CN216422603U

CN216422603U - Cantilever hanging manipulator

Info

Publication number: CN216422603U
Application number: CN202123268442.9U
Authority: CN
Inventors: 林慕尧; 严子泷
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-12-23
Filing date: 2021-12-23
Publication date: 2022-05-03
Anticipated expiration: 2031-12-23

Abstract

The utility model relates to a cantilever hanging manipulator, which comprises a frame component, a cantilever component, a lifting component and a manipulator assembly; wherein: the lifting assembly comprises a pulley, an upright post, a lifting screw rod pair and a lifting motor; the pulley is arranged on the sliding blocks of the pair of tracks of the cantilever, and a transverse screw nut in the transverse screw rod pair is locked at one side of the pulley; the upright column penetrates through the pulley, the upper end of the upright column is locked with an upper top plate, and the lower end of the upright column is locked with a lower top plate; the lifting motor is locked on the upper top plate, a lifting screw rod in the lifting screw rod pair can be rotatably positioned on the upper top plate and is in transmission connection with the lifting motor, and a lifting screw nut matched with the lifting screw rod is locked on one side of the pulley; the manipulator assembly is hung below the lower top plate through a double-shaft hanging seat, and the vertical shaft and the transverse shaft of the double-shaft hanging seat, which are vertically distributed, are driven by a servo motor. The cantilever does not need to be frequently lifted during operation of the structure, and the structure is good in stability, environment-friendly and low in energy consumption.

Description

Cantilever hanging manipulator

The technical field is as follows:

the utility model belongs to the mechanical equipment field, in particular to manipulator is hung to cantilever especially can be used to the unloading operation in the short distance, perhaps is used for the clamping tools.

Background art:

the manipulator is generally applied to industry and agriculture to finish frequent and repeated labor. The common robots are of two major types, namely joint robots and truss robots. The former has wide operation range, good flexibility and high cost, and most of the former is in a small-load operation environment; the latter relatively occupies larger space, has narrower operation surface, but can be competent for heavy-load operation, and has low technical difficulty and low manufacturing cost. For which reason the latter is still the predominant product. Such as:

CN202020448138.9 discloses an automatic unloading manipulator of going up of cantilever type, and it includes supporting component, Z axle subassembly, XZ switching subassembly, X axle subassembly and hand claw subassembly, and the Z axle subassembly sets up on supporting component, and the X axle subassembly hangs through XZ switching subassembly and installs the realization vertical migration on the Z axle subassembly, and the X axle subassembly passes through gear engagement transmission with the XZ switching subassembly and realizes horizontal migration. The upper position and the lower position of the manipulator are moved through the Z shaft assembly, the X shaft assembly is of a cantilever type structure, the XZ switching assembly is connected with the Z shaft assembly, the horizontal movement is achieved, the claw assembly is connected to the guide rail of the X shaft assembly in a sliding mode, and the claw assembly moves in the same direction as the X shaft assembly to achieve workpiece clamping. The horizontal stroke is amplified through the synchronous belt connected between the XZ switching assembly and the gripper assembly, the X-axis plate is driven by the X-axis motor, and the synchronous belt simultaneously drives the gripper assembly to move on the X-axis plate. The structure is complex and the function is single.

CN202121375529.3 discloses a numerical control cantilever type feeding and discharging manipulator, which comprises a base, wherein the top of the base is fixedly connected with an adjusting component, the right side of the adjusting component is fixedly connected with a cantilever component, and the bottom of the cantilever component is fixedly connected with a manipulator component; the adjusting part comprises a fixing barrel which is connected with the top of the base in a rotating mode, an adjusting motor is fixedly connected to the top of the fixing barrel, a lead screw is fixedly connected to an output shaft of the adjusting motor, a thread block is connected to the outer surface of the lead screw in a threaded mode, a stable block is fixedly connected to the left side of the thread block, a mounting plate is fixedly connected to the right side of the thread block, and a driving component is fixedly connected to the bottom of the outer surface of the fixing barrel. This unloading manipulator on numerical control cantilever type through the adjusting part that sets up on the base, can carry out height, position and distance and adjust.

The lifting structure of current truss-like robot is unreasonable, and crossbeam or cantilever together go up and down obviously to load big, and the defect that the energy consumption is high, how to provide a scheme that moves more nimble, it is to become the utility model discloses the object of research.

The invention content is as follows:

the utility model aims at designing a manipulator is hung to cantilever that manipulator end can lift adjustment.

The utility model discloses technical scheme realizes like this: a cantilever hanging manipulator comprises a base assembly, a cantilever assembly, a lifting assembly and a manipulator assembly; the manipulator assembly is hung on a cantilever of the cantilever assembly through a lifting assembly, and the lifting assembly is driven by a transverse screw rod pair in the cantilever assembly to reciprocate along the cantilever; the method is characterized in that: the lifting assembly comprises a pulley, an upright post, a lifting screw rod pair and a lifting motor; the pulley is arranged on the sliding blocks of the pair of tracks of the cantilever, and a transverse screw nut in the transverse screw rod pair is locked at one side of the pulley; the upright column penetrates through the pulley, the upper end of the upright column is locked with an upper top plate, and the lower end of the upright column is locked with a lower top plate; the lifting motor is locked on the upper top plate, a lifting screw rod in the lifting screw rod pair can be rotatably positioned on the upper top plate and is in transmission connection with the lifting motor, and a lifting screw nut matched with the lifting screw rod is locked on one side of the pulley; the manipulator assembly is hung below the lower top plate through a double-shaft hanging seat, and the vertical shaft and the transverse shaft of the double-shaft hanging seat, which are vertically distributed, are driven by a servo motor.

The machine base assembly comprises a turntable base, a slewing bearing, a turntable and a slewing motor; the turntable is positioned on the turntable base through a slewing bearing, and a cantilever in the cantilever assembly is locked and supported by the turntable; the rotary motor is locked on the turntable and is in transmission connection with a speed reducer input shaft arranged on one side of the turntable base to drive the turntable to rotate and adjust the direction.

The cantilever assembly comprises a cantilever, a track, a transverse screw rod pair and a transverse motor; the cantilever is formed by combining a pair of rectangular steel pipes side by side, one end of the cantilever is fixed into a whole by a cantilever base, and the cantilever base is locked and fixed on a turntable in the base assembly; the pair of tracks are separately arranged on the upper surfaces of the two rectangular steel pipes, a transverse screw rod in the transverse screw rod pair is parallel to the rectangular steel pipes, one end of the transverse screw rod can be rotatably positioned on the cantilever seat, and the transverse screw rod is in transmission connection with a transverse motor locked on the cantilever seat; and a transverse screw nut matched with the transverse screw rod is locked on a pulley in the lifting assembly.

The lower part of the machine base component is also provided with a base which is driven and supported by a pair of oil cylinders and can move up and down relative to the base to lift the height of the cantilever; the four corners of the base component are also provided with guide columns which correspondingly penetrate through the bushings arranged on the base; the lower end parts of the four guide columns are fixedly connected into a whole through a lower connecting plate.

The lifting screw rod is arranged between the two upright columns and penetrates through the gap between the two rectangular steel pipes of the cantilever side by side with the two upright columns.

The double-shaft hanging seat is of an Jiong type structure and is provided with a transverse plate at the top and vertical plates bent at two sides, the transverse plate can be rotatably positioned on a lower top plate of the lifting assembly through a vertical shaft, and the orientation of the transverse plate is driven and adjusted by a servo motor locked on the lower top plate; the manipulator assembly can be rotatably positioned on the two vertical plates through the transverse shaft, and the operation angle of the manipulator is adjusted by the driving of a servo motor locked on the outer sides of the vertical plates.

The utility model has the characteristics of ingenious conception, reasonable design, stable operation and small load; especially, the manipulator assembly is directly driven by the lifting component to lift, the cantilever component is removed from lifting synchronously, the lifting load is greatly reduced, the operation of loading and unloading is more energy-saving, the flexibility is higher, and the requirement of the cantilever on the environment due to frequent lifting is reduced.

Description of the drawings:

the present invention will be further explained with reference to the following specific drawings:

FIG. 1 is a schematic view of a cantilever-type hanging robot

FIG. 2 is an exploded view of a cantilever hanging robot

FIG. 3 is a schematic view of a robot assembly

FIG. 4 is an exploded view of the base assembly

Wherein

1-frame assembly

11-turntable base 12-slewing bearing 13-turntable 14-slewing motor

15-reducer 16-guide column 17-lower connecting plate

2-cantilever assembly

21-cantilever 211-rectangular steel tube 22-track 221-slider

23-transverse screw rod pair 231-transverse screw rod 232-transverse screw nut 24-transverse motor

25-cantilever base

3-lifting assembly

31-pulley 32-upright column 33-lifting screw rod pair 331-lifting screw rod

332-lifting screw nut 34-lifting motor 35-upper top plate 36-lower top plate

4-manipulator assembly

41-double-shaft hanging seat 411-transverse plate 412-vertical plate 42-vertical shaft

43-transverse shaft 44-servo motor 45-saw 46-suction cup

5-base

51-oil cylinder 52-lining

The specific implementation mode is as follows:

referring to fig. 1 to 4, the cantilever hanging manipulator comprises a base component 1, a cantilever component 2, a lifting component 3 and a manipulator assembly 4; wherein:

the stand assembly 1 comprises a turntable base 11, a slewing bearing 12, a turntable 13 and a slewing motor 14; the rotary table 13 is positioned on the rotary table seat 11 through a rotary bearing 12, and a cantilever 21 in the cantilever assembly 2 is locked and supported by the rotary table 13; the rotary motor 14 is locked on the rotary disc 13 and is in transmission connection with an input shaft of a speed reducer 15 installed on one side of the rotary disc seat 11 to drive the rotary disc 13 to rotate to adjust the orientation, i.e. to adjust the orientation angle of the swing of the cantilever assembly 2, as shown in fig. 4.

Further, the lower part of the machine base component 1 is also provided with a base 5, the machine base component is lifted by the base 5, the machine base component 1 is driven and supported by a pair of oil cylinders 51, and can move up and down relative to the base 5 to lift the height of the cantilever 21 so as to cross the obstacle below and meet the requirement of operation on high-level materials; the four corners of the stand component 1 are also provided with a guiding column 16, and the guiding column 16 correspondingly penetrates through a bush 52 arranged on the base 5 to keep the stability of the upper parts of the stand component 1 and the like; the lower ends of the four pilot columns 16 are fixedly connected into a whole through a lower connecting plate 17, namely, the rigid relation is kept.

The cantilever assembly 2 comprises a cantilever 21, a track 22, a transverse screw rod pair 23 and a transverse motor 24; the cantilever 21 is formed by combining a pair of rectangular steel pipes 211 side by side, one end of the cantilever is fixed into a whole by a cantilever base 25, and the cantilever base 25 is locked on a rotating disc 13 in the base assembly; the pair of tracks 22 are separately arranged on the upper surfaces of the two rectangular steel pipes 211, a transverse screw 231 in the transverse screw pair is parallel to the rectangular steel pipes 211, one end of the transverse screw is rotatably positioned on the cantilever seat 25, and the transverse screw 231 is in transmission connection with a transverse motor 24 locked on the cantilever seat 25; a transverse screw 232 engaged with the transverse screw 231 is locked on the pulley 31 in the lifting assembly 3. The transverse motor 24 rotates forward and backward, and drives the pulley 31 to reciprocate through the transverse screw rod 231 and the transverse screw nut 232, so that the linear operation of the manipulator assembly 4 is met.

The lifting assembly 3 comprises a pulley 31, a stand column 32, a lifting screw rod pair 33 and a lifting motor 34; the pulley 31 is erected on a pair of track sliding blocks 221 of the cantilever, a transverse screw 232 in the transverse screw rod pair 23 is locked at one side of the pulley 31, and the transverse screw 232 drives the pulley to reciprocate; the upright post 32 penetrates through the pulley 31, the upper end of the upright post is locked with an upper top plate 35, and the lower end of the upright post is locked with a lower top plate 36; the lifting motor 34 is locked on the upper top plate 35, the lifting screw 331 in the lifting screw pair can be rotatably positioned on the upper top plate 35 and is in transmission connection with the lifting motor 34, and the lifting screw 332 matched with the lifting screw is locked on one side of the pulley 31. The lifting motor 34 rotates forward and backward, and the lifting screw 331 and the lifting screw 332 cooperate to reversely drive the upright column 32 to lift relative to the pulley 31. More specifically, the lifting assembly 3 has a pair of upright columns 32, and the lifting screw 331 is located between the two upright columns 32 and passes through the gap between the two rectangular steel pipes 211 of the cantilever in parallel with the two upright columns 32, so as to form a more balanced supporting structure.

The robot assembly 4 is suspended below the lower top plate 36 by a dual-axis hanger 41, and is driven by a servo motor 44 on two vertical and horizontal axes 42 and 43 of the dual-axis hanger 41, which are vertically distributed. More specifically, the biaxial hanger 41 has an Jiong-type structure, and has a horizontal plate 411 at the top and vertical plates 412 bent at two sides; the transverse plate 411 can be rotatably positioned on the lower top plate 36 of the lifting assembly through the vertical shaft 42, and the servo motor 44 locked on the lower top plate 36 drives the adjustment of the orientation, so that 360-degree adjustment is met; the manipulator assembly 4 can be rotatably positioned on two vertical plates 412 through a transverse shaft 43, and the operation angle of the manipulator can be adjusted by driving a servo motor 44 locked on the outer side of one vertical plate, so that the operation surface of 270 ranges can be basically met.

Referring to fig. 2 and 3, the manipulator in the manipulator assembly 4 may be designed according to specific working conditions, in this example, a saw 45 and a suction cup 46, respectively, the saw 45 is used to reciprocate linearly along the cantilever 21 to cut the shallow slot, and the suction cup 46 is used to suck the plate material, thereby completing the plate material transfer and the swing angle. The manipulator can also be tools such as a clamp and a welding gun, and different operation requirements are met.

Claims

1. A cantilever hanging manipulator comprises a base assembly, a cantilever assembly, a lifting assembly and a manipulator assembly; the manipulator assembly is hung on a cantilever of the cantilever assembly through a lifting assembly, and the lifting assembly is driven by a transverse screw rod pair in the cantilever assembly to reciprocate along the cantilever; the method is characterized in that: the lifting assembly comprises a pulley, an upright post, a lifting screw rod pair and a lifting motor; the pulley is erected on the sliding blocks of the pair of tracks of the cantilever, and a transverse screw nut in the transverse screw rod pair is locked on one side of the pulley; the upright column penetrates through the pulley, the upper end of the upright column is locked with an upper top plate, and the lower end of the upright column is locked with a lower top plate; the lifting motor is locked on the upper top plate, a lifting screw rod in the lifting screw rod pair can be rotatably positioned on the upper top plate and is in transmission connection with the lifting motor, and a lifting screw nut matched with the lifting screw rod is locked on one side of the pulley; the manipulator assembly is hung below the lower top plate through a double-shaft hanging seat, and the vertical shaft and the transverse shaft of the double-shaft hanging seat, which are vertically distributed, are driven by a servo motor.

2. The boom hanger robot of claim 1, wherein: the base assembly comprises a turntable base, a slewing bearing, a turntable and a slewing motor; the turntable is positioned on the turntable base through a slewing bearing, and a cantilever in the cantilever assembly is locked and supported by the turntable; the rotary motor is locked on the turntable and is in transmission connection with a speed reducer input shaft arranged on one side of the turntable base to drive the turntable to rotate and adjust the direction.

3. A boom hanger robot according to claim 1 or 2, wherein: the cantilever assembly comprises a cantilever, a track, a transverse screw rod pair and a transverse motor; the cantilever is formed by combining a pair of rectangular steel pipes side by side, one end of the cantilever is fixed into a whole by a cantilever base, and the cantilever base is locked and fixed on a turntable in the base assembly; the pair of tracks are separately arranged on the upper surfaces of the two rectangular steel pipes, a transverse screw rod in the transverse screw rod pair is parallel to the rectangular steel pipes, one end of the transverse screw rod can be rotatably positioned on the cantilever seat, and the transverse screw rod is in transmission connection with a transverse motor locked on the cantilever seat; and a transverse screw nut matched with the transverse screw rod is locked on a pulley in the lifting assembly.

4. The boom hanger robot of claim 3, wherein: the lower part of the machine base component is also provided with a base which is driven and supported by a pair of oil cylinders and can move up and down relative to the base to lift the height of the cantilever; the four corners of the base component are also provided with guide columns which correspondingly penetrate through the bushings arranged on the base; the lower end parts of the four guide columns are fixedly connected into a whole through a lower connecting plate.

5. The boom hanger robot of claim 3, wherein: the vertical columns in the lifting assembly are in a pair, and the lifting screw rod is positioned between the two vertical columns and forms a gap between the two rectangular steel pipes which penetrate through the cantilever side by side with the two vertical columns.

6. The boom hanger robot of claim 1, wherein: the double-shaft hanging seat is of an Jiong type structure and is provided with a transverse plate at the top and a vertical plate with two bent sides, the transverse plate can be rotatably positioned on a lower top plate of the lifting assembly through a vertical shaft, and the orientation of the transverse plate is driven and adjusted by a servo motor locked on the lower top plate; the manipulator assembly can be rotatably positioned on the two vertical plates through the transverse shaft, and the operation angle of the manipulator is adjusted by the driving of a servo motor locked on the outer sides of the vertical plates.