Multi-functional gantry robot

Abstract

The present application belongs to the technical field of hob ring processing application, and particularly relates to a multifunctional truss manipulator. The multifunctional truss manipulator comprises a square frame arranged on the periphery of a sand blasting transmission frame, an X-axis walking beam arranged on the top of the square frame, two Y-axis walking beams arranged between the two X-axis walking beams, and a Z-axis lifting shaft arranged on the Y-axis walking beam. The bottom of the Z-axis lifting shaft is provided with a feeding manipulator. The feeding manipulator can move between the sand blasting transmission frame and the material. Through the interval adjustment between the two oppositely arranged feeding manipulators and the angle change between the left feeding mechanism and the right feeding mechanism of the feeding manipulator, the feeding of the hob ring and the seamless steel pipe is completed, thereby solving the technical problems existing in the existing feeding process.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cutter ring processing application, and particularly relates to a multifunctional truss manipulator. BACKGROUND

[0002] The shield machine is mainly used for underground engineering, subway construction excavation, and tunnel construction of highways, railways, water and electricity engineering, etc. The cutter head of the shield machine is mainly installed with a rolling cutter and a scraper for excavation. The rolling cutter is mainly applied to hard rock and is installed on the cutter head. With the rotation of the cutter head, the rolling cutter revolves with the cutter head and rotates itself, and is pressed against the rock surface under the action of the cutter head thrust and torque. When the thrust exceeds the strength of the rock, the rock directly breaks and falls in the form of rock fragments.

[0003] Sand blasting is a process of cleaning and roughening the surface of the substrate by using the impact of high-speed sand flow. Compressed air is used as power to form a high-speed jet beam to spray the workpiece surface with the spray material (copper ore sand, quartz sand, emery, iron sand and Hainan sand) at high speed, so that the surface of the workpiece or the shape of the surface is changed. Due to the impact and cutting action of the abrasive on the workpiece surface, the surface of the workpiece obtains a certain cleanliness and different roughness, and the mechanical properties of the workpiece surface are improved.

[0004] At present, the processing mode of the rolling cutter ring is mainly produced by forging, machining and electroslag remelting. Therefore, for the rolling cutter ring production enterprise, seamless steel pipes and electroslag remelting rolling cutter ring blanks are needed. Therefore, for the rolling cutter ring production enterprise, the seamless steel pipe and the rolling cutter ring blank need to be sandblasted.

[0005] The existing feeding of the seamless steel pipe during sandblasting is mainly through a truss car, and the rolling cutter ring needs a handling manipulator. Therefore, for a sandblasting machine, it needs to have two feeding mechanisms at the same time. If the handling manipulator is on the side where the seamless steel pipe is placed, it will affect the placement of the seamless steel pipe. Therefore, the seamless steel pipe and the rolling cutter ring blank need to be placed on both sides for feeding, which leads to a large area of the sandblasting area and high feeding cost. SUMMARY

[0006] The present application is directed to the technical problems existing in the sandblasting process of the seamless steel pipe and the rolling cutter ring. A multifunctional truss manipulator is provided, which is reasonable in design, simple in structure, convenient to process and can realize the switching feeding of the seamless steel pipe and the rolling cutter ring.

[0007] In order to achieve the above object, the technical scheme adopted by the present application is as follows: the present application provides a multifunctional truss manipulator, which comprises a square frame arranged on the periphery of a sand blasting transmission frame and an X-axis walking beam arranged on the top of the square frame, the X-axis walking beam is arranged on both sides of the sand blasting transmission frame, two Y-axis walking beams are arranged between the two X-axis walking beams, the Y-axis walking beams are arranged along the X-axis walking beam, a Z-axis lifting shaft is arranged on the Y-axis walking beam, the Z-axis lifting shaft is arranged along the Y-axis walking beam and is arranged to be lifted, a feeding manipulator is arranged at the bottom of the Z-axis lifting shaft, the feeding manipulator comprises a base arranged at the bottom of the Z-axis lifting shaft, a left feeding mechanism and a right feeding mechanism arranged on the base, the left feeding mechanism and the right feeding mechanism each comprise a feeding seat and a feeding hand arranged on the feeding seat, the feeding hand is arranged at the bottom of the feeding seat, a rotating gear is arranged at the top of the feeding hand, a driving gear is engaged on one side of the rotating gear, the driving gear and the rotating gear are arranged to rotate on the feeding seat, the feeding seat is arranged in an inverted U shape, a driving shaft is arranged at the top of the feeding seat, a rotating gear is sleeved on the driving shaft, the rotating gears of the left feeding mechanism and the right feeding mechanism are arranged in engagement, a rotating motor is arranged on the base, the power end of the rotating motor is connected with any driving shaft, and the feeding seat is arranged below the base.

[0008] Preferably, the feeding hand is arranged in an L shape.

[0009] Preferably, a driving motor is arranged on the feeding seat, and the power end of the driving motor is connected with the driving gear.

[0010] Preferably, the Y-axis walking beam is arranged between the two X-axis walking beams through a walking mechanism, the walking mechanism comprises walking seats fixed on both ends of the Y-axis walking beam, a walking motor is arranged on the walking seat, a walking gear is arranged at the power end of the walking motor, and a rack is arranged on the X-axis walking beam and matched with the walking gear.

[0011] Preferably, the Z-axis lifting shaft is arranged to walk and lift along the Y-axis walking beam through a lifting walking mechanism, the lifting walking mechanism comprises a walking plate arranged on the Y-axis walking beam, a moving motor is arranged on the walking plate, a moving gear is arranged at the power end of the moving motor, a moving rack is arranged on the Y-axis walking beam and matched with the moving gear, a lifting motor is further arranged on the walking plate, a lifting gear is arranged at the power end of the lifting motor, and a lifting rack is arranged on the Z-axis lifting shaft and engaged with the lifting gear.

[0012] Preferably, the X-axis walking beam and the Y-axis walking beam each are provided with an upper guide rail and a lower guide rail arranged in a vertical manner, and the walking seat and the walking plate are provided with walking wheels matched with the upper guide rail and the lower guide rail.

[0013] Preferably, the Z-axis lifting shaft is provided with left and right guide rails arranged on both sides, and the walking plate is provided with lifting wheels matched with the left and right guide rails.

[0014] Compared with the prior art, the application has the advantages and positive effects that,

[0015] 1. The multifunctional truss manipulator is provided with an X-axis walking beam, a Y-axis walking beam and a Z-axis lifting shaft, so that the feeding manipulator can move between the sand blasting transmission frame and the material, and the feeding manipulator can feed the hob ring and the seamless steel pipe by adjusting the distance between the two feeding manipulators and changing the angle between the left feeding mechanism and the right feeding mechanism on the feeding manipulator, thereby solving the technical problems existing in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0017] Fig. 1 The structural schematic view of the multifunctional truss manipulator provided for the embodiment 1 is shown in the figure.

[0018] Fig. 2 The structural schematic view of the feeding manipulator provided for the embodiment 1 is shown in the figure.

[0019] Fig. 3 The structural schematic view of the feeding manipulator provided for the embodiment 1 is shown in the figure.

[0020] Fig. 4 The structural schematic view of the left feeding mechanism provided for the embodiment 1 is shown in the figure.

[0021] In the above figures, 1 is a square frame; 11 is an X-axis walking beam; 111 is an upper guide rail; 112 is a lower guide rail; 2 is a Y-axis walking beam; 3 is a walking mechanism; 31 is a walking seat; 32 is a walking motor; 33 is a walking wheel; 4 is a Z-axis lifting shaft; 41 is a left guide rail; 42 is a right guide rail; 5 is a lifting walking mechanism; 51 is a walking plate; 52 is a moving motor; 53 is a lifting motor; 54 is a lifting wheel; 6 is a feeding manipulator; 61 is a base; 62 is a feeding seat; 63 is a feeding hand; 64 is a rotating gear; 65 is a driving gear; 66 is a driving shaft; 67 is a rotating gear; 68 is a rotating motor; and 69 is a driving motor. DETAILED DESCRIPTION

[0022] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0023] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0024] Examples, such as Figs. 1-4 As shown, this embodiment aims to provide a feeding mechanism that can clamp both seamless steel pipes and hobbing cutter rings, thereby solving the technical problem that existing feeding mechanisms cannot clamp both.

[0025] Therefore, in order to achieve the above objectives, the multi-functional truss robot provided in this embodiment includes a square frame 1 set around the sandblasting conveyor and an X-axis traveling beam 11 set on the top of the square frame 1. In this embodiment, the square frame 1 includes four columns and a crossbeam set between the columns. Its long side direction is consistent with the movement direction of the sandblasting conveyor. In order to minimize the volume of the square frame 1, in this embodiment, one side of the square frame 1 is set close to the sandblasting conveyor. In this way, the distance between the other side and the sandblasting conveyor is increased, which facilitates the placement of seamless steel pipes or hobbing cutter ring blanks.

[0026] In the embodiment, the conveying direction of the sand blasting conveying frame is the X axis, and therefore, the X axis walking beams 11 are arranged on both sides of the sand blasting conveying frame, and the X axis walking beams 11 are common profiles. Considering that the seamless steel pipe is a long shaft structure, and the hob ring is disc-shaped, when the seamless steel pipe needs to be clamped, the two clamping mechanisms are far away from each other, the clamping mechanisms grab both ends of the seamless steel pipe, and the seamless steel pipe is loaded. When the hob ring needs to be clamped, the two clamping mechanisms are close to each other, and the hob ring is supported, and the hob ring is loaded. Therefore, the two clamping mechanisms need to move relative to or towards each other on the X axis, and therefore, two Y axis walking beams 2 are arranged between the two X axis walking beams 11 in the embodiment, the Y axis walking beams 2 are arranged along the X axis walking beams 11, and in order to realize the walking of the Y axis walking beams 2 along the X axis walking beams 11, the Y axis walking beams 2 are arranged between the two X axis walking beams 11 through walking mechanisms 3 in the embodiment. The walking mechanisms 3 include walking seats 31 fixed at both ends of the Y axis walking beams 2, and the walking seats 31 are designed in the shape of rectangular plates. Walking motors 32 are arranged on the side of the walking seats 31 away from the X axis walking beams 11, the power end of the walking motor 32 penetrates the walking seat, and a walking gear is arranged at the power end of the walking motor 32. A rack is arranged on the X axis walking beam 11 and matched with the walking gear. In this way, under the action of the walking motor 32, the walking seat 31 can move on the walking beam.

[0027] In order to ensure the stability of the movement of the walking seat 31, upper and lower guide rails 111 and 112 are arranged on the X axis walking beam 11, and walking wheels 33 matched with the upper and lower guide rails 111 and 112 are arranged on the walking seat 31. In this way, the whole walking seat 31 is fixed on the walking beam through the walking wheels 33, so as to realize the stable walking of the walking seat 31. In the embodiment, in order to reduce the cost, the upper guide rail 111 and the rack are designed in an integrated structure, that is, the bottom of the upper guide rail 111 is provided with sawteeth, forming a rack-shaped structure.

[0028] Considering that the existing seamless steel pipe is placed in a stacking manner and the hob ring is placed in a stacking manner, the two placements need the clamping mechanism to move up and down to be realized, for this, the Z-axis lifting shaft 4 is arranged on the Y-axis walking beam 2, the Z-axis lifting shaft 4 is arranged in walking and lifting along the Y-axis walking beam 2, specifically, the Z-axis lifting shaft 4 is arranged in walking and lifting along the Y-axis walking beam 2 through the lifting walking mechanism 5, the lifting walking mechanism 5 includes the walking plate 51 arranged on the Y-axis walking beam 2, the walking plate 51 and the walking seat 31 are both arranged in a plate shape, the moving motor 52 is arranged on the walking plate 51, the power end of the moving motor 52 is also arranged through the walking plate 51, at the same time, the moving gear is arranged on the power end of the moving motor 52, the moving rack matched with the moving gear is arranged on the Y-axis walking beam 2, in this way, the walking plate 51 can move along the Y-axis walking beam 2, and the Z-axis lifting shaft 4 is arranged on the walking plate 51, so that the Z-axis lifting shaft 4 moves along the Y-axis walking beam 2.

[0029] In order to realize the up and down movement of the Z-axis lifting shaft 4 relative to the Y-axis walking beam 2, in the embodiment, the lifting motor 53 is further arranged on the walking plate 51, the power end of the lifting motor 53 is also arranged through the walking plate 51, at the same time, the lifting gear is arranged on the power end of the lifting motor 53, the lifting rack is arranged on the Z-axis lifting shaft 4 and engaged with the lifting gear. In this way, since the lifting motor 53 is stationary, at this time, the Z-axis lifting shaft 4 will move up and down, in order to ensure the stability of the Z-axis lifting shaft 4, the left guide rail 41 and the right guide rail 42 arranged on the left and right sides of the Z-axis lifting shaft 4 are arranged, the lifting wheel 54 matched with the left guide rail 41 and the right guide rail 42 is arranged on the walking plate 51, in this way, under the clamping action of the lifting wheel 54, the stability of the lifting is ensured, of course, in order to ensure the movement stability of the walking plate 51, the upper guide rail 111 and the lower guide rail 112 are also arranged on the Y-axis walking beam 2, the walking wheel 33 matched with the upper guide rail 111 and the lower guide rail 112 is arranged on the walking plate 51.

[0030] In order to realize the action of the clamping mechanism, in the embodiment, the feeding manipulator 6 is arranged at the bottom of the Z-axis lifting shaft 4, specifically, the feeding manipulator 6 includes the base 61 arranged at the bottom of the Z-axis lifting shaft 4 and the left feeding mechanism and the right feeding mechanism arranged on the base 61, wherein the left feeding mechanism and the right feeding mechanism both include the feeding seat 62 and the feeding hand 63 arranged on the feeding seat 62, the arrangement of the feeding hand 63 of the left feeding mechanism and the right feeding mechanism realizes the clamping of one end of the seamless steel pipe or the lifting of one side of the hob ring, in order to realize the clamping of the seamless steel pipe, the two feeding hands 63 need to form a ring, and in order to lift the hob ring, the two feeding hands 63 need to lift one side of the hob ring, for this, in the embodiment, the feeding hand 63 is arranged in an L shape.

[0031] In view of the need to open the two feeding hands 63 when clamping the steel pipe, the feeding hands 63 are arranged to extend out of the bottom of the feeding seat 62. A rotating gear 64 is arranged at the top of the feeding hands 63. A driving gear 65 is engaged with one side of the rotating gear 64. The driving gear 65 and the rotating gear 64 are arranged to rotate on the feeding seat 62. Specifically, a driving motor 69 is arranged on the feeding seat 62. The driving end of the driving motor 69 is arranged in connection with the driving gear 65. In this way, the feeding hands 63 will swing under the action of the driving motor 69, thereby completing the opening and closing of the two feeding hands 63. In order to leave a gap for the swinging of the feeding hands 63, the feeding seat 62 is arranged in an inverted U-shaped manner in this embodiment. In this way, the left feeding mechanism or the right feeding mechanism forms a single-leg compass-like structure. The combination of the feeding hands 63 of the left feeding mechanism and the right feeding mechanism forms the clamping of the seamless steel pipe.

[0032] In order to enable the feeding hands 63 to clamp the cutter ring, a driving shaft 66 is arranged at the top of the feeding seat 62 in this embodiment. The driving shaft 66 is located at the middle position of the feeding seat 62. A rotating gear 67 is sleeved on the driving shaft 66. The driving shaft 66 is arranged in the base 61. The rotating gears 67 of the left feeding mechanism and the right feeding mechanism are arranged in engagement. A rotating motor 68 is arranged on the base 61. The driving end of the rotating motor 68 is arranged in connection with any driving shaft 66. In order not to affect the rotation of the feeding seat 62, the feeding seat 62 is arranged below the base 61. In this way, the two feeding hands 63 will be arranged in symmetry, parallelism and a certain angle under the action of the driving shaft 66. The arrangement of the angle forms the lifting of the cutter ring.

[0033] When used specifically, if the hole diameter of the seamless steel pipe meets the simultaneous insertion of the two feeding hands 63, the two feeding hands 63 are adjusted to be in a parallel state by using the rotating shaft. In this way, the two feeding mechanisms 6 are inserted into both ends of the seamless steel pipe, thereby completing the clamping of the seamless steel pipe. If the hole diameter of the seamless steel pipe cannot meet the simultaneous insertion of the two feeding hands 63, the seamless steel pipe is first pushed out by one end of the feeding mechanism 6. Then, the two feeding hands 63 of the other end of the feeding mechanism 6 are in a symmetrical state. After being opened by using the driving motor 69, the seamless steel pipe is clamped at one end which is pushed out. Then, the other end is lifted downward. The other end of the feeding mechanism 6 is then clamped. At this time, the lower feeding mechanism can move upward, thereby completing the clamping of the seamless steel pipe.

[0034] When the clamped is the hob ring, under the action of the driving shaft 66, the two upper materials are formed into an obtuse angle, then the two upper material manipulators 6 are close to each other, the upper material manipulator 63 is all below the hob ring, the hob ring can be lifted, thus the seamless steel pipe and the hob ring can be fed by using a set of multifunctional truss manipulator, the production cost is reduced and the enterprise benefit is improved.

[0035] The above is only the preferred embodiment of the present application, and is not intended to limit the present application in other forms. Any skilled person in the art can modify or change the above disclosed technical content to equivalent embodiments applied to other fields. However, any simple modification, equivalent change and modification made to the above embodiments without departing from the technical solution of the present application, and in accordance with the technical essence of the present application, still belong to the protection scope of the technical solution of the present application.

Claims

1. A multi-functional gantry robot, characterized in that, The system includes a square frame surrounding the sandblasting conveyor and an X-axis traveling beam positioned on top of the square frame. The X-axis traveling beams are located on both sides of the sandblasting conveyor. Two spaced Y-axis traveling beams are positioned between the two X-axis traveling beams, and the Y-axis traveling beams travel along the X-axis traveling beams. A Z-axis lifting shaft is mounted on the Y-axis traveling beam, and the Z-axis lifting shaft travels and lifts along the Y-axis traveling beams. A loading robot is mounted at the bottom of the Z-axis lifting shaft, and the loading robot includes a base at the bottom of the Z-axis lifting shaft and a mounting base on the base. The system includes a left loading mechanism and a right loading mechanism, each comprising a loading seat and a loading hand mounted on the loading seat. The loading hand extends from the bottom of the loading seat, and a rotating gear is mounted on the top of the loading hand. A drive gear meshes with one side of the rotating gear. The drive gear and the rotating gear are rotatably mounted on the loading seat. The loading seat is in an inverted U-shape, and a drive shaft is mounted on the top of the loading seat. A rotating gear is mounted on the drive shaft. The rotation of the left and right loading mechanisms... The gears are meshed together. A rotary motor is mounted on the base, and the power end of the rotary motor is connected to any drive shaft. The loading seat is located below the base. In practical use, if the diameter of the seamless steel pipe allows two loading arms to extend simultaneously, the two loading arms are adjusted to a parallel position using the rotary shaft. This allows the two loading arms to insert into both ends of the seamless steel pipe, clamping it. If the diameter of the seamless steel pipe cannot allow two loading arms to extend simultaneously, one loading arm at one end is used to push part of the seamless steel pipe out. Then, the two loading arms of the other loading robot are symmetrical. After opening with the drive motor, they clamp the end of the seamless steel pipe that is pushed out. Then, they move downward, causing the other end to tilt up, and the loading robot at the other end completes the clamping. At this time, the pressing robot can move upward to complete the clamping of the seamless steel pipe. When clamping a hobbing cutter ring, under the action of the drive shaft, the two loading arms form an obtuse angle. Then, the two loading robots move closer together, with both loading arms under the hobbing cutter ring, thus lifting the hobbing cutter ring.

2. The multi-functional gantry robot according to claim 1, characterized in that, The feeding handle is L-shaped.

3. The multifunctional gantry robot according to claim 2, characterized in that, The loading base is equipped with a drive motor, and the power end of the drive motor is connected to the drive gear.

4. The multifunctional gantry robot according to claim 3, characterized in that, The Y-axis traveling beam is set between two X-axis traveling beams via a traveling mechanism. The traveling mechanism includes traveling seats fixed at both ends of the Y-axis traveling beam, a traveling motor is mounted on the traveling seat, a traveling gear is mounted on the power end of the traveling motor, and a rack that meshes with the traveling gear is mounted on the X-axis traveling beam.

5. The multifunctional gantry robot according to claim 4, characterized in that, The Z-axis lifting shaft travels and moves up and down along the Y-axis traveling beam via a lifting and traveling mechanism. The lifting and traveling mechanism includes a traveling plate mounted on the Y-axis traveling beam, a moving motor mounted on the traveling plate, a moving gear mounted on the power end of the moving motor, a moving rack mounted on the Y-axis traveling beam that meshes with the moving gear, a lifting motor mounted on the traveling plate, a lifting gear mounted on the power end of the lifting motor, and a lifting rack mounted on the Z-axis lifting shaft that meshes with the lifting gear.

6. The multifunctional gantry robot according to claim 5, characterized in that, Both the X-axis traveling beam and the Y-axis traveling beam are equipped with upper and lower guide rails arranged vertically, and the traveling seat and traveling plate are equipped with traveling wheels that cooperate with the upper and lower guide rails.

7. The multi-functional gantry robot according to claim 6, characterized in that, The Z-axis lifting shaft is provided with left and right guide rails on both sides, and the traveling plate is provided with lifting wheels that cooperate with the left and right guide rails.

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