CN218255142U

CN218255142U - Gantry truss mechanical arm with low noise

Info

Publication number: CN218255142U
Application number: CN202222870169.5U
Authority: CN
Inventors: 闫嘉博; 刘庄成; 骆光彬; 齐美付; 甘中学; 冯浩然
Original assignee: Zhichang Technology Group Co ltd
Current assignee: Zhichang Technology Group Co ltd
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2023-01-10
Anticipated expiration: 2032-10-28

Abstract

The utility model belongs to the automated production equipment field, concretely relates to less longmen truss manipulator of noise. The utility model comprises two longitudinal supports arranged in parallel, a beam arranged on the longitudinal supports in a rolling way, and a gripper device which is arranged on the beam and moves along the beam through a transverse moving mechanism; the utility model discloses a lateral shifting and longitudinal movement all adopt and adopt rack and pinion to carry out the transmission, and are provided with the action of the supplementary removal of guide pulley, when guaranteeing that tongs device freely moves on vertical support and crossbeam, have avoided adopting the noise that chain sprocket drive brought among the prior art, and the good operational environment of staff has been guaranteed to less noise. And the lifting column which is relatively stable is adopted to realize the upward movement of the clamp in the vertical direction, so that the condition that the finished product roll swings unstably in the air when the finished product roll is clamped by a rope or a chain is avoided, and the stability of the finished product roll in the clamping process is effectively ensured.

Description

Gantry truss mechanical arm with low noise

Technical Field

The utility model belongs to the automated production equipment field, concretely relates to less longmen truss manipulator of noise.

Background

The less longmen truss manipulator of noise is important haulage equipment in industrial production and commodity circulation are transported, in the production process of coil stock, needs to carry out the removal of position to the finished product book, adopts the manual work to carry in most traditional workshop, not only extravagant manpower, and carries consuming time longer, can't satisfy the requirement of modernized workshop.

The gantry truss mechanical arm with low noise in the market is heavy and adopts a chain or a rope to carry the finished product roll, and the finished product roll is unstable in the air in the carrying process, so that unnecessary safety accidents are easily caused. Meanwhile, most of the existing gantry truss manipulators adopt chain wheel and chain transmission, the noise is high in the operation process, and the working environment of workers is seriously influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the defects of unstable transportation process and large noise existing in the prior art, and providing a gantry truss manipulator which is applicable to the finished product rolls of different lengths, has small noise and is safe and stable and can operate efficiently.

The utility model provides a technical scheme that its technical problem adopted is: a gantry truss manipulator with low noise comprises two longitudinal supports arranged in parallel, a cross beam arranged on the longitudinal supports in a rolling mode, and a gripper device arranged on the cross beam and moving along the cross beam through a transverse moving mechanism;

the gripping device comprises a mounting rack, a lifting column, lifting guide rails and a clamp, wherein the mounting rack is arranged on the cross beam in a rolling mode through a roller mechanism, the lifting column is installed with the mounting rack in a sliding mode, the lifting guide rails are symmetrically and fixedly arranged on two sides of the lifting column, and the clamp is installed at the lower end of the lifting column; two side walls of the mounting frame corresponding to the lifting guide rail are fixedly provided with lifting slide blocks matched with the lifting guide rail;

a lifting motor is installed on the mounting frame, a lifting gear is coaxially arranged on an output shaft of the lifting motor, and a lifting rack is installed on the lifting column along a direction parallel to the lifting guide rail; the lifting gear is meshed with the lifting rack.

Further, the fixture comprises a fixture frame fixedly installed at the lower end of the lifting column, a guide groove formed at the lower end of the fixture frame, two guide sliding blocks which are oppositely arranged and are matched with and slidably connected with the guide groove, and a hook rotatably installed on the guide sliding blocks.

Furthermore, the bending directions of the two hooks are arranged in the same direction or in opposite directions.

Furthermore, the roller mechanism comprises main guide wheels which are arranged at four corners of the mounting rack and are positioned above the longitudinal support, at least two groups of outer auxiliary wheels and at least two groups of inner auxiliary wheels which are symmetrically arranged on the side surface of the mounting rack;

the upper end face of the cross beam is provided with a convex guide rail, the driving guide wheel and the convex guide rail are installed in a rolling fit mode, the outer auxiliary wheel is located below the longitudinal support and is in rolling connection with the lower end face of the longitudinal support, and the inner auxiliary wheel and the side face, close to the installation frame, of the longitudinal support are in rolling connection.

Further, the transverse moving mechanism comprises a transverse moving motor fixed at one end of the cross beam, two driving belt wheels coaxially arranged with an output shaft of the transverse moving motor, and a driven belt wheel fixedly arranged at the other end of the cross beam; the driving belt wheel is in transmission connection with the corresponding driven belt wheel through a synchronous belt;

the two ends of the synchronous belt are fixedly mounted on the mounting frame, and the middle of the synchronous belt sequentially bypasses a driving belt wheel and a driven belt wheel which are arranged on corresponding positions.

Furthermore, the mounting frames on two sides of the lifting column are symmetrically provided with lower parts for guiding the synchronous belt;

the guide wheel set comprises guide plates arranged on the mounting frame, two lower guide wheels arranged between the two guide plates in parallel and an upper guide wheel arranged on the guide plates and positioned in the middle of the upper parts of the two guide wheels; the synchronous belt penetrates through the lower guide wheel and the upper guide wheel and is in rolling connection with the upper guide wheel and the lower guide wheel.

Furthermore, two ends of the cross beam are arranged with the longitudinal support in a rolling manner through a longitudinal moving mechanism;

the longitudinal moving mechanism comprises a longitudinal rack fixedly arranged along a longitudinal beam of the longitudinal support, connecting frames fixedly arranged at two end parts of the cross beam, a longitudinal moving motor arranged on the connecting frames and a longitudinal moving gear coaxially arranged with an output shaft of the longitudinal moving motor; the longitudinal moving gear is in meshed connection with the longitudinal rack;

two longitudinal rollers are rotatably mounted at the lower end of the connecting frame, and the longitudinal rollers are mounted along the longitudinal beam of the longitudinal support in a rolling manner.

Furthermore, two end parts of the connecting frame are provided with buffer blocks used for buffering with the end parts of the longitudinal support.

Furthermore, two groups of cross beams are arranged on the longitudinal support in a rolling mode, and the cross beams are provided with the gripping devices used for gripping finished product rolls.

Furthermore, the device also comprises a control device for controlling the gripping device to perform gripping movement on the finished roll.

The utility model discloses a less longmen truss manipulator of noise's beneficial effect is:

1. the utility model discloses a lateral shifting and longitudinal movement all adopt and adopt rack and pinion to carry out the transmission, and are provided with the action of the supplementary removal of guide pulley, when guaranteeing that tongs device freely moves on vertical support and crossbeam, have avoided adopting the noise that chain sprocket drive brought among the prior art, and the good operational environment of staff has been guaranteed to less noise.

2. The utility model discloses a tongs device adopts comparatively stable lift post to realize the ascending removal in anchor clamps upper and lower side, when avoiding getting the finished product book because of rope or chain clamp, the finished product is rolled up in the unstable condition of air swing, has effectually guaranteed that the finished product is rolled up and is getting the stability of in-process.

3. The utility model discloses a be provided with guide way and the direction slider that is used for adjusting two couple distances on the lower terminal surface of anchor clamps's anchor clamps frame, can be suitable for the not unidimensional finished product and roll the transport work that snatchs of rolling up, and roll on the vertical support and install two sets of crossbeams, all be provided with on the crossbeam and be used for snatching the tongs device that the finished product was rolled up, can realize the transportation of rolling up two finished products simultaneously, the operating efficiency is higher.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a perspective view of a robot hand according to an embodiment of the present invention;

fig. 2 is a schematic view of a first view structure of the lateral shifting mechanism according to the embodiment of the present invention;

fig. 3 is a second view structural diagram of the lateral shifting mechanism according to the embodiment of the present invention;

fig. 4 is a schematic structural diagram of the longitudinal moving mechanism according to the embodiment of the present invention;

fig. 5 is a partial schematic structural view of the gripper according to the embodiment of the present invention;

fig. 6 is a schematic structural view of an upper view angle of the gripper according to the embodiment of the present invention;

fig. 7 is a schematic structural view of a downward viewing angle of the gripper device according to the embodiment of the present invention;

fig. 8 is a schematic structural diagram of a clamp according to an embodiment of the present invention.

In the figure, 1, a longitudinal support, 2, a cross beam, 3, a transverse moving mechanism, 31, a transverse moving motor, 32, a driving pulley, 33, a driven pulley, 34, a synchronous belt, 4, a gripping device, 41, a mounting frame, 42, a lifting column, 43, a lifting guide rail, 45, a lifting motor, 46, a lifting gear, 47, a lifting rack, 48, a clamp, 481, a clamp frame, 482, a guide groove, 483, a guide slider, 484, a hook, 49, a guide wheel set, 491, a guide plate, 492, a lower guide wheel, 493, an upper guide wheel, 5, a longitudinal moving mechanism, 51, a longitudinal rack, 52, a connecting frame, 53, a longitudinal moving motor, 54, a longitudinal moving gear, 55, a longitudinal roller, 56, a buffer block, 6, a roller mechanism, 61, a main guide wheel, 62, an outer auxiliary wheel, 64, an inner auxiliary wheel, 7 and a finished roll.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

Fig. 1-8 show a specific embodiment of a gantry truss manipulator with less noise according to the present invention, which includes two longitudinal supports 1 arranged in parallel, a cross beam 2 installed on the longitudinal supports 1 in a rolling manner, a gripper 4 installed on the cross beam 2 and moving along the cross beam 2 through a lateral moving mechanism 3, wherein the gripper 4 includes an installation frame 41 installed on the cross beam 2 in a rolling manner through a roller mechanism 6, a lifting column 42 installed in a sliding manner with the installation frame 41, lifting guide rails 43 symmetrically and fixedly installed on two sides of the lifting column 42, and a clamp 48 installed at a lower end of the lifting column 42; two side walls of the mounting frame 41 corresponding to the lifting guide rail 43 are fixedly provided with lifting slide blocks matched with the lifting guide rail 43; it should be noted that the mounting frame 41 is provided with a lifting motor 45, an output shaft of the lifting motor 45 is coaxially provided with a lifting gear 46, and the lifting column 42 is provided with a lifting rack 47 along a direction parallel to the lifting guide rail 43; the lifting gear 46 is externally engaged with the lifting rack 47.

Referring to fig. 5 to 7, the utility model discloses a tongs 4 adopts comparatively stable lift post 42 to realize the ascending removal in anchor clamps 48 upper and lower side, avoids getting the finished product when rolling up because of rope or chain clamp, and the finished product is rolled up in the unstable condition of aerial swing, has effectually guaranteed that the finished product is rolled up and is getting the stability of in-process. In the process of transporting the finished product roll, in this embodiment, taking the air-inflated shaft as an example, the lifting motor 45 is started to move the lifting gear 46 up and down along the lifting rack 47 on the lifting column 42, the clamp 48 is lowered to a proper clamping position, the two ends of the air-inflated shaft are hung on the two hooks 484, and the lifting motor 45 is started to raise the air-inflated shaft to a specified position for movement.

It should be noted that, as shown in fig. 8, the clamp 48 includes a clamp frame 481 fixedly installed at the lower end of the lifting column 42, a guide groove 482 formed at the lower end of the clamp frame 481, two guide sliders 483 oppositely disposed and slidably connected to the guide groove 482, and a hook 484 rotatably installed on the guide slider 483, and the bending directions of the two hooks 484 are set in the same direction or in opposite directions. The air inflation shaft can be conveniently grabbed by arranging the two hooks 484 in the same direction, and the air inflation shaft can be further prevented from falling off in the grabbing process by arranging the two hooks 484 in the opposite direction, so that the stability of the clamp 48 is enhanced. The two hooks 484 can adjust the distance between the two hooks by using the guide grooves 482 and the guide slide blocks 483, and can be suitable for grabbing and carrying finished rolls with different sizes.

The transverse moving mechanism 3 comprises a transverse moving motor 31 fixed at one end of the cross beam 2, two driving belt wheels 32 coaxially arranged with the output shaft of the transverse moving motor 31 and a driven belt wheel 33 fixedly arranged at the other end of the cross beam 2; the driving pulley 32 is in transmission connection with the corresponding driven pulley 33 through a synchronous belt 34; wherein, the both ends of hold-in range 34 are all fixed mounting on mounting bracket 41, and the centre is walked around driving pulley 32 and the driven pulley 33 on the corresponding position in proper order.

The mounting frames 41 at two sides of the lifting column 42 are symmetrically provided with a lower part for guiding the synchronous belt 34; the guide wheel set 49 comprises guide plates 491 arranged on the mounting frame 41, two lower guide wheels 492 arranged between the two guide plates 491 in parallel, and an upper guide wheel 493 arranged on the guide plates 491 and positioned at the middle position above the two guide wheels; the timing belt 34 passes between the lower guide pulley 492 and the upper guide pulley 493 and is in rolling connection with the upper guide pulley 493 and the lower guide pulley 492, as described in detail with reference to fig. 6.

Two ends of the beam 2 are arranged with the longitudinal support 1 in a rolling way through a longitudinal moving mechanism 5; the longitudinal moving mechanism 5 comprises a longitudinal rack 51 fixedly arranged along the longitudinal beam of the longitudinal support 1, connecting frames 52 fixedly arranged at two ends of the cross beam 2, a longitudinal moving motor 53 arranged on the connecting frames 52 and a longitudinal moving gear 54 coaxially arranged with the output shaft of the longitudinal moving motor 53; the longitudinal moving gear 54 is externally engaged with the longitudinal rack 51; two longitudinal rollers 55 are rotatably mounted at the lower end of the connecting frame 52, and the longitudinal rollers 55 are rotatably mounted along the longitudinal beam of the longitudinal support 1.

The utility model discloses a lateral shifting and longitudinal movement all adopt the rack and pinion to carry out the transmission, and are provided with the action of the supplementary removal of guide pulley, when guaranteeing tongs device 4 free removal on vertical support 1 and crossbeam 2, have avoided adopting the noise that chain sprocket drive brought among the prior art, and the good operational environment of staff has been guaranteed to less noise.

As shown in fig. 7, the roller mechanism 6 includes main guide wheels 61 installed at four corners of the mounting frame 41 and located above the longitudinal support 1, at least two sets of outer auxiliary wheels 62 and at least two sets of inner auxiliary wheels 64 symmetrically installed at sides of the mounting frame 41; the upper end face of the cross beam 2 is provided with a convex guide rail, the driving guide wheel is installed in a rolling fit mode with the convex guide rail, the outer auxiliary wheel 62 is located below the longitudinal support 1 and is in rolling connection with the lower end face of the longitudinal support 1, and the inner auxiliary wheel 64 is in rolling connection with the side face, close to the installation frame 41, of the longitudinal support 1. In this embodiment, the roller mechanism 6 and the lateral movement mechanism 3 together realize the lateral stable movement of the gripping device.

Two groups of cross beams 2 are arranged on the longitudinal support 1 in a rolling manner, and the cross beams 2 are provided with gripping devices 4 for gripping finished product rolls. Two sets of crossbeams 2 are installed on the longitudinal support 1 in a rolling mode, the crossbeams 2 are provided with gripper devices 4 used for gripping finished product rolls, transfer of the two finished product rolls can be achieved simultaneously, and operation efficiency is high.

It should be further noted that the manipulator of this embodiment further includes a control device for controlling the gripper device 4 to perform gripping movement on the finished roll, so that the manipulator can be applied to the upper working mode and the local remote control mode.

Wherein the upper level mode of operation: the upper computer sends a carrying instruction through an infrared communicator arranged nearby the site, the truss manipulator receives the instruction through the infrared communicator arranged on the vehicle, carries out carrying operation, and sends the completion condition to the upper computer through the infrared communicator after the operation is completed. In the working mode, all the clamping jaws can work simultaneously, the manipulator is in a fully automatic state, and the manipulator detects the distance from a front vehicle through the photoelectric switch to automatically accelerate, decelerate and stop. When carrying and operating, the information is exchanged with the platform through the infrared communicator arranged between the manipulator and the platform.

Local remote control mode: when the remote controller is used for switching the manipulator to the local mode, the manipulator is not controlled by the upper computer any more. In this case, the operation of the manipulator can be operated only by using the remote controller. Under the working state, the manipulator can complete multi-stage fast forward, backward and up-and-down conveying operation.

The manipulator of this embodiment adopts the current collector and slides line contact power supply, is different from traditional cable power supply mode. The cable can be dragged back and forth along with the equipment only through the protection of the drag chain, so that the abrasion of the cable caused by the direct friction between the cable and the equipment or the ground is avoided; the cable is easily broken due to the fact that the turning radius of the drag chain is too small, the service life of the equipment is shortened, and fault points are increased. The power is supplied by the contact of the current collector and the slide wire, so that the defects of a cable power supply mode are completely avoided, and the power supply device is various in form, compact in structure and convenient to install. And each electrode of the current collector is in good contact with the slide wire to supply power to the manipulator.

The two ends of the connecting frame 52 are provided with buffer blocks 56 for buffering pressure with the ends of the longitudinal support 1, and the two ends of the traveling stroke are provided with a speed cutting mechanism and a limit stop detection sensor, so that the connecting frame 52 and the ends of the longitudinal support 1 collide with each other to damage or loosen parts.

It should be understood that the above description of the specific embodiments is only for the purpose of explanation and not for the purpose of limitation. Obvious changes or variations caused by the spirit of the present invention are within the scope of the present invention.

Claims

1. The utility model provides a less longmen truss manipulator of noise which characterized in that: the device comprises two longitudinal supports (1) arranged in parallel, a cross beam (2) arranged on the longitudinal supports (1) in a rolling manner, and a gripper device (4) which is arranged on the cross beam (2) and moves along the cross beam (2) through a transverse moving mechanism (3);

the gripping device (4) comprises a mounting frame (41) which is arranged on the cross beam (2) in a rolling mode through a roller mechanism (6), a lifting column (42) which is installed with the mounting frame (41) in a sliding mode, lifting guide rails (43) which are symmetrically and fixedly installed on two sides of the lifting column (42), and a clamp (48) which is installed at the lower end portion of the lifting column (42); two side walls of the mounting frame (41) corresponding to the lifting guide rail (43) are fixedly provided with lifting slide blocks matched with the lifting guide rail (43);

a lifting motor (45) is installed on the installation frame (41), a lifting gear (46) is coaxially arranged on an output shaft of the lifting motor (45), and a lifting rack (47) is installed on the lifting column (42) along a direction parallel to the lifting guide rail (43); the lifting gear (46) is in external meshing connection with the lifting rack (47).

2. The gantry truss robot with less noise of claim 1, wherein: the clamp (48) comprises a clamp frame (481) fixedly mounted at the lower end of the lifting column (42), a guide groove (482) formed in the lower end of the clamp frame (481), two guide sliding blocks (483) which are oppositely arranged and are matched and slidably connected with the guide groove (482), and a hook (484) rotatably mounted on the guide sliding blocks (483).

3. The gantry truss robot with less noise of claim 2, wherein: the bending directions of the two hooks (484) are arranged in the same direction or in opposite directions.

4. The gantry truss robot with less noise of claim 1, wherein: the roller mechanism (6) comprises main guide wheels (61) which are arranged at four corners of the mounting frame (41) and are positioned above the longitudinal support (1), at least two groups of outer auxiliary wheels (62) and at least two groups of inner auxiliary wheels (64) which are symmetrically arranged on the side surface of the mounting frame (41);

the upper end face of the cross beam (2) is provided with a convex guide rail, the main guide wheel and the convex guide rail are installed in a rolling fit mode, the outer auxiliary wheel (62) is located below the longitudinal support (1) and is in rolling connection with the lower end face of the longitudinal support (1), and the inner auxiliary wheel (64) is in rolling connection with the side face, close to the mounting rack (41), of the longitudinal support (1).

5. The gantry truss robot with less noise of claim 1, wherein: the transverse moving mechanism (3) comprises a transverse moving motor (31) fixed at one end of the cross beam (2), two driving belt wheels (32) which are coaxially arranged with an output shaft of the transverse moving motor (31), and a driven belt wheel (33) fixedly arranged at the other end of the cross beam (2); the driving belt wheel (32) is in transmission connection with the corresponding driven belt wheel (33) through a synchronous belt (34);

the two ends of the synchronous belt (34) are fixedly mounted on the mounting frame (41), and the middle of the synchronous belt sequentially bypasses a driving belt wheel (32) and a driven belt wheel (33) which are arranged on corresponding positions.

6. The gantry truss robot with less noise of claim 5, wherein: the mounting frames (41) on two sides of the lifting column (42) are symmetrically provided with lower parts for guiding the synchronous belt (34);

the guide wheel set (49) comprises guide plates (491) arranged on the mounting frame (41), two lower guide wheels (492) arranged between the two guide plates (491) in parallel, and an upper guide wheel (493) arranged on the guide plates (491) and positioned at the middle position above the two guide wheels; the synchronous belt (34) penetrates through the space between the lower guide wheel (492) and the upper guide wheel (493) and is in rolling connection with the upper guide wheel (493) and the lower guide wheel (492).

7. The gantry truss robot with less noise of claim 1, wherein: the two ends of the cross beam (2) are arranged with the longitudinal support (1) in a rolling way through a longitudinal moving mechanism (5);

the longitudinal moving mechanism (5) comprises a longitudinal rack (51) fixedly mounted along a longitudinal beam of the longitudinal support (1), connecting frames (52) fixedly mounted at two end parts of the cross beam (2), a longitudinal moving motor (53) mounted on the connecting frames (52) and a longitudinal moving gear (54) coaxially arranged with an output shaft of the longitudinal moving motor (53); the longitudinal moving gear (54) is in external meshing connection with the longitudinal rack (51);

two longitudinal rollers (55) are rotatably mounted at the lower end of the connecting frame (52), and the longitudinal rollers (55) are mounted along the longitudinal beam of the longitudinal support (1) in a rolling manner.

8. The gantry truss robot with less noise of claim 7, wherein: and buffer blocks (56) used for buffering pressure with the end parts of the longitudinal support (1) are arranged at the two end parts of the connecting frame (52).

9. A gantry truss robot with reduced noise as claimed in any one of claims 1 to 8, wherein: two groups of cross beams (2) are arranged on the longitudinal support (1) in a rolling mode, and the cross beams (2) are provided with the hand grip devices (4) used for gripping finished product rolls.

10. The gantry truss robot with less noise of claim 1, wherein: the device also comprises a control device for controlling the gripping device (4) to grip and move the finished rolls.