CN216889656U

CN216889656U - Swing link type steel structure box girder transfer robot

Info

Publication number: CN216889656U
Application number: CN202123135022.3U
Authority: CN
Inventors: 杨建国; 庞宏玮; 朱维金
Original assignee: Tianjin Xinsong Robot Automation Co ltd
Current assignee: Tianjin Xinsong Robot Automation Co ltd
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-07-05
Anticipated expiration: 2031-12-13

Abstract

The utility model relates to a carrying device, in particular to a swing link type steel structure box girder carrying robot. The device comprises a conveying line, a frame, a translation driving mechanism, a translation module, a lifting appliance and two groups of swing rod mechanisms, wherein the frame is of a gantry type structure crossing two sides of the conveying line, and the translation module is slidably arranged on a top cross beam of the frame; the translation driving mechanism is arranged on a top cross beam of the frame, the output end of the translation driving mechanism is connected with the translation module, and the translation driving mechanism is used for driving the translation module to move along the top cross beam; the two groups of swing rod mechanisms are symmetrically arranged on two sides of the translation module, and are hinged with the lifting appliance. The utility model has the advantages of compact structure, stable operation, quick action, high efficiency and flexibility in adjustment and control, convenience and no limitation of the height of a factory building.

Description

Swing link type steel structure box girder transfer robot

Technical Field

The utility model relates to a carrying device, in particular to a swing link type steel structure box girder carrying robot.

Background

At present, in the steel structure box girder welding manufacturing process of bridge, most steel structure box girders are carried to the transfer chain and are accomplished by the crane, lean on crane handling inefficiency, can't satisfy mass production's demand, and manufacturing cost is high. To meet the production requirements, handling equipment has been used, in which machines are used instead of cranes to perform the handling work. At present, the rectangular coordinate type carrying robot is widely applied to industries such as logistics, warehouses and the like, and is labor-saving, simple to operate and high in carrying efficiency. However, the traditional rectangular coordinate type transfer robot has a complex structure, and has the disadvantages of slow equipment operation speed, high failure rate, poor stability, high energy consumption and high maintenance cost. In addition, simultaneously, the floor space is large, the transportation and the installation are inconvenient, the carrying efficiency is low, and the application range is very limited. Therefore, the lift axle of traditional rectangular coordinate form manipulator to the transport operating mode that the difference in height is big, for example from ground station to transfer chain on, it has the requirement to occupy the factory building height, hardly suits to the restricted operating mode of factory building height. Therefore, there is a high necessity for a steel structural member conveying apparatus having a simple structure, a small floor space, and high conveying efficiency.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, an object of the present invention is to provide a swing link type steel box girder transfer robot, so as to solve the problems of a conventional rectangular coordinate type transfer robot, such as complicated structure, slow equipment operation speed, high failure rate, poor stability, and high energy consumption and maintenance cost.

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

the utility model provides a swing link type steel structure box girder carrying robot which comprises a conveying line, a frame, a translation driving mechanism, a translation module, a lifting appliance and two sets of swing link mechanisms, wherein the frame is of a gantry type structure crossing two sides of the conveying line, and the translation module is slidably arranged on a top cross beam of the frame; the translation driving mechanism is arranged on a top cross beam of the frame, the output end of the translation driving mechanism is connected with the translation module, and the translation driving mechanism is used for driving the translation module to move along the top cross beam; the two groups of swing rod mechanisms are symmetrically arranged on two sides of the translation module, and are hinged with the lifting appliance.

In a possible implementation mode, the swing rod mechanism comprises a swing rod driving mechanism I, a swing rod driving mechanism II, a swing rod assembly I and a swing rod assembly II, wherein the swing rod driving mechanism I and the swing rod driving mechanism II are arranged on the translation module, the upper ends of the swing rod assembly I and the swing rod assembly II are respectively connected with the swing rod driving mechanism I and the swing rod driving mechanism II, and the lower ends of the swing rod assembly I and the swing rod assembly II are hinged to the lifting appliance.

In one possible implementation mode, the swing rod assembly I comprises an upper swing rod I and a lower swing rod I; one ends of an upper swing rod I and a lower swing rod I are hinged, the other end of the upper swing rod I is fixedly connected with a swing rod driving mechanism I, and the other end of the lower swing rod I is hinged with one end of the lifting appliance;

the swing rod assembly II comprises an upper swing rod II and a lower swing rod II; one end of the upper swing rod II is hinged with one end of the lower swing rod II; the other end of the upper swing rod II is fixedly connected with the swing rod driving mechanism II, and the other end of the lower swing rod II is hinged with the other end of the lifting appliance.

In a possible implementation manner, the upper swing rod I and the upper swing rod II are equal in length and are arranged in a crossed manner; the lower swing rod I and the lower swing rod II are equal in length and are arranged in a crossed mode.

In a possible implementation mode, pendulum rod actuating mechanism I includes driving motor I and drive shaft I, wherein driving motor I set up in the one end of translation module, and driving motor I's output is connected with drive shaft I, drive shaft I with pendulum rod component I is connected.

In a possible implementation mode, the swing rod driving mechanism II comprises a driving motor II and a driving shaft II, wherein the driving motor II is arranged at the other end of the translation module, an output shaft of the driving motor II is connected with the driving shaft II, and the driving shaft II is connected with the swing rod assembly II.

In one possible implementation manner, the translation module includes a translation sliding block, a sliding chute is arranged at the top of the translation sliding block, and a top beam of the frame is accommodated in the sliding chute; the bottom of the translation sliding block is a positioning plane.

In one possible implementation manner, the lifting appliance is of an I-shaped structure, and positioning grooves are formed in two ends of the bottom of the lifting appliance; the one end bilateral symmetry of hoist is equipped with two articulated shafts I, the other end bilateral symmetry of hoist is equipped with two articulated shafts II.

In a possible implementation manner, electromagnets are arranged in the positioning grooves at the two ends of the lifting appliance.

In one possible implementation, the translation driving mechanism is a lead screw and nut mechanism.

The utility model has the advantages and beneficial effects that:

1. the utility model has the advantages of compact structure, stable operation, quick action, high efficiency and flexibility in adjustment and control, convenience and no limitation of the height of a factory building.

2. The lifting device can be driven to lift through the two servo motors, and the inclination angle of a lifting heavy object relative to the ground can be adjusted through the coupling of the two lifting motors.

3. The utility model improves the production efficiency and reduces the production cost.

Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model. The objectives and other advantages of the utility model will be realized and attained by the structure particularly pointed out in the written description and drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model. In the drawings:

FIG. 1 is an isometric view of a swing link type steel structure box girder transfer robot of the present invention in a lowered position;

FIG. 2 is a schematic structural diagram of a translation module according to the present invention;

fig. 3 is a schematic structural view of a spreader according to the present invention;

FIG. 4 is an isometric view of a swing link type steel structure box girder handling robot of the present invention in an elevated position;

in the figure: 1 is the transfer chain, 2 is the frame, 3 is the translation module, 301 is the translation slider, 302 is the spout, 303 is location plane, 4 is last pendulum rod I, 5 is down pendulum rod I, 6 is the hoist, 601 is the constant head tank, 602 is articulated shaft I, 603 is articulated shaft II, 7 is the work piece, 8 is drive shaft I, 9 is the ground bottom plate, 10 is last pendulum rod II, 11 is down pendulum rod II, 12 is drive shaft II.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

According to the swing rod type steel structure box girder carrying robot provided by the embodiment of the utility model, two sets of swing rod mechanisms are adopted to drive the lifting, so that the swing rod type steel structure box girder carrying robot is suitable for a large-load working condition, the production efficiency is improved, and the production cost is reduced. Referring to fig. 1 to 4, the swing link type steel structure box girder handling robot comprises a conveying line 1, a frame 2, a translation driving mechanism, a translation module 3, a lifting appliance 6 and two sets of swing link mechanisms, wherein the frame 2 is of a gantry type structure crossing two sides of the conveying line 1, and the translation module 3 is slidably arranged on a top cross beam of the frame 2; the translation driving mechanism is arranged on a top cross beam of the frame 2, the output end of the translation driving mechanism is connected with the translation module 3, and the translation driving mechanism is used for driving the translation module 3 to move along the top cross beam; the two groups of swing rod mechanisms are symmetrically arranged on two sides of the translation module 3, and are hinged with the lifting appliance 6.

Referring to fig. 1, in the embodiment of the present invention, the swing link mechanism includes a swing link driving mechanism i, a swing link driving mechanism ii, a swing link assembly i, and a swing link assembly ii, where the swing link driving mechanism i and the swing link driving mechanism ii are disposed on the translation module 3, upper ends of the swing link assembly i and the swing link assembly ii are respectively connected to the swing link driving mechanism i and the swing link driving mechanism ii, and lower ends of the swing link assembly i and the swing link assembly ii are both hinged to the spreader 6.

In the embodiment of the utility model, the swing rod component I comprises an upper swing rod I4 and a lower swing rod I5; one end of an upper swing rod I4 is hinged to one end of a lower swing rod I5, the other end of the upper swing rod I4 is connected with a swing rod driving mechanism I, and the other end of the lower swing rod I5 is hinged to one end of a lifting appliance 6. The swing rod assembly II comprises an upper swing rod II 10 and a lower swing rod II 11; one end of the upper swing rod II 10 is hinged with one end of the lower swing rod II 11; the other end of the upper swing rod II 10 is connected with a swing rod driving mechanism II, and the other end of the lower swing rod II 11 is hinged with the other end of the lifting appliance 6.

Furthermore, the swing rod assembly I is positioned on the outer side of the swing rod assembly II, and the upper swing rod I4 and the upper swing rod II 10 are equal in length and are arranged in a crossed mode; the lower swing rod I5 and the lower swing rod II 11 are equal in length and are arranged in a crossed mode. The swing rod component I and the swing rod component II move in different space movement areas on the side face of the translation module 3, so that the swing rod component I and the swing rod component II cannot interfere with each other.

In the embodiment of the utility model, the swing rod driving mechanism I comprises a driving motor I and a driving shaft I8, wherein the driving motor I is arranged at one end of the translation module 3, the output end of the driving motor I is connected with the driving shaft I8, and the driving shaft I8 is fixedly connected with the swing rod assembly I. And the swing rod driving mechanism II comprises a driving motor II and a driving shaft II 12, wherein the driving motor II is arranged at the other end of the translation module 3, an output shaft of the driving motor II is connected with the driving shaft II 12, and the driving shaft II 12 is fixedly connected with the swing rod assembly II.

Preferably, two sets of swing rod mechanisms are symmetrically arranged on two sides of the translation module 3, wherein the two sets of swing rod driving mechanisms I share one driving motor I, and the two sets of swing rod driving mechanisms II share one driving motor II. The driving motor I and the driving motor II respectively drive the driving shaft I8 and the driving shaft II 12 to rotate reversely, so that the swing rod assembly I and the swing rod assembly II are folded or unfolded synchronously, and the lifting appliance 6 is lifted or lowered.

Referring to fig. 2, in the embodiment of the present invention, the translation module 3 includes a translation slider 301, a sliding slot 302 is disposed at the top of the translation slider 301, and a top beam of the frame 2 is received in the sliding slot 302, so as to facilitate the structural dimension optimization of the whole device in the height direction. The bottom of the translation slider 301 is a positioning plane 303.

Referring to fig. 3, in the embodiment of the present invention, the lifting device 6 is an i-shaped structure, and positioning grooves 601 are disposed at two ends of the bottom of the lifting device; one end bilateral symmetry of hoist 6 is equipped with two articulated shafts I602, and the other end bilateral symmetry of hoist 6 is equipped with two articulated shafts II 603.

Furthermore, electromagnets are disposed in the positioning slots 601 at the two ends of the lifting appliance 6.

In the embodiment of the utility model, the translation driving mechanism is a screw rod and nut mechanism. Specifically, the screw and nut mechanism comprises a screw, a nut, a motor and a horizontal guide rail, wherein the nut is in threaded connection with the screw, the nut is fixedly connected with the translation sliding block 301, the translation sliding block 301 is in sliding connection with the horizontal guide rail, the output end of the motor is connected with the screw, and the motor drives the screw to rotate, so that the translation sliding block 301 is driven to move along the horizontal guide rail through the nut, and the moving direction of the translation sliding block 301 is perpendicular to the conveying direction of the conveying line 1. It should be noted that the translation driving mechanism may also adopt a rack and pinion mechanism, or adopt any one of the prior arts that can realize linear driving, and will not be described herein again.

The utility model provides a swing link type steel structure box girder carrying robot, which comprises the following working processes:

the driving motor I and the driving motor II respectively drive the swing rod component I and the swing rod component II to unfold, the lifting appliance 6 is driven to move downwards until the positioning groove 601 of the lifting appliance 6 is connected with the workpiece 7 in a positioning mode, and the workpiece 7 is electrically adsorbed by the electromagnet, as shown in the figure 1; the workpiece 7 is a steel structure box girder in a cuboid shape;

the driving motor I and the driving motor II respectively drive the swing rod assembly I and the swing rod assembly II to fold, and drive the lifting appliance 6 and the workpiece 7 to move upwards until the top of the lifting appliance 6 is contacted with the positioning plane 303 at the bottom of the translation module 3; or the inclination angle of the workpiece 7 relative to the ground bottom plate 9 is adjusted by respectively controlling the expansion and contraction amounts of the swing rod assembly I and the swing rod assembly II, so that the purpose that the workpiece 7 is suitable for the conveying line 1 is achieved;

the translation driving mechanism drives the translation module 3 to move relative to the top cross beam of the frame 2 until the translation module moves above the conveying line 1, which is shown in fig. 4;

the electromagnet at the bottom of the lifting appliance 6 is powered off, the adsorption on the workpiece 7 is released, and the workpiece 7 falls on the conveying line 1;

the translation driving mechanism drives the translation module 3 to move relative to a top cross beam of the frame 2 and far away from the conveying line 1, so that a lifting appliance 6 and a workpiece 7 are avoided;

the conveyor line 1 conveys the workpiece 7 to the next station.

The utility model can adjust the inclination angle of the lifting weight relative to the ground through the coupling motion of the four groups of swing rod assemblies. The utility model has simple structure, high equipment running speed, low failure rate and high stability, reduces energy consumption and maintenance cost, is suitable for large-load working conditions, improves the production efficiency and reduces the production cost.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the utility model. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The swing rod type steel structure box girder carrying robot is characterized by comprising a conveying line (1), a frame (2), a translation driving mechanism, a translation module (3), a lifting appliance (6) and two groups of swing rod mechanisms, wherein the frame (2) is of a gantry type structure stretching across two sides of the conveying line (1), and the translation module (3) is slidably arranged on a top cross beam of the frame (2); the translation driving mechanism is arranged on a top cross beam of the frame (2), the output end of the translation driving mechanism is connected with the translation module (3), and the translation driving mechanism is used for driving the translation module (3) to move along the top cross beam; the two groups of swing rod mechanisms are symmetrically arranged on two sides of the translation module (3), and are hinged with the lifting appliance (6).

2. The swing rod type steel structure box girder carrying robot is characterized in that the swing rod mechanism comprises a swing rod driving mechanism I, a swing rod driving mechanism II, a swing rod assembly I and a swing rod assembly II, wherein the swing rod driving mechanism I and the swing rod driving mechanism II are arranged on the translation module (3), the upper ends of the swing rod assembly I and the swing rod assembly II are respectively connected with the swing rod driving mechanism I and the swing rod driving mechanism II, and the lower ends of the swing rod assembly I and the swing rod assembly II are hinged to the lifting appliance (6).

3. The swing link type steel structure box girder transfer robot as claimed in claim 2, wherein the swing link assembly i comprises an upper swing link i (4) and a lower swing link i (5); one end of an upper swing rod I (4) is hinged with one end of a lower swing rod I (5), the other end of the upper swing rod I (4) is fixedly connected with a swing rod driving mechanism I, and the other end of the lower swing rod I (5) is hinged with one end of a lifting appliance (6);

the swing rod assembly II comprises an upper swing rod II (10) and a lower swing rod II (11); one end of the upper swing rod II (10) is hinged with one end of the lower swing rod II (11); the other end of the upper swing rod II (10) is fixedly connected with the swing rod driving mechanism II, and the other end of the lower swing rod II (11) is hinged with the other end of the lifting appliance (6).

4. The swing link type steel structure box girder carrying robot as claimed in claim 3, wherein the upper swing link I (4) and the upper swing link II (10) are equal in length and are arranged in a crossed manner; the lower swing rod I (5) and the lower swing rod II (11) are equal in length and are arranged in a crossed mode.

5. The swing link type steel structure box girder carrying robot as claimed in claim 2, wherein the swing link driving mechanism I comprises a driving motor I and a driving shaft I (8), wherein the driving motor I is arranged at one end of the translation module (3), an output end of the driving motor I is connected with the driving shaft I (8), and the driving shaft I (8) is connected with the swing link assembly I.

6. The swing link type steel structure box girder carrying robot as claimed in claim 2, wherein the swing link driving mechanism II comprises a driving motor II and a driving shaft II (12), the driving motor II is arranged at the other end of the translation module (3), an output shaft of the driving motor II is connected with the driving shaft II (12), and the driving shaft II (12) is connected with the swing link assembly II.

7. The swing link type steel structure box girder transfer robot according to claim 1, wherein the translation module (3) comprises a translation sliding block (301), a sliding groove (302) is formed in the top of the translation sliding block (301), and a top cross beam of the frame (2) is accommodated in the sliding groove (302); the bottom of the translation sliding block (301) is a positioning plane (303).

8. The swing link type steel structure box girder transfer robot as claimed in claim 1, wherein the spreader (6) is of an I-shaped structure, and positioning grooves (601) are formed at two ends of the bottom of the spreader; one end bilateral symmetry of hoist (6) is equipped with two articulated shafts I (602), the other end bilateral symmetry of hoist (6) is equipped with two articulated shafts II (603).

9. The swing link type steel structure box girder transfer robot according to claim 8, wherein electromagnets are arranged in the positioning grooves (601) at the two ends of the lifting appliance (6).

10. The swing link type steel structure box girder transfer robot according to claim 1, wherein the translation driving mechanism is a screw nut mechanism.