Material transportation truss carrying manipulator

Abstract

The utility model discloses a material transportation truss carrying mechanical arm which comprises a stand column set formed by arranging a plurality of stand columns in an array mode, two sets of X-axis horizontal cross beams which are arranged side by side are fixedly erected on the stand column set, a set of Y-axis horizontal cross beams which move along the X axis are jointly erected on the two sets of X-axis horizontal cross beams, and the side portions of the Y-axis horizontal cross beams are connected with vertical plates which move along the Y axis. The side, away from the Y-axis horizontal cross beam, of the vertical plate is connected with a Z-axis vertical longitudinal beam moving along the Z axis, and the bottom end of the Z-axis vertical longitudinal beam is connected with a double-claw mechanical arm with the adjustable interval through a rotating table. The material transportation truss carrying manipulator can move in multiple degrees of freedom, can freely move in the X axis, the Y axis and the Z axis to adapt to different material positions, can also rotate and adjust the clamping distance of the clamping jaws to adapt to materials with different placement postures, different sizes and shapes, and is high in working flexibility, so that the production efficiency is improved, and the production cost is reduced. And the production work is safer and more convenient.

Description

Technical Field

[0001] The utility model belongs to the technical field of truss manipulators for industrial production and processing, in particular to a truss manipulator for material transportation. Background Art

[0002] Material transport truss handling robots are primarily used for factory handling. When transporting materials, including pipes, plates, and profiles, using traditional cranes or overhead cranes inevitably leads to difficulties, high risks, and time-consuming labor due to the manual loading and unloading of materials. Traditional machinery only focuses on the transportation phase of material transport, while struggling to perform material handling tasks such as loading and unloading. This results in poor flexibility and applicability, which in turn reduces production efficiency. Utility Model Content

[0003] The purpose of the utility model is to provide a material transport truss handling manipulator, which solves the problem of low production efficiency of existing machines.

[0004] The technical solution adopted by the utility model is: a material transport truss handling manipulator, including a column group formed by a plurality of column arrays, two groups of X-axis horizontal beams arranged in parallel are fixedly mounted on the column group, a group of Y-axis horizontal beams moving along the X-axis is commonly mounted on the two groups of X-axis horizontal beams, the side of the Y-axis horizontal beam is connected to a vertical plate moving along the Y-axis, the side of the vertical plate away from the Y-axis horizontal beam is connected to a Z-axis vertical longitudinal beam moving along the Z-axis, and the bottom end of the Z-axis vertical longitudinal beam is connected to a double-claw manipulator with adjustable spacing through a rotating table.

[0005] The utility model is also characterized in that:

[0006] The double-claw manipulator includes a fixed plate, two groups of horizontal guide rails are arranged side by side below the fixed plate, and a movable plate is slidably connected to each of the two ends of the two groups of horizontal guide rails, and horizontal sliders cooperating with the horizontal guide rails are fixed above both ends of the movable plate. A long strip of positioning holes is opened on the movable plate along the direction of the horizontal guide rails, and a cylinder located on the movable plate is fixed at the outer end of the positioning hole, and the output shaft of the cylinder is movably connected to a swing arm extending through the positioning hole to the bottom of the movable plate, and a bearing seat is fixed under each end of the movable plate, and a swing shaft with two ends extending outward and one radial side fixed to the bottom end of the swing arm is commonly connected between the two bearing seats, and the two ends of the swing shaft are commonly connected to clamps through arm rods.

[0007] An electromagnet or a pneumatic suction cup is fixed below the fixed plate and between the two groups of clamping jaws.

[0008] An X-axis guide rail and an X-axis rack are fixed above the X-axis horizontal beam along the length direction. An X-axis slider that cooperates with the X-axis guide rail and an X-axis gear that meshes with the X-axis rack are fixed below each end of the Y-axis horizontal beam. An X-axis motor located on the Y-axis horizontal beam is coaxially fixed above the X-axis gear.

[0009] A Y-axis guide rail and a Y-axis rack are fixed to the side of the Y-axis horizontal beam along the length direction, and a Y-axis slider that cooperates with the Y-axis guide rail and a Y-axis gear that meshes with the Y-axis rack are fixed to the side of the vertical plate close to the Y-axis horizontal beam. A Y-axis motor is coaxially fixed to one end of the Y-axis gear, which is located on the side of the vertical plate away from the Y-axis horizontal beam.

[0010] A Z-axis slider is fixed on the side of the vertical plate away from the Y-axis horizontal beam. A Z-axis guide rail fixed to the Z-axis vertical longitudinal beam is matched with the Z-axis slider in the vertical direction. A Z-axis rack in the same direction as the Z-axis guide rail is fixed on the side of the Z-axis vertical longitudinal beam close to the vertical plate. A Z-axis gear is meshed on the Z-axis rack, and a Z-axis motor is coaxially fixed to one end of the Z-axis gear, which is located on the side of the vertical plate close to the Y-axis horizontal beam.

[0011] The beneficial effects of the present invention are as follows: the material transport truss handling manipulator of the present invention can move with multiple degrees of freedom. In addition to free movement in the X, Y, and Z axes to adapt to different material positions, the double-claw manipulator can also rotate and adjust the clamping distance of the clamping claws to adapt to materials of different placement postures, different sizes and shapes. It has high working flexibility, thereby improving production efficiency and making production work safer and more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a structural diagram of the material transport truss handling manipulator of the present utility model;

[0013] Figure 2 yes Figure 1 A partial enlarged schematic diagram of area A in the middle;

[0014] Figure 3 This is a schematic diagram of the meshing relationship between the gears and racks on the X-axis horizontal beam in the material transport truss handling manipulator of the utility model;

[0015] Figure 4 This is a schematic diagram of the positional relationship between the rack and pinion on the Y-axis horizontal beam and the sliding pair (the vertical plate is not shown) in the material transport truss handling manipulator of the present invention;

[0016] Figure 5 This is a structural diagram of the side of the vertical plate away from the Y-axis horizontal beam in the material transport truss handling manipulator of the utility model;

[0017] Figure 6 This is a schematic diagram of the positional relationship between the rack and pinion and the sliding pair on the Z-axis vertical longitudinal beam in the material transport truss handling robot of the present invention (the vertical plate is not shown);

[0018] Figure 7 This is a structural diagram of a double-claw manipulator in a material transport truss handling manipulator of the present utility model;

[0019] Figure 8 This is a schematic diagram of the connection relationship of the clamping claws below the moving plate in the material transport truss handling manipulator of the utility model;

[0020] Figure 9 This is a schematic diagram of the material transport truss handling manipulator of the present invention when the gripper is open;

[0021] Figure 10 This is a schematic diagram of the state of the material transport truss handling manipulator of the present invention when the clamping claws are tightened.

[0022] In the figure, 1. column, 2. X-axis horizontal beam, 3. Y-axis horizontal beam, 4. vertical plate, 5. Z-axis vertical beam, 6. rotary table, 7. fixed plate, 8. horizontal guide rail, 9. movable plate, 10. horizontal slider, 11. positioning hole, 12. cylinder, 13. swing arm, 14. bearing seat, 15. swing shaft, 16. arm, 17. gripper, 18. electromagnet, 19. X-axis guide rail, 20. X-axis rack, 21. X-axis slider, 22. X-axis gear, 23. X-axis motor, 24. Y-axis guide rail, 25. Y-axis rack, 26. Y-axis slider, 27. Y-axis gear, 28. Y-axis motor, 29. Z-axis slider, 30. Z-axis guide rail, 31. Z-axis rack, 32. Z-axis gear, 33. Z-axis motor. DETAILED DESCRIPTION

[0023] The present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0024] Example 1

[0025] The utility model provides a material transport truss handling manipulator, such as Figure 1 As shown, the column group includes six columns 1 arranged in an array, and the column group is divided into two columns in parallel, with three columns 1 in each column, and a group of X-axis horizontal beams 2 is fixedly mounted on the three columns 1 in each column, and a group of Y-axis horizontal beams 3 moving along the X-axis is commonly mounted on the two groups of X-axis horizontal beams 2, and the side of the Y-axis horizontal beam 3 is connected to a vertical plate 4 moving along the Y-axis, and the side of the vertical plate 4 away from the Y-axis horizontal beam 3 is connected to a Z-axis vertical longitudinal beam 5 moving along the Z-axis, and the bottom end of the Z-axis vertical longitudinal beam 5 is connected to a double-claw robot with adjustable spacing through an electric rotating table 6.

[0026] Among them, such as Figure 2 and Figure 3As shown, two sets of X-axis guide rails 19 and an X-axis rack 20 are fixed along the length of the X-axis horizontal beam 2 above the two sets of X-axis guide rails 19. An X-axis slider 21 that cooperates with the X-axis guide rails 19 and an X-axis gear 22 that meshes with the X-axis rack 20 are fixed below each end of the Y-axis horizontal beam 3. An X-axis motor 23 located on the Y-axis horizontal beam 3 is coaxially fixed above the X-axis gear 22. During operation, the X-axis motor 23 starts and drives the X-axis gear 22 below to rotate through the reducer. After the X-axis gear 22 rotates, it produces displacement due to the meshing action of the fixed X-axis rack 20. At this time, since the Y-axis horizontal beam 3 below slides with the fixed X-axis guide rail 19 through the X-axis slider 21, the X-axis gear 22 drives the X-axis motor 23 after the displacement, and then drives the Y-axis horizontal beam 3 to move along the X-axis horizontal beam 2 under the side effect of sliding.

[0027] like Figure 4 and Figure 5 As shown, a Y-axis guide rail 24 and a Y-axis rack 25 are fixed to the side of the Y-axis horizontal beam 3 along the length direction. A Y-axis slider 26 that cooperates with the Y-axis guide rail 24 and a Y-axis gear 27 that meshes with the Y-axis rack 25 are fixed to the side of the vertical plate 4 close to the Y-axis horizontal beam 3. One end of the Y-axis gear 27 is coaxially fixed to a Y-axis motor 28 located on the side of the vertical plate 4 away from the Y-axis horizontal beam 3. During operation, the Y-axis motor 28 starts to drive the Y-axis gear 27 on the other side of the vertical plate 4 to rotate through the reducer. After the Y-axis gear 27 rotates, it is displaced due to the meshing action of the Y-axis rack 25 fixed in the Y-axis direction. At this time, since the vertical plate 4 slides with the Y-axis guide rail 24 fixed in the Y-axis direction through the Y-axis slider 26, the Y-axis gear 27 drives the Y-axis motor 28 after displacement, and then drives the vertical plate 4 to move along the Y-axis horizontal beam 3 under the side effect of sliding.

[0028] like Figure 5 and Figure 6 As shown, a Z-axis slider 29 is fixed to the side of the vertical plate 4 away from the Y-axis horizontal beam 3, and a Z-axis guide rail 30 fixed to the Z-axis vertical longitudinal beam 5 is matched with the Z-axis slider 29 in the vertical direction, and a Z-axis rack 31 in the same direction as the Z-axis guide rail 30 is fixed to the side of the Z-axis vertical longitudinal beam 5 close to the vertical plate 4, and a Z-axis gear 32 is meshed on the Z-axis rack 31, and a Z-axis motor 33 is coaxially fixed to one end of the Z-axis gear 32 and is located on the side of the vertical plate 4 close to the Y-axis horizontal beam 3. During operation, the Z-axis motor 33 starts and drives the Z-axis gear 32 on the other side of the vertical plate 4 to rotate through the reducer. After the Z-axis gear 32 rotates, since its Z-axis direction is fixed, the Z-axis rack 31 is displaced under the meshing action. At the same time, since the Z-axis slider 29 is fixed on the vertical plate 4, that is, the Z-axis direction is fixed, the Z-axis rack 31 is displaced and drives the Z-axis vertical longitudinal beam 5 to move up and down along the vertical plate 4 under the sliding side effect composed of the movable Z-axis guide rail 30 and the Z-axis slider 29.

[0029] like Figures 7 to 10As shown, the double-claw manipulator includes a fixed plate 7, and two groups of horizontal guide rails 8 are arranged side by side below the fixed plate 7. A movable plate 9 is slidably connected to each of the two ends of the two groups of horizontal guide rails 8. Horizontal sliders 10 that cooperate with the horizontal guide rails 8 are fixed above both ends of the movable plate 9. Long strip positioning holes 11 are opened on the movable plate 9 along the direction of the horizontal guide rails 8. A cylinder 12 located on the movable plate 9 is fixed at the outer end of the positioning hole 11. The output shaft of the cylinder 12 is movably connected to a swing arm 13 that extends to the bottom of the movable plate 9 through the positioning hole 11. A bearing seat 14 is fixed below each end of the movable plate 9. A swing shaft 15 with both ends extending outward and one radial side fixed to the bottom end of the swing arm 13 is commonly connected between the two bearing seats 14. The two ends of the swing shaft 15 are commonly connected to a clamping claw 17 through an arm rod 16. When working, Figure 9 As shown, taking one side of the clamping jaw 17 as an example, first fully open the clamping jaw 17, then start the cylinder 12 to fully extend its output shaft. During the extension process, the output shaft of the cylinder 12 pushes the swing arm 13 to rotate clockwise and reach the rightmost side of the positioning hole 11. At the same time, the swing arm 13 drives the swing shaft 15 to rotate clockwise, and the arm 16 is fully lifted to the left to open the clamping jaw 17. After that, the output shaft of the cylinder 12 continues to extend. Since the output shaft head has reached the rightmost side of the positioning hole 11, the cylinder 12 body is under the reaction force. The movable plate 9 moves backward to the left, thereby driving the movable plate 9 to move backward synchronously along the horizontal guide rail 8 under the sliding effect of the horizontal slider 10 and the horizontal guide rail 8. The clamping jaw 17 is equivalent to being hung on the bearing seat 14 below the movable plate 9 through the arm 16 and the swing shaft 15. When the movable plate 9 moves backward, the clamping jaw 17 also moves backward synchronously. The result is that the distance between the two clamping jaws 17 is widened, thereby achieving full opening of the clamping jaws 17 while widening the distance between them. This undoubtedly expands the range of clamping. When you need to clamp the material later, Figure 10 As shown, the cylinder 12 is started to retract its output shaft. During the recovery process of the output shaft, the swing arm 13 is pulled to rotate counterclockwise and reaches the leftmost side of the positioning hole 11. During the process, the swing arm 13 drives the shaft 15 to rotate counterclockwise through the arm 16 to tighten the clamping claw 17. After the output shaft of the cylinder 12 continues to be recovered, the body moves to the right under the reaction force, driving the moving plate 9 to the right synchronously, so that the two moving plates 9 are close to each other, that is, the distance between the two clamping claws 17 is also reduced synchronously, so that the material is clamped.

[0030] Through the above method, the material transport truss handling robot of the present invention can move with multiple degrees of freedom. In addition to free movement in the X, Y, and Z axes to adapt to different material positions, the double-claw robot can also rotate and adjust the clamping distance of the clamping claws to adapt to materials of different placement postures, different sizes and shapes. It has high working flexibility, thereby improving production efficiency and making production work safer and more convenient.

[0031] Example 2

[0032] The present invention provides a material transport truss handling manipulator that can also incorporate an electromagnet 18 or pneumatic suction cup, positioned below a fixed plate 7 and between two sets of grippers 17. The addition of the electromagnet 18 for gripping magnetic metal materials and the pneumatic suction cup for gripping non-metallic materials further enhances flexibility and stability during gripping. For example, if the material is misaligned, the electromagnet 18 can first magnetically attract it, and then adjust it while the two sets of grippers 17 are tightened, avoiding the inconvenience of frequently adjusting the angle of the rotary table 6 for alignment during direct gripping.

[0033] Example 3

[0034] The utility model provides a material transport truss handling robot, which is installed as a whole in the area where material handling is required in the factory when it is used. When it is necessary to clamp materials, the displacement of the Y-axis horizontal beam 3 on the X-axis horizontal beam 2 is adjusted by the X-axis motor 23, the displacement of the vertical plate 4 on the Y-axis horizontal beam 3 is adjusted by the Y-axis motor 28, and the up and down displacement of the Z-axis vertical longitudinal beam 5 on the vertical plate 4 is adjusted by the Z-axis motor 33, thereby realizing the free movement of the double-claw manipulator at the bottom end of the Z-axis vertical longitudinal beam 5 in the X, Y, and Z axes. After locating the material position, the rotating table 6 rotates to adjust the clamping angle of the double-claw manipulator to adapt to different placement postures. For example, for pipe materials, the clamping direction of the double-claw manipulator is preferably aligned with both sides of the pipe wall to achieve stable clamping. After adjusting the angle, the cylinder 12 is started to tighten the two clamping jaws 17 and reduce the distance to achieve clamping of materials of different sizes and shapes. After that, the X, Y, and Z axes are used to transport the material to the target position, adjust the angle, and open the double-claw manipulator to unload the material.

Claims

1. Material transport truss handling manipulator, characterized in that: The invention comprises a column group formed by an array arrangement of a plurality of columns (1), wherein two groups of X-axis horizontal beams (2) are fixedly mounted on the column group and arranged in parallel, a group of Y-axis horizontal beams (3) moving along the X-axis are mounted on the two groups of X-axis horizontal beams (2), a side of the Y-axis horizontal beams (3) is connected to a vertical plate (4) moving along the Y-axis, a side of the vertical plate (4) away from the Y-axis horizontal beams (3) is connected to a Z-axis vertical longitudinal beam (5) moving along the Z-axis, the bottom end of the Z-axis vertical longitudinal beam (5) is connected to a double-claw manipulator with adjustable spacing through a rotating table (6), the double-claw manipulator comprises a fixed plate (7), two groups of horizontal guide rails (8) are arranged in parallel below the fixed plate (7), and two ends of the two groups of horizontal guide rails (8) are slidably connected to a moving plate ( 9), horizontal sliders (10) cooperating with the horizontal guide rail (8) are fixed above both ends of the moving plate (9), a long strip positioning hole (11) is opened on the moving plate (9) along the direction of the horizontal guide rail (8), a cylinder (12) located on the moving plate (9) is fixed at the outer end of the positioning hole (11), the output shaft of the cylinder (12) is movably connected with a swing arm (13) extending through the positioning hole (11) to the bottom of the moving plate (9), a bearing seat (14) is fixed below each end of the moving plate (9), a swing shaft (15) with two ends extending outward and one radial side fixed to the bottom end of the swing arm (13) is connected between the two bearing seats (14), and the two ends of the swing shaft (15) are respectively connected to a clamping claw (17) through an arm rod (16).

2. The material transport truss handling manipulator according to claim 1, characterized in that: An electromagnet (18) or a pneumatic suction cup is fixed below the fixing plate (7) and between the two groups of clamping jaws (17).

3. The material transport truss handling manipulator according to claim 1, characterized in that: An X-axis guide rail (19) and an X-axis rack (20) are fixed above the X-axis horizontal beam (2) along the length direction, an X-axis slider (21) matched with the X-axis guide rail (19) and an X-axis gear (22) meshed with the X-axis rack (20) are fixed below each end of the Y-axis horizontal beam (3), and an X-axis motor (23) located on the Y-axis horizontal beam (3) is coaxially fixed above the X-axis gear (22).

4. The material transport truss handling manipulator according to claim 1, characterized in that: A Y-axis guide rail (24) and a Y-axis rack (25) are fixed to the side of the Y-axis horizontal beam (3) along the length direction; a Y-axis slider (26) matched with the Y-axis guide rail (24) and a Y-axis gear (27) meshed with the Y-axis rack (25) are fixed to the side of the vertical plate (4) close to the Y-axis horizontal beam (3); and a Y-axis motor (28) located on the side of the vertical plate (4) away from the Y-axis horizontal beam (3) is coaxially fixed to one end of the Y-axis gear (27).

5. The material transport truss handling manipulator according to claim 1, characterized in that: A Z-axis slider (29) is fixed on the side of the vertical plate (4) away from the Y-axis horizontal beam (3); a Z-axis guide rail (30) fixed to the Z-axis vertical longitudinal beam (5) is matched on the Z-axis slider (29) in the vertical direction; a Z-axis rack (31) in the same direction as the Z-axis guide rail (30) is fixed on the side of the Z-axis vertical longitudinal beam (5) close to the vertical plate (4); a Z-axis gear (32) is meshed on the Z-axis rack (31); and a Z-axis motor (33) located on the side of the vertical plate (4) close to the Y-axis horizontal beam (3) is coaxially fixed to one end of the Z-axis gear (32).

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