism can reciprocate along the slide rail under the driving of the driving mechanism, and at least one mechanical arm of the pivoting mechanical arm mechanism can drive the sucking disc mechanism connected with the pivoting mechanical arm mechanism to perform synchronous pivoting motion.
2. The high-speed truss manipulator of claim 1 wherein the truss body comprises: a cross beam and at least one vertical beam supporting the cross beam; the slide rail is arranged on the cross beam.
3. The high-speed gantry robot of claim 1 or 2, wherein the drive mechanism comprises: the traveling rack comprises a traveling motor, a gear arranged on the output end of the traveling motor and a rack arranged on the traveling rack body;
the walking motor is arranged at one end of the pivoting mechanical arm mechanism, a gear on the walking motor is meshed with the rack, and a sliding block capable of sliding along the sliding rail is further arranged on the base where the walking motor is arranged.
4. The high-speed gantry robot of claim 1, wherein the pivoting robotic arm mechanism comprises: the device comprises a first mechanical arm, a second mechanical arm, a first pivoting module, a second pivoting module, a lifting module and a third pivoting module;
one end of the first mechanical arm is connected with the base where the driving mechanism is located through the first pivot module, the other end of the first mechanical arm is connected with the base where the lifting module is located through the second pivot module, the output end of the lifting module is connected with one end of the second mechanical arm, and the other end of the second mechanical arm is connected with the sucker mechanism through the third pivot module.
5. The high-speed gantry robot of claim 4, wherein the first pivot module comprises: a first rotating electrical machine and a first reducer; the first rotating motor is vertically arranged and is connected with one end of the first mechanical arm through the first speed reducer.
6. The high-speed gantry robot of claim 4, wherein the second pivot module comprises: a second rotating electrical machine and a second reducer; the second rotating motor is vertically arranged and is connected with the base where the lifting module is located through the second speed reducer.
7. The high-speed gantry robot of claim 4, wherein the lift module comprises: the lifting device comprises a lifting motor, a driving belt wheel, a driven belt wheel, a screw rod and a lifting slide block;
the driving belt wheel is installed on the output end of the lifting motor, the driven belt wheel is installed at the bottom of the screw rod, the driving belt wheel is linked with the driven belt wheel through a transmission belt, the lifting slide block is matched with the screw rod and can reciprocate up and down under the driving of the screw rod, and one end of the second mechanical arm is connected with the lifting slide block.
8. The high-speed gantry robot of claim 4, wherein the third pivot module comprises: a third rotating electrical machine and a third reducer; the third rotating motor is vertically arranged and is connected with the sucking disc mechanism through the third speed reducer.
9. The high-speed gantry robot of claim 4, wherein the pivoting robotic arm mechanism further comprises a fourth rotation module comprising: a fourth rotating electrical machine and a fourth speed reducer;
the base where the fourth rotating module is located is connected with the output end of the third pivoting module, and the fourth rotating motor is horizontally arranged and connected with the sucker mechanism through the fourth speed reducer.
10. A production line, characterized in that it comprises: an upstream processing apparatus, a downstream processing apparatus and a high-speed gantry robot as claimed in any one of claims 1 to 9;
the upstream processing equipment and the downstream processing equipment are oppositely arranged, and the high-speed travelling rack manipulator is arranged between the upstream processing equipment and the downstream processing equipment;
or the upstream processing equipment and the downstream processing equipment are arranged side by side, and the high-speed travelling frame manipulator is arranged on the outer side between the upstream processing equipment and the downstream processing equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122209862.3U CN216229387U (en) | 2021-09-13 | 2021-09-13 | High-speed walking frame manipulator and production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122209862.3U CN216229387U (en) | 2021-09-13 | 2021-09-13 | High-speed walking frame manipulator and production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216229387U true CN216229387U (en) | 2022-04-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122209862.3U Active CN216229387U (en) | 2021-09-13 | 2021-09-13 | High-speed walking frame manipulator and production line |
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|---|---|
| CN (1) | CN216229387U (en) |
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- 2021-09-13 CN CN202122209862.3U patent/CN216229387U/en active Active
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