CN217915389U

CN217915389U - Truss type mechanical arm applied to hollow shaft cargo handling

Info

Publication number: CN217915389U
Application number: CN202221719833.XU
Authority: CN
Inventors: 许习军; 田燕杰; 侯宏明
Original assignee: Taiyuan Fortucky Logistics Equipment Technology Co ltd
Current assignee: Taiyuan Fortucky Logistics Equipment Technology Co ltd
Priority date: 2022-07-04
Filing date: 2022-07-04
Publication date: 2022-11-29
Anticipated expiration: 2032-07-04

Abstract

The utility model discloses a belong to the technical field of mechanical arm, specifically be a truss-like manipulator for hollow shaft cargo handling, including the truss, install the traverse mechanism on the truss, install the longitudinal motion mechanism on the traverse mechanism, install elevating system on the longitudinal motion mechanism, install the mechanism of getting goods on the elevating system; the utility model has the advantages that: all the operating mechanisms are in a gear and rack driving type, so that the failure rate is low, the maintenance is convenient, and the positioning is accurate and reliable; a plurality of position detection switches are symmetrically arranged on the clamping mechanism to ensure that the clamping arms are inserted into two ends of the hollow cylindrical goods in a centering way; the goods taking unit is of a clamping finger type and is inserted into the hollow cylindrical goods hole to take goods, so that stable carrying and good condition of similar hollow cylindrical goods are guaranteed; the clamping fingers on the two sides are inserted and taken in a more stable manner; the distance between the clamping fingers is adjustable, and the clamp can adapt to goods of various specifications.

Description

Truss type mechanical arm applied to hollow shaft cargo handling

Technical Field

The utility model relates to a manipulator technical field specifically is a be applied to truss-like manipulator of hollow shaft cargo handling.

Background

With the continuous progress and development of modern science and technology, the truss type mechanical arm is widely applied to various fields and can realize tasks of picking, carrying, loading and the like in intelligent storage as intelligent equipment. In recent years, truss type manipulators have gradually entered the field of vision of people as novel automation equipment, and are used in various industries; people have higher requirements on truss type mechanical arm goods taking equipment under the drive of innovation mainly in the new era at present; truss-like manipulator in the existing market can all accomplish the given task to a different extent, but when the goods that face hardness attribute, appearance structure are different totally, should distinguish the mechanism of getting of application different grade type to guarantee that the goods can be got by stable clamp, guarantee that the goods integrity is not damaged. In the actual production process, when the goods to be picked are hollow cylindrical goods similar to through holes, a special goods picking mechanism is required to be used for clamping and transporting the goods.

In reality, for hollow cylindrical goods which are difficult to transport and move or hollow cylindrical goods which are easy to damage, the current transport and move needs cooperation of manpower, and safety accidents are easy to happen during transport and move, so that the use efficiency is low and unreliable.

SUMMERY OF THE UTILITY MODEL

In view of the problem that exists in the truss-like manipulator of a current hollow shaft cargo handling of being applied to, provided the utility model discloses.

Therefore, the utility model aims at providing a be applied to truss-like manipulator of hollow shaft cargo handling has solved in the reality, to being difficult for carrying the hollow cylindrical goods class goods that moves and carry, perhaps easily damaged hollow round barrel type goods, and present moves and carries the cooperation that the transport needs the manpower to easily take place the incident when the transport moves and carries, the low just insecure problem of availability factor.

For solving the technical problem, according to the utility model discloses an aspect, the utility model provides a following technical scheme:

a truss type mechanical arm applied to hollow shaft cargo handling comprises a truss, wherein a transverse mechanism is mounted on the truss, a longitudinal mechanism is mounted on the transverse mechanism, a lifting mechanism is mounted on the longitudinal mechanism, and a cargo taking mechanism is mounted on the lifting mechanism;

the transverse mechanism is used for driving the longitudinal mechanism, the lifting mechanism and the goods taking mechanism to transversely move;

the longitudinal mechanism is used for driving the lifting mechanism and the goods taking mechanism to move longitudinally;

the lifting mechanism is used for driving the goods taking mechanism to ascend and descend.

As a be applied to a preferred scheme of truss-like manipulator of hollow shaft cargo handling, wherein: the truss is provided with a truss beam, the truss beam is provided with a transverse guide rail, and transverse limiting buffers and transverse racks are arranged at two ends of the transverse guide rail and at the lower part of the inner side of the transverse guide rail.

As a be applied to a preferred scheme of hollow shaft cargo handling's truss-like manipulator, wherein: the transverse mechanism comprises a transverse motor and a transverse support, the output end of the transverse motor is connected with a transverse rotating shaft in a transmission mode, transverse gears are fixedly mounted at two ends of the transverse rotating shaft, a transverse sliding block is mounted at the bottom end of the transverse support, a longitudinal sliding rail is mounted at the top end of the transverse support, and longitudinal racks and longitudinal limiting buffers are mounted at the lower portion and two ends of the outer side of the longitudinal sliding rail.

As a be applied to a preferred scheme of truss-like manipulator of hollow shaft cargo handling, wherein: the transverse motor is fixedly installed on the transverse support, the outer wall of the transverse sliding block is connected with the transverse guide rail in a sliding mode, and the transverse gear is connected with the transverse rack in a meshed mode.

As a be applied to a preferred scheme of truss-like manipulator of hollow shaft cargo handling, wherein: the longitudinal mechanism comprises a longitudinal support, a longitudinal motor is mounted on the longitudinal support, and a longitudinal gear is fixedly mounted on an output shaft of the longitudinal motor.

As a be applied to a preferred scheme of truss-like manipulator of hollow shaft cargo handling, wherein: the bottom end of the longitudinal support is provided with a longitudinal sliding block which is in sliding connection with the longitudinal sliding rail, the longitudinal gear is meshed and connected with the longitudinal rack, and the upper part of the longitudinal support is fixedly provided with a lifting sliding block.

As a be applied to a preferred scheme of truss-like manipulator of hollow shaft cargo handling, wherein: the lifting mechanism comprises a lifting support and a lifting motor, wherein a lifting guide rail is fixedly mounted on the lifting support, a lifting rack and a lifting limiting buffer are fixedly mounted on the inner side surface and two ends of the lifting guide rail, a lifting gear is fixedly mounted on an output shaft of the lifting motor, and the lifting motor is mounted on the longitudinal support.

As a be applied to a preferred scheme of hollow shaft cargo handling's truss-like manipulator, wherein: the lifting gear is meshed with the lifting rack, and the lifting support is connected with the longitudinal support in a sliding mode.

As a be applied to a preferred scheme of truss-like manipulator of hollow shaft cargo handling, wherein: get goods mechanism including getting the goods support, it indicates the slide rail to install the clamp on the goods support to get, press from both sides and indicate the slide rail both ends to install and get goods spacing buffer, press from both sides the clamp that indicates installation on the slide rail inner wall sliding connection arm lock and get the slider, install on the arm lock and get goods motor, get goods and press from both sides and indicate and visit goods switch, fixed mounting gets the goods gear on getting the output shaft of goods motor, get the goods gear and get goods rack toothing and connect.

As a be applied to a preferred scheme of truss-like manipulator of hollow shaft cargo handling, wherein: the goods taking support is connected with the lifting support through a spring connecting seat, a detection sheet is arranged at the bottom end of the goods taking support, and a detection support and a switch are mounted on the detection sheet.

Compared with the prior art:

1. the utility model relates to an all-gear rack-driven truss type manipulator, which has relatively high operation precision, the goods taking unit is arranged into a structure form that a clamp finger is inserted and selected, and the manipulator has the function of inserting and taking goods, and the clamp finger is extended into a hole of the hollow cylindrical goods to take goods;

2. two goods taking clamp fingers can extend into the hole parts of the hollow cylindrical goods, then the carrying and transferring of the hollow cylindrical goods can be realized, the goods can be prevented from being damaged due to the contact with the outer circular surface of the easily damaged goods, accidents caused by the rolling of the cylindrical goods can be prevented, and the unmanned operation can be realized in the whole process;

3. all the operating mechanisms are in a gear and rack driving type, so that the failure rate is low, the maintenance is convenient, and the positioning is accurate and reliable; a plurality of position detection switches are symmetrically arranged on the clamping mechanism to ensure that the clamping arms are inserted into two ends of the hollow cylindrical goods in a centering way;

4. the goods taking unit is of a clamping finger type and is inserted into the hollow cylindrical goods hole to take goods, so that stable carrying and good carrying of similar hollow cylindrical goods are guaranteed; the clamping fingers on the two sides are inserted and taken in a more stable manner; the distance between the clamping fingers is adjustable, and the clamp can adapt to goods of various specifications.

Drawings

Fig. 1 is a schematic structural diagram provided by the present invention;

fig. 2 is a partial schematic view of fig. 1 provided by the present invention;

fig. 3 is an enlarged view of a point a in fig. 2 according to the present invention;

fig. 4 is a partial schematic view of fig. 2 provided by the present invention;

fig. 5 is a schematic view of a pickup mechanism provided by the present invention;

fig. 6 is a rear view of fig. 5 provided by the present invention;

fig. 7 is an enlarged view of the position B in fig. 6 according to the present invention;

fig. 8 is a partial enlarged view of fig. 6 provided by the present invention.

In the figure: truss 1, truss beam 11, transverse travel limiting buffer 12, transverse travel guide rail 13, transverse travel rack 14, transverse travel mechanism 2, transverse travel motor 21, transverse travel rotating shaft 22, transverse travel gear 23, transverse travel slider 24, longitudinal travel rack 25, longitudinal travel limiting buffer 26, longitudinal travel slide rail 27, transverse travel bracket 28, longitudinal travel slider 29, longitudinal travel mechanism 3, longitudinal travel motor 31, longitudinal travel gear 32, longitudinal travel bracket 33, lifting mechanism 4, spring connecting seat 40, lifting motor 41, lifting limiting buffer 42, lifting rack 43, lifting gear 44, lifting guide rail 45, lifting bracket 46, lifting slide 47, goods taking mechanism 5, goods taking bracket 50, goods taking motor 51, detecting sheet 510, clamping slider 511, goods taking gear 52, goods taking rack 53, clamping finger slide rail 54, clamping arm 55, goods taking clamping finger 56, goods detecting switch 57, goods taking limiting buffer 58, detecting bracket and switch 59.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail with reference to the accompanying drawings.

The utility model provides a truss type mechanical arm applied to hollow shaft cargo handling, please refer to fig. 1-8, which comprises a truss 1, wherein a transverse mechanism is arranged on the truss 1, a longitudinal mechanism 3 is arranged on the transverse mechanism 2, a lifting mechanism 4 is arranged on the longitudinal mechanism 2, and a cargo taking mechanism 5 is arranged on the lifting mechanism 4;

the transverse mechanism 2 is used for driving the longitudinal mechanism 3, the lifting mechanism 4 and the goods taking mechanism 5 to transversely move;

the longitudinal moving mechanism 3 is used for driving the lifting mechanism 4 and the goods taking mechanism 5 to move longitudinally; the lifting mechanism 4 is used for driving the goods taking mechanism 5 to ascend and descend.

A truss beam 11 is arranged on the truss 1, a transverse guide rail 13 is arranged on the truss beam 11, and transverse limit buffers 12 and transverse racks 14 are arranged at two ends and the inner lower part of the transverse guide rail 13.

The transverse mechanism 2 comprises a transverse motor 21 and a transverse support 28, the output end of the transverse motor 21 is connected with a transverse rotating shaft 22 in a transmission mode, transverse gears 23 are fixedly mounted at two ends of the transverse rotating shaft 22, a transverse slider 24 is mounted at the bottom end of the transverse support 28, a longitudinal sliding rail 27 is mounted at the top end of the transverse support 28, longitudinal racks 25 and longitudinal limiting buffers 26 are mounted at the lower portion and two ends of the outer side of the longitudinal sliding rail 27, the transverse motor 21 is fixedly mounted on the transverse support 28, the outer wall of the transverse slider 24 is connected with a transverse guide rail 13 in a sliding mode, and the transverse gears 23 are connected with transverse racks 14 in a meshing mode.

The longitudinal mechanism 3 comprises a longitudinal support 33, a longitudinal motor 31 is mounted on the longitudinal support 33, a longitudinal gear 32 is fixedly mounted on an output shaft of the longitudinal motor 31, a longitudinal sliding block 29 is mounted at the bottom end of the longitudinal support 33 and is in sliding connection with a longitudinal sliding rail 27, the longitudinal gear 32 is meshed with the longitudinal rack 25, and a lifting sliding block 47 is fixedly mounted at the upper part of the longitudinal support.

The lifting mechanism 4 comprises a lifting support 46 and a lifting motor 41, a lifting guide rail 45 is fixedly mounted on the lifting support 46, a lifting rack 43 and a lifting limiting buffer 42 are fixedly mounted on one inner side surface and two ends of the lifting guide rail 45, a lifting gear 44 is fixedly mounted on an output shaft of the lifting motor 41, and the lifting motor 41 is mounted on the longitudinal support 33.

The goods taking mechanism 5 comprises a goods taking support 50, a clamping finger slide rail 54 is installed on the goods taking support 50, goods taking limiting buffers 58 are installed at two ends of the clamping finger slide rail 54, the inner wall of the clamping finger slide rail 54 is connected with clamping sliders 511 installed on clamping arms 55 in a sliding mode, a goods taking motor 51, a goods taking clamping finger 56 and a goods detecting switch 57 are installed on the clamping arms 55, a goods taking gear 52 is fixedly installed on an output shaft of the goods taking motor 51, the goods taking gear 52 is connected with a goods taking rack 53 in a meshing mode, the goods taking support 50 is connected with a lifting support 46 through a spring connecting seat 40, a detecting piece 510 is arranged at the bottom end of the goods taking support 50, and a detecting support and a switch 59 are installed on the detecting piece 510; the detection bracket and switch 59 is used for controlling the synchronous displacement of the two clamping arms on the goods taking mechanism, when the two clamping arms run asynchronously, the running position of one goods taking motor is limited at the running switch, and after the other goods taking motor runs to the same position, the two motors are driven to run simultaneously; the two sides of the goods taking clamp finger 56 are provided with a goods detecting switch 59 for detecting the end surface of the hollow drum type goods, so that the goods taking clamp finger stops the goods taking action after entering the hollow space of the drum type goods to a certain depth.

When the device is used specifically, the goods taking motor 51 is started, the goods taking gear 52 is driven to rotate and runs on the goods taking rack 53, the goods taking gear 52 and the goods taking motor 51 drive the two clamping arms 55 to move oppositely, so that the goods taking clamp fingers 56 extend into hollow columnar goods, the goods detecting switch 59 detects the end face of the hollow barrel-shaped goods, and the goods taking action is stopped after the goods taking clamp fingers enter a certain depth of a hollow space of the barrel-shaped goods; starting the lifting motor 41 to drive the lifting gear 44 to rotate, and driving the lifting rack 43 to lift by the lifting gear 44; starting the longitudinal motor 31, driving the longitudinal gear 32 to rotate by the longitudinal motor 31, running on the longitudinal rack 25, and driving the longitudinal support 33 to longitudinally move by the longitudinal gear 32 and the longitudinal motor 31; the traverse motor 21 is started to drive the traverse rotating shaft 22 to rotate, and the traverse rotating shaft 22 drives the traverse gear 23 to rotate together, so as to run on the traverse rack 25 and drive the traverse bracket 28 to move transversely together.

While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the various features of the disclosed embodiments of the present invention can be used in any combination with each other, and the description of these combinations not exhaustive in this specification is merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. The utility model provides a be applied to hollow shaft cargo handling's truss-like manipulator, includes truss (1), its characterized in that: a transverse mechanism is installed on the truss (1), a longitudinal mechanism (3) is installed on the transverse mechanism (2), a lifting mechanism (4) is installed on the longitudinal mechanism (3), and a goods taking mechanism (5) is installed on the lifting mechanism (4);

the transverse mechanism (2) is used for driving the longitudinal mechanism (3), the lifting mechanism (4) and the goods taking mechanism (5) to move transversely;

the longitudinal mechanism (3) is used for driving the lifting mechanism (4) and the goods taking mechanism (5) to move longitudinally; the lifting mechanism (4) is used for driving the goods taking mechanism (5) to ascend and descend.

2. The truss type mechanical arm applied to hollow shaft cargo handling is characterized in that a truss beam (11) is installed on the truss (1), a transverse guide rail (13) is installed on the truss beam (11), and transverse limiting buffers (12) and transverse racks (14) are installed at two ends and the lower part of the inner side of the transverse guide rail (13).

3. The truss type manipulator applied to hollow shaft cargo handling is characterized in that the traverse mechanism (2) comprises a traverse motor (21) and a traverse support (28), an output end of the traverse motor (21) is in transmission connection with a traverse rotating shaft (22), traverse gears (23) are fixedly mounted at two ends of the traverse rotating shaft (22), a traverse sliding block (24) is mounted at the bottom end of the traverse support (28), a longitudinal sliding rail (27) is mounted at the top end of the traverse support (28), and a longitudinal rack (25) and a longitudinal limiting buffer (26) are mounted at the lower part and two ends of the outer side of the longitudinal sliding rail (27).

4. The truss type manipulator applied to hollow shaft cargo handling is characterized in that the traverse motor (21) is fixedly mounted on a traverse bracket (28), the outer wall of the traverse slide block (24) is slidably connected with the traverse guide rail (13), and the traverse gear (23) is meshed with the traverse rack (14).

5. The truss type mechanical arm applied to hollow shaft cargo handling is characterized in that the wale mechanism (3) comprises a wale bracket (33), a wale motor (31) is mounted on the wale bracket (33), and a wale gear (32) is fixedly mounted on an output shaft of the wale motor (31).

6. The truss type manipulator applied to hollow shaft cargo handling is characterized in that a wale sliding block (29) is installed at the bottom end of the wale support (33) and is in sliding connection with the wale sliding rail (27), the wale gear (32) is in meshing connection with the wale rack (25), and a lifting sliding block (47) is fixedly installed at the upper part of the wale support.

7. The truss type mechanical arm applied to hollow shaft cargo handling is characterized in that the lifting mechanism (4) comprises a lifting support (46) and a lifting motor (41), a lifting guide rail (45) is fixedly mounted on the lifting support (46), a lifting rack (43) and a lifting limiting buffer (42) are fixedly mounted on one inner side face and two ends of the lifting guide rail (45), a lifting gear (44) is fixedly mounted on an output shaft of the lifting motor (41), and the lifting motor (41) is mounted on the longitudinal support (33).

8. The truss-type manipulator for hollow shaft cargo handling as claimed in claim 7, wherein the lifting gear (44) is engaged with the lifting rack (43), and the lifting bracket (46) is slidably connected with the wale bracket (33).

9. The truss type mechanical arm applied to hollow shaft cargo handling is characterized in that the goods taking mechanism (5) comprises a goods taking bracket (50), a clamping finger slide rail (54) is mounted on the goods taking bracket (50), goods taking limiting buffers (58) are mounted at two ends of the clamping finger slide rail (54), a clamping slide block (511) mounted on a clamping arm (55) is connected to the inner wall of the clamping finger slide rail (54) in a sliding manner, a goods taking motor (51), a goods taking clamping finger (56) and a goods detecting switch (57) are mounted on the clamping arm (55), a goods taking gear (52) is fixedly mounted on an output shaft of the goods taking motor (51), and the goods taking gear (52) is meshed with a goods taking rack (53).

10. The truss type mechanical arm for hollow shaft cargo handling as claimed in claim 9, wherein the picking support (50) is connected to the lifting support (46) through a spring connecting base (40), a detecting plate (510) is provided at the bottom end of the picking support (50), and a detecting support and a switch (59) are mounted on the detecting plate (510).