Electrically-driven automatic heavy-load manipulator

Abstract

The utility model discloses an electrically-driven automatic heavy-load manipulator, which belongs to the technical field of mechanical automation and comprises a traveling mechanism, a rotary support is arranged on the traveling mechanism, and a rack is fixedly connected onto the rotary support. The forceps rod comprises a forceps rod frame and a telescopic clamping mechanism, and one end of the forceps rod frame is connected with the telescopic clamping mechanism; the guide assembly comprises a V-shaped guide rail and a flat guide rail, the V-shaped guide rail and the flat guide rail are fixedly connected to the two opposite side walls of the rack respectively, a plurality of V-shaped rolling wheels and a plurality of flat rolling wheels are rotationally connected to the side wall of the clamp rod frame, the V-shaped rolling wheels are in rolling connection with the V-shaped guide rail, and the flat rolling wheels are in rolling connection with the flat guide rail; and the lifting electric cylinder is fixedly connected between the rack and the clamp rod frame so as to drive the clamp rod frame to lift along the V-shaped guide rail and the flat guide rail. According to the utility model, the lifting electric cylinder is adopted for driving, and meanwhile, the guide structure of the V-shaped guide rail and the flat guide rail is arranged, so that the bearing capacity, the response speed and the positioning accuracy are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical automation, in particular to an electric-driven automated heavy-load manipulator. Background Art

[0002] With the development of equipment manufacturing industry, the application of automated production lines in various fields is becoming more and more extensive. Automated heavy-duty manipulators are increasingly widely used in automated production lines. Currently, heavy-duty manipulators are mainly based on hydraulic drive or hybrid drive technology to ensure that they have corresponding heavy-duty capacity. However, the hydraulic system has the problems of slow response speed and low production efficiency, which brings inconvenience to automated production.

[0003] To this end, an electric-driven automated heavy-load manipulator is proposed. Utility Model Content

[0004] The utility model aims to provide an electric-driven automatic heavy-load manipulator, aiming to solve or improve at least one of the above-mentioned technical problems.

[0005] To achieve the above purpose, the utility model provides the following solution: The utility model provides an electric drive automatic heavy-duty manipulator, comprising:

[0006] A walking mechanism, wherein a slewing support is provided on the walking mechanism, and a frame is fixedly connected to the slewing support;

[0007] A clamp rod, comprising a clamp rod frame and a telescopic clamping mechanism, wherein one end of the clamp rod frame is connected to the telescopic clamping mechanism;

[0008] A guide assembly, comprising a V-shaped guide rail and a flat guide rail, wherein the V-shaped guide rail and the flat guide rail are respectively fixed to opposite side walls of the frame, and the side walls of the clamp rod frame are rotatably connected to a plurality of V-shaped rollers and a plurality of flat rollers, wherein the V-shaped rollers are rollingly connected to the V-shaped guide rails, and the flat rollers are rollingly connected to the flat guide rails;

[0009] The lifting electric cylinder is fixedly connected between the frame and the clamp rod frame, so as to drive the clamp rod frame to rise and fall along the V-shaped guide rail and the flat guide rail.

[0010] Preferably, the telescopic clamping mechanism includes a telescopic sleeve, the outer wall of the telescopic sleeve is slidably connected to the inner wall of the clamp rod frame, a telescopic electric cylinder is fixedly connected to the outer wall of the clamp rod frame, one end of the telescopic sleeve extends out of the clamp rod frame and is fixedly connected to the output end of the telescopic electric cylinder, and a clamping robot is provided at the end of the telescopic sleeve away from the telescopic electric cylinder.

[0011] Preferably, a support frame is fixedly connected to a side of the clamp rod frame away from the clamping robot, and a counterweight is fixedly connected to the support frame.

[0012] Preferably, the walking mechanism includes a vehicle body, the slewing support is arranged on the vehicle body, the bottom of the vehicle body is rotatably connected to a wheel, a walking motor transmission system is fixedly connected to the bottom of the vehicle body, and the output end of the walking motor transmission system is fixedly connected to the rotating shaft on the wheel.

[0013] Preferably, the slewing support includes an outer ring and an inner gear ring, the outer ring is fixedly connected to the car body, the inner gear ring is located inside the outer ring and is rotatably connected to the outer ring via a ball bearing, the top of the inner gear ring is fixedly connected to the frame, the bottom of the car body is fixedly connected to a slewing motor system, a gear is fixedly connected to the output shaft of the slewing motor system, the gear extends out of the car body and meshes with the inner gear ring.

[0014] The utility model discloses the following technical effects: the device is conveniently moved to the specified position through the walking mechanism, the telescopic clamping mechanism is driven to rotate through the slewing support, and the telescopic clamping mechanism is driven to be lifted and lowered through the lifting electric cylinder, thereby realizing automated operation; the present application adopts a lifting electric cylinder drive to replace the traditional hydraulic drive and hybrid drive, and is equipped with a "V-shaped guide rail + flat guide rail" guiding structure, so that the present application has the same bearing capacity as the traditional drive, while improving the response speed and positioning accuracy, and improving the efficiency of automated production. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 It is the front view of the utility model;

[0017] Figure 2 It is a top view of the utility model;

[0018] Figure 3 It is a schematic diagram of the structure of the telescopic electric cylinder and the telescopic sleeve in the utility model;

[0019] Figure 4 It is a structural schematic diagram of the walking mechanism and the slewing support in the utility model.

[0020] In the figure: 1. frame; 1-1. lifting cylinder base; 2. lifting cylinder; 3. telescopic cylinder; 4. slewing support; 4-1. inner gear ring; 4-2. outer ring; 5. walking mechanism; 5-1. wheel; 5-2. vehicle body; 5-3. walking motor transmission system; 6-1. clamping mechanism; 6-2. telescopic sleeve; 6-2-1. cylinder seat; 6-3. clamp rod frame; 6-3-1. lifting cylinder seat; 6-3-2. telescopic cylinder seat; 6-3-3. V-shaped roller seat; 6-3-4. flat roller seat; 6-4. pull rod; 6-5. counterweight; 7. clamping cylinder; 8. slewing motor system; 8-1. gear; 8-2. output shaft; 9. V-shaped roller; 10. V-shaped guide rail; 11. flat guide rail; 12. flat roller. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0023] Reference Figure 1-Figure 4 The utility model provides an electric-driven automatic heavy-load manipulator, comprising:

[0024] A traveling mechanism 5, on which a slewing support 4 is provided, and a frame 1 is fixedly connected to the slewing support 4;

[0025] The clamp rod comprises a clamp rod frame 6-3 and a telescopic clamping mechanism, and one end of the clamp rod frame 6-3 is connected to the telescopic clamping mechanism;

[0026] The guide assembly includes a V-shaped guide rail 10 and a flat guide rail 11, the V-shaped guide rail 10 and the flat guide rail 11 are respectively fixed to the opposite side walls of the frame 1, and the side wall of the clamp rod frame 6-3 is rotatably connected with a plurality of V-shaped rollers 9 and a plurality of flat rollers 12, the V-shaped rollers 9 are rollingly connected to the V-shaped guide rail 10, and the flat rollers 12 are rollingly connected to the flat guide rail 11;

[0027] The lifting electric cylinder 2 is fixed between the frame 1 and the clamp rod frame 6-3, thereby driving the clamp rod frame 6-3 to move up and down along the V-shaped guide rail 10 and the flat guide rail 11;

[0028] A V-shaped roller seat 6-3-3 and a flat roller seat 6-3-4 are fixedly connected to the clamp rod frame 6-3, the V-shaped roller seat 6-3-3 is rotatably connected to the V-shaped roller 9, and the flat roller seat 6-3-4 is rotatably connected to the flat roller 12;

[0029] A lifting cylinder seat 6-3-1 is fixedly connected to the outer wall of the clamp rod frame 6-3, and the lifting cylinder seat 6-3-1 is fixedly connected to the output end of the lifting cylinder 2. A lifting cylinder base 1-1 is fixedly connected to the frame 1, and the lifting cylinder base 1-1 is fixedly connected to the cylinder body end of the lifting cylinder 2.

[0030] Further optimized solution, the telescopic clamping mechanism includes a telescopic sleeve 6-2, the outer wall of the telescopic sleeve 6-2 is slidably connected to the inner wall of the clamp rod frame 6-3, the outer wall of the clamp rod frame 6-3 is fixedly connected to the telescopic electric cylinder 3, one end of the telescopic sleeve 6-2 extends out of the clamp rod frame 6-3 and is fixedly connected to the output end of the telescopic electric cylinder 3, and the end of the telescopic sleeve 6-2 away from the telescopic electric cylinder 3 is provided with a clamping manipulator;

[0031] A telescopic electric cylinder seat 6-3-2 is fixedly connected to the outer wall of the clamp rod frame 6-3, and the telescopic electric cylinder seat 6-3-2 is fixedly connected to the cylinder end of the telescopic electric cylinder 3. The output end of the telescopic electric cylinder 3 is fixedly connected to the electric cylinder seat 6-2-1, and the electric cylinder seat 6-2-1 is fixedly connected to the telescopic sleeve 6-2;

[0032] The clamping robot includes a clamping electric cylinder 7, a pull rod 6-4 and a clamping mechanism 6-1. The clamping electric cylinder 7 is fixedly connected to the electric cylinder seat 6-2-1. The output end of the clamping electric cylinder 7 is fixedly connected to the pull rod 6-4. The pull rod 6-4 is fixedly connected to the clamping mechanism 6-1. The clamping cylinder 7 can drive the clamping mechanism 6-1 to clamp or open. The specific structure of the clamping robot is existing technology and will not be repeated here.

[0033] To further optimize the solution, a support frame is fixedly connected to the side of the clamp rod frame 6-3 away from the clamping robot, and a counterweight block 6-5 is fixedly connected to the support frame; by providing the counterweight block 6-5, the balance of the device is improved.

[0034] According to a further optimization scheme, the walking mechanism 5 includes a vehicle body 5-2, a slewing support 4 is arranged on the vehicle body 5-2, the bottom of the vehicle body 5-2 is rotatably connected to the wheel 5-1, a walking motor transmission system 5-3 is fixedly connected to the bottom of the vehicle body 5-2, and the output end of the walking motor transmission system 5-3 is fixedly connected to the rotating shaft on the wheel 5-1.

[0035] Further optimized solution, the slewing support 4 includes an outer ring 4-2 and an inner gear ring 4-1, the outer ring 4-2 is fixedly connected to the car body 5-2, the inner gear ring 4-1 is located inside the outer ring 4-2 and is rotatably connected to the outer ring 4-2 through a ball bearing, the top of the inner gear ring 4-1 is fixedly connected to the frame 1, the bottom of the car body 5-2 is fixedly connected to a slewing motor system 8, the output shaft 8-2 of the slewing motor system 8 is fixedly connected to a gear 8-1, the gear 8-1 extends out of the car body 5-2 and meshes with the inner gear ring 4-1;

[0036] The rotary motor system 8 drives the gear 8 - 1 to rotate, driving the inner gear ring 4 - 1 to rotate, thereby realizing the rotary operation.

[0037] When the utility model is in use, the wheel 5-1 is driven to rotate by the travel motor transmission system 5-3 to realize the overall movement of the device, the inner gear ring 4-1 is driven to rotate by the rotary motor system 8, thereby driving the clamp mechanism 6-1 to rotate, and the clamp rod frame 6-3 is driven to be lifted and lowered by the lifting electric cylinder 2, so that the V-shaped roller 9 rolls on the V-shaped guide rail 10, and the flat roller 12 rolls on the flat guide rail 11, thereby realizing the lifting and lowering of the clamp mechanism 6-1 and improving the control accuracy; the clamp mechanism 6-1 is driven to move horizontally by the telescopic electric cylinder 3, and the clamp mechanism 6-1 is driven to clamp or open by the clamping electric cylinder 7, thereby realizing automated work.

[0038] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0039] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. An electric-driven automated heavy-load manipulator, characterized in that: include: A walking mechanism (5), wherein a slewing support (4) is provided on the walking mechanism (5), and a frame (1) is fixedly connected to the slewing support (4); A clamp rod comprises a clamp rod frame (6-3) and a telescopic clamping mechanism, wherein one end of the clamp rod frame (6-3) is connected to the telescopic clamping mechanism; A guide assembly, comprising a V-shaped guide rail (10) and a flat guide rail (11), wherein the V-shaped guide rail (10) and the flat guide rail (11) are respectively fixed to opposite side walls of the frame (1), and the side walls of the clamp rod frame (6-3) are rotatably connected to a plurality of V-shaped rollers (9) and a plurality of flat rollers (12), wherein the V-shaped rollers (9) are rollingly connected to the V-shaped guide rail (10), and the flat rollers (12) are rollingly connected to the flat guide rail (11); The lifting electric cylinder (2) is fixedly connected between the frame (1) and the clamp rod frame (6-3), thereby driving the clamp rod frame (6-3) to rise and fall along the V-shaped guide rail (10) and the flat guide rail (11).

2. The electrically driven automated heavy-load manipulator according to claim 1, characterized in that: The telescopic clamping mechanism comprises a telescopic sleeve (6-2), the outer wall of the telescopic sleeve (6-2) is slidably connected to the inner wall of the clamp rod frame (6-3), a telescopic electric cylinder (3) is fixedly connected to the outer wall of the clamp rod frame (6-3), one end of the telescopic sleeve (6-2) extends out of the clamp rod frame (6-3) and is fixedly connected to the output end of the telescopic electric cylinder (3), and a clamping manipulator is arranged at one end of the telescopic sleeve (6-2) away from the telescopic electric cylinder (3).

3. The electrically driven automated heavy-load manipulator according to claim 2, characterized in that: A support frame is fixedly connected to the side of the clamp rod frame (6-3) away from the clamping manipulator, and a counterweight block (6-5) is fixedly connected to the support frame.

4. The electrically driven automated heavy-load manipulator according to claim 1, characterized in that: The walking mechanism (5) comprises a vehicle body (5-2), the vehicle body (5-2) is provided with the slewing support (4), the bottom of the vehicle body (5-2) is rotatably connected to a wheel (5-1), the bottom of the vehicle body (5-2) is fixedly connected to a walking motor transmission system (5-3), and the output end of the walking motor transmission system (5-3) is fixedly connected to a rotating shaft on the wheel (5-1).

5. The electrically driven automated heavy-load manipulator according to claim 4, characterized in that: The slewing support (4) comprises an outer ring (4-2) and an inner gear ring (4-1); the outer ring (4-2) is fixedly connected to the vehicle body (5-2); the inner gear ring (4-1) is located inside the outer ring (4-2) and is rotatably connected to the outer ring (4-2) via a ball bearing; the top of the inner gear ring (4-1) is fixedly connected to the frame (1); the bottom of the vehicle body (5-2) is fixedly connected to a slewing motor system (8); a gear (8-1) is fixedly connected to an output shaft (8-2) of the slewing motor system (8); the gear (8-1) extends out of the vehicle body (5-2) and meshes with the inner gear ring (4-1).

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