Multi-area alternate carrying heavy load truss robot

Abstract

The utility model discloses a multi-area alternate carrying heavy load truss robot which comprises a first X beam, a first stand column, a second X beam, a second stand column, a moving mechanism and a battery rack clamp. The battery rack clamp has the advantages of being reasonable and simple in structure, low in production cost and convenient to install, the Y-axis motor, the Z-axis motor and the X-axis motor work in a linkage mode, a battery rack product can be moved to the needed position through the battery rack clamp, and therefore the machining requirements of different devices in a new energy device manufacturing workshop are met; the number of the moving mechanisms and the number of the battery rack clamps are both multiple, so that the battery rack can be moved to the needed position through alternate work of the moving mechanisms and the battery rack clamps, the requirement for carrying heavy-load parts of dozens of stations in a new energy equipment manufacturing workshop is met, and then the requirement for automatic production of products is met; in addition, a large amount of cost can be saved by replacing a plurality of heavy-load joint robots.

Description

Technical field:

[0001] The utility model relates to the technical field of robots, in particular to a multi-region alternating heavy-load truss robot. Background technology:

[0002] In the process of battery rack processing, a variety of processing equipment is required for processing, and robots are required to carry out transportation between various processing equipment. However, the existing new energy equipment manufacturing industry robots generally use large heavy-duty joint robots such as ABB, FANUC, KUKA, and Yaskawa. The arm span of the shutdown robot is limited to 3.2 meters. It cannot meet the needs of larger-scale transportation, especially transportation in new energy equipment manufacturing workshops, so a multi-area alternating heavy-duty truss robot was born. Utility model content:

[0003] The purpose of the utility model is to provide a multi-area alternating heavy-load truss robot to solve the above problems, thereby solving the problem of the existing shutdown robot method in meeting the large-scale transportation requirements during battery rack processing.

[0004] In order to solve the above problems, the utility model provides a technical solution: a multi-area alternating heavy-load carrying truss robot, comprising an X-beam one, a column one, an X-beam two, a column two, a moving mechanism and a battery rack clamp; there are several X-beams one, and the lower sides of several X-beams one are fixedly connected to column one; there are several X-beams two, and the lower sides of several X-beams two are fixedly connected to column two; there are several moving mechanisms, and the two sides of several moving mechanisms are respectively connected to X-beam one and X-beam two, and the battery rack clamp is fixedly connected to the moving parts on the lower sides of several moving mechanisms.

[0005] Preferably, the specific structure of the moving mechanism includes an X-axis guide rail, an X-axis rack, an X-axis slide, a Y-axis motor, a Y-axis slide, a Z-axis guide rail, a Z-axis motor, a Z-axis slider, a Y-axis rack, a Z-axis arm, a Z-axis rack, a transmission shaft, an X-axis motor, a crossbeam and a Y-axis guide rail; there are two X-axis guide rails, and the two X-axis guide rails are respectively fixedly connected to the X-beam one and the X-beam two; there are two X-axis racks, and the two X-axis racks are respectively fixedly connected to the inner side surfaces of the X-beam one and the X-beam two; both sides of the crossbeam are fixedly connected with X-axis slides, and the X-axis slides are respectively movably connected to the corresponding X-axis guide rails, and a Y-axis rack is fixedly connected to one side surface of the crossbeam; the Y-axis guide rail is fixedly connected to the crossbeam, The Y-axis guide rail is movably connected with a Y-axis slide; a Z-axis slider and a Y-axis motor are fixedly connected to one side of the Y-axis slide, and the Z-axis motor is fixedly connected to the other side of the Y-axis slide; the transmission gear arranged on the output shaft of the Y-axis motor is connected to the Y-axis rack; the outside of the Z-axis arm is vertically movably connected to the inside of the Z-axis slider, the side of the Z-axis arm is fixedly connected with a Z-axis rack, and the Z-axis rack is connected to the transmission gear arranged on the output shaft of the Z-axis motor, and the bottom of the Z-axis arm is fixedly connected to a battery rack clamp; the X-axis motor is fixedly connected to the center of the other side of the crossbeam, and transmission shafts are fixedly connected to the output shafts on both sides of the X-axis motor, and the transmission gears arranged on the outside of the transmission shaft are respectively connected to the corresponding X-axis racks.

[0006] Preferably, the Y-axis motor, the Z-axis motor and the X-axis motor are all servo motors.

[0007] Preferably, an anti-collision bar is provided on the side surface of the X-axis slide along the direction of the X-axis guide rail.

[0008] Preferably, the specific structure of the battery rack clamp includes a connecting tube 1, a connecting rod 2, a clamping block 1, a cylinder 1, a connecting block 1, a connecting rod 3, a connecting rod 4, a fixing plate, a gas cylinder, a rotating mechanism, a cylinder 2, a positioning pin, a rotating cylinder, a rotating arm, a connecting block 2, a lifting block, a clamping block 2, a pressing block and a cylinder 3; there are two connecting tubes 1, and the inner sides of the two connecting tubes 1 are fixedly connected by several connecting rods 2, the two side ends of the two connecting tubes 1 are fixedly connected to the connecting block 1, and the outside of the connecting block 1 is fixedly connected to the cylinder 1, and the outer piston rod end of the cylinder 1 is fixedly connected to the clamping block 1; there are two connecting rods 3, and the two connecting rods 3 are fixedly connected to the corresponding On one side of the connecting pipe, both inner sides of the two connecting rods three are fixedly connected with cylinder three, and the ends of the piston rods at the lower sides of cylinder three are fixedly connected with pressure blocks, both outer sides of the two connecting rods three are fixedly connected with rotating cylinders, and rotating arms are fixedly connected to the rotating axes at the lower sides of the rotating cylinders, and the bottoms of the two connecting rods three are fixedly connected with several cylinders two, and the ends of the piston rods at the lower sides of cylinders two are fixedly connected with locating pins; the bottom of the rotating arm is fixedly connected with a lifting block, and the inner side of the rotating arm is fixedly connected with a clamping block two; the bottom of the fixed plate is fixedly connected to the connecting rod four and the top of the connecting pipe one, and the fixed plate is fixedly connected with a gas cylinder; the lower side component of the rotating mechanism is fixedly connected to the top of the central connecting rod two.

[0009] Preferably, the rotating mechanism is composed of a servo motor and an RV reducer.

[0010] Preferably, the contact surfaces of the clamping block 1, the clamping block 2, the pressing block and the lifting block with the product are all provided with an anti-slip protective layer.

[0011] Preferably, the X-beam 1 and the X-beam 2 are both square tubes.

[0012] Beneficial effects of the utility model:

[0013] (1) The utility model has a reasonable and simple structure, low production cost and convenient installation. Here, through the mutual linkage of the Y-axis motor, the Z-axis motor and the X-axis motor, the battery rack product can be moved to the required position through the battery rack clamp, thereby meeting the processing needs of different equipment in the new energy equipment manufacturing workshop.

[0014] (2) The utility model has several moving mechanisms and battery rack clamps, so the battery rack can be moved to the required position through their alternating work, thus meeting the transportation of heavy-loaded parts in dozens of workstations in a new energy equipment manufacturing workshop, thereby realizing the need for automatic production of products. In addition, replacing several heavy-loaded articulated robots can also save a lot of costs.

[0015] (3) In the present invention, the Y-axis motor, Z-axis motor and X-axis motor are all servo motors, and the rotating mechanism is also controlled by a servo motor, thereby improving the accuracy of movement and rotation when the battery rack product is transported, which basically satisfies the same functions as an articulated robot.

[0016] (4) The battery rack clamp provided in the utility model can enable clamp block 1 to clamp one side of the battery rack product by shortening cylinder 1, and can also enable clamp block 2 to clamp the other side of the battery rack product by rotating the cylinder. At the same time, the pressing block can press the battery rack product onto the lifting block by extending cylinder 3. Here, the battery rack product is fully clamped and pressed, thereby ensuring the stability and reliability of the battery rack product during transportation.

[0017] (5) The second cylinder provided in the battery rack clamp of the utility model can extend to allow the positioning pin to be inserted into the positioning hole on the battery rack product, thereby ensuring the accuracy of the battery rack product after grasping, and the battery rack product can be accurately transported to the specified position of different equipment. Description of the drawings:

[0018] Figure 1 It is a structural schematic diagram of the utility model.

[0019] Figure 2 It is a structural diagram of the mobile mechanism.

[0020] Figure 3 This is a partial top view of the moving mechanism.

[0021] Figure 4 Schematic diagram of the structure of the battery rack fixture.

[0022] 1-X beam 1; 2-column 1; 3-X beam 2; 4-column 2; 5-moving mechanism; 6-battery rack fixture; 51-X axis guide rail; 52-X axis rack; 53-X axis slide; 54-Y axis motor; 55-Y axis slide; 56-Z axis guide rail; 57-Z axis motor; 58-Z axis slide; 59-Y axis rack; 510-Z axis arm; 511-Z axis rack; 512-transmission shaft; 513-X axis motor; 514-beam; 515 -Y-axis guide rail; 61-connecting pipe one; 62-connecting rod two; 63-clamp one; 64-cylinder one; 65-connecting block one; 66-connecting rod three; 67-connecting rod four; 68-fixed plate; 69-gas cylinder; 610-rotating mechanism; 611-cylinder two; 612-locating pin; 613-rotating cylinder; 614-rotating arm; 615-connecting block two; 616-lifting block; 617-clamp two; 618-pressing block; 619-cylinder three. Specific implementation method:

[0023] like Figure 1As shown, this specific embodiment adopts the following technical scheme: a multi-area alternating heavy-load truss robot, including an X-beam 1, a column 2, an X-beam 3, a column 4, a moving mechanism 5 and a battery rack clamp 6; the X-beam 1 is several, and the lower sides of the several X-beams 1 are fixedly connected to the column 2; the X-beam 2 is several, and the lower sides of the several X-beams 2 are fixedly connected to the column 2 4; the moving mechanism 5 is several, and the two sides of the several moving mechanisms 5 are respectively connected to the X-beam 1 and the X-beam 2 3, and the battery rack clamp 6 is fixedly connected to the moving parts on the lower sides of the several moving mechanisms 5.

[0024] like Figure 2 and Figure 3 As shown, the specific structure of the moving mechanism 5 includes an X-axis guide rail 51, an X-axis rack 52, an X-axis slide 53, a Y-axis motor 54, a Y-axis slide 55, a Z-axis guide rail 56, a Z-axis motor 57, a Z-axis slide 58, a Y-axis rack 59, a Z-axis arm 510, a Z-axis rack 511, a transmission shaft 512, an X-axis motor 513, a crossbeam 514 and a Y-axis guide rail 515; there are two X-axis guide rails 51, and the two X-axis guide rails 51 are respectively The crossbeam 514 is fixedly connected to the X-beam 1 and the X-beam 2 3; there are two X-axis racks 52, and the two X-axis racks 52 are respectively fixedly connected to the inner side surfaces of the X-beam 1 and the X-beam 2 3; both sides of the crossbeam 514 are fixedly connected to the X-axis slide 53, and the X-axis slide 53 is respectively movably connected to the corresponding X-axis guide rail 51, and a Y-axis rack 59 is fixedly connected to one side of the crossbeam 514; the Y-axis guide rail 515 is fixedly connected to the crossbeam 51 4, a Y-axis slide 55 is movably connected to the Y-axis guide rail 515; a Z-axis slider 58 and a Y-axis motor 54 are fixedly connected to one side of the Y-axis slide 55, and a Z-axis motor 57 is fixedly connected to the other side of the Y-axis slide 55; a transmission gear arranged on the output shaft of the Y-axis motor 54 is connected to a Y-axis rack 59; the Z-axis arm 510 is vertically movably connected to the inside of the Z-axis slider 58 on the outside, a Z-axis rack 511 is fixedly connected to the side of the Z-axis arm 510, and the Z-axis rack 511 is connected to the transmission gear arranged on the output shaft of the Z-axis motor 57, and a battery rack fixture 6 is fixedly connected to the bottom of the Z-axis arm 510; the X-axis motor 513 is fixedly connected to the center of the other side of the crossbeam 514, and transmission shafts 512 are fixedly connected to the output shafts on both sides of the X-axis motor 513, and the transmission gears arranged on the outside of the transmission shaft 512 are respectively connected to the corresponding X-axis racks 52.

[0025] Among them, the Y-axis motor 54, Z-axis motor 57 and X-axis motor 513 are all servo motors, so it is convenient to control the Y-axis motor 54, Z-axis motor 57 and X-axis motor 513 through existing automation technology; an anti-collision bar is provided on the side of the X-axis slide 53 along the direction of the X-axis guide rail 51.

[0026] like Figure 4 As shown, the specific structure of the battery rack fixture 6 includes a connecting pipe 1 61, a connecting rod 2 62, a clamping block 1 63, a cylinder 1 64, a connecting block 1 65, a connecting rod 3 66, a connecting rod 4 67, a fixing plate 68, a gas cylinder 69, a rotating mechanism 610, a cylinder 2 611, a positioning pin 612, a rotating cylinder 613, a rotating arm 614, a connecting block 2 615, a lifting block 616, a clamping block 2 617, a pressing block 618 and a cylinder 3 619; there are two connecting pipes 1 61, and the inner sides of the two connecting pipes 1 61 are fixedly connected by a plurality of connecting rods 2 62, and the ends of both sides of the two connecting pipes 1 61 are fixedly connected with a connecting block 1 65, and the outside of the connecting block 1 65 is fixedly connected with a cylinder 1 64, and the ends of the piston rods on the outer sides of the cylinder 1 64 are fixedly connected with a clamping block 1 63; there are two connecting rods 3 66, and the two connecting rods 3 66 are fixedly connected by a plurality of connecting rods 4 67 Connected to the corresponding side of the connecting pipe 1 61, the two connecting rods 3 66 are fixedly connected to the cylinder 3 619 on both sides of the inner side, and the piston rod end of the cylinder 3 619 is fixedly connected to the pressure block 618, the two connecting rods 3 66 are fixedly connected to the rotating cylinder 613 on both sides of the outer side, and the rotating arm 614 is fixedly connected to the rotating axis of the rotating cylinder 613 on the lower side, the two connecting rods 3 66 are fixedly connected to a number of cylinders 2 611 at the bottom, and the piston rod end of the cylinder 2 611 is fixedly connected to the positioning pin 612; the bottom of the rotating arm 614 is fixedly connected to the lifting block 616, and the inner side of the rotating arm 614 is fixedly connected to the clamping block 2 617; the bottom of the fixed plate 68 is fixedly connected to the connecting rod 4 67 and the top of the connecting pipe 1 61, and the fixed plate 68 is fixedly connected to the gas cylinder 69; the lower part of the rotating mechanism 610 is fixedly connected to the top of the central connecting rod 2 62.

[0027] Among them, the rotating mechanism 610 is composed of a servo motor and an RV reducer; the contact surfaces of the clamp block 1 63, the clamp block 2 617, the pressure block 618 and the lifting block 616 with the product are all provided with an anti-slip protective layer; the X-beam 1 and the X-beam 2 3 are both square pipes.

[0028] The usage status of the utility model is: the utility model has a reasonable and simple structure, low production cost and easy installation. Here, through the mutual linkage of the Y-axis motor 54, the Z-axis motor 57 and the X-axis motor 513, the battery rack product can be moved to the required position through the battery rack clamp 6, thereby meeting the processing needs of different equipment in the new energy equipment manufacturing workshop. In addition, there are several moving mechanisms 5 and battery rack clamps 6, so that the battery rack can be moved to the required position through their alternating work, which also meets the transportation of heavy-loaded parts in dozens of workstations in the new energy equipment manufacturing workshop, thereby realizing the needs of automatic production of products. In addition, replacing several heavy-loaded articulated robots can also save a lot of costs. In addition, the Y-axis motor 54, the Z-axis motor 57 and the X-axis motor 513 are all servo motors, and the rotating mechanism 610 is also controlled by the servo motor, so The accuracy of movement and rotation of the battery rack product during transportation is improved, which basically satisfies the same function as an articulated robot. The battery rack clamp 6 set up can enable the clamp block 1 63 to clamp one side of the battery rack product by shortening the cylinder 1 64. In addition, the operation of the rotating cylinder 613 can also enable the clamp block 2 617 to clamp the other side of the battery rack product. At the same time, the extension of the cylinder 3 619 can enable the pressing block 618 to press the battery rack product onto the lifting block 616. Here, the battery rack product is fully clamped and pressed, thereby ensuring the stability and reliability of the battery rack product during transportation. In addition, the cylinder 2 611 set in the battery rack clamp 6 can extend the positioning pin 612 to insert it into the positioning hole on the battery rack product, thereby ensuring the accuracy of the battery rack product after grasping, and the battery rack product can be accurately transported to the specified position of different equipment.

[0029] The control method in the present invention is to start manually or control by existing automation technology. The wiring diagram of the power element and the provision of power supply belong to the common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0030] In the description of the utility model, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, 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 cannot be understood as a limitation on the utility model.

[0031] In the utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0032] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. Technical personnel in this industry should understand that the utility model is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which shall fall within the scope of the utility model to be protected. The scope of protection of the utility model shall be defined by the attached claims and their equivalents.

Claims

1. A multi-area alternating heavy-load truss robot, characterized in that: It comprises an X-beam 1 (1), a column 1 (2), an X-beam 2 (3), a column 2 (4), a moving mechanism (5) and a battery rack fixture (6); There are a plurality of X-beams (1), and the lower sides of the plurality of X-beams (1) are fixedly connected to pillars (2); There are a plurality of the second X beams (3), and the lower sides of the plurality of second X beams (3) are fixedly connected to the second pillars (4); There are a plurality of moving mechanisms (5), and both sides of the plurality of moving mechanisms (5) are respectively connected to the X-beam 1 (1) and the X-beam 2 (3), and a battery rack clamp (6) is fixedly connected to the lower moving parts of the plurality of moving mechanisms (5).

2. The multi-area alternating heavy-load handling truss robot according to claim 1, characterized in that: The specific structure of the moving mechanism (5) includes an X-axis guide rail (51), an X-axis rack (52), an X-axis slide (53), a Y-axis motor (54), a Y-axis slide (55), a Z-axis guide rail (56), a Z-axis motor (57), a Z-axis slide (58), a Y-axis rack (59), a Z-axis arm (510), a Z-axis rack (511), a transmission shaft (512), an X-axis motor (513), a crossbeam (514) and a Y-axis guide rail (515); There are two X-axis guide rails (51), and the two X-axis guide rails (51) are respectively fixedly connected to the X-beam 1 (1) and the X-beam 2 (3); There are two X-axis racks (52), and the two X-axis racks (52) are respectively fixedly connected to the inner side surfaces of the first X-beam (1) and the second X-beam (3); Both sides of the crossbeam (514) are fixedly connected with X-axis slides (53), and the X-axis slides (53) are movably connected to the corresponding X-axis guide rails (51), and one side surface of the crossbeam (514) is fixedly connected with a Y-axis rack (59); The Y-axis guide rail (515) is fixedly connected to the crossbeam (514), and a Y-axis slide seat (55) is movably connected to the Y-axis guide rail (515); A Z-axis slider (58) and a Y-axis motor (54) are fixedly connected to one side of the Y-axis slide (55), and a Z-axis motor (57) is fixedly connected to the other side of the Y-axis slide (55); The transmission gear arranged on the output shaft of the Y-axis motor (54) is connected to the Y-axis rack (59); The outside of the Z-axis arm (510) is vertically movably connected to the inside of the Z-axis slider (58); a Z-axis rack (511) is fixedly connected to the side of the Z-axis arm (510); the Z-axis rack (511) is connected to a transmission gear arranged on the output shaft of the Z-axis motor (57); and a battery rack fixture (6) is fixedly connected to the bottom of the Z-axis arm (510); The X-axis motor (513) is fixedly connected to the center of the other side of the crossbeam (514), and the output shafts on both sides of the X-axis motor (513) are fixedly connected to the transmission shaft (512), and the transmission gears arranged outside the transmission shaft (512) are respectively connected to the corresponding X-axis racks (52).

3. The multi-area alternating heavy-load handling truss robot according to claim 2, characterized in that: The Y-axis motor (54), the Z-axis motor (57) and the X-axis motor (513) are all servo motors.

4. The multi-area alternating heavy-load handling truss robot according to claim 2, characterized in that: An anti-collision rod is provided on the side surface of the X-axis slide seat (53) along the direction of the X-axis guide rail (51).

5. The multi-area alternating heavy-load handling truss robot according to claim 1, characterized in that: The specific structure of the battery rack clamp (6) includes a connecting pipe 1 (61), a connecting rod 2 (62), a clamping block 1 (63), a cylinder 1 (64), a connecting block 1 (65), a connecting rod 3 (66), a connecting rod 4 (67), a fixing plate (68), a gas storage bottle (69), a rotating mechanism (610), a cylinder 2 (611), a positioning pin (612), a rotating cylinder (613), a rotating arm (614), a connecting block 2 (615), a lifting block (616), a clamping block 2 (617), a pressing block (618) and a cylinder 3 (619); There are two connecting pipes (61), the inner sides of the two connecting pipes (61) are fixedly connected by a plurality of connecting rods (62), both ends of the two connecting pipes (61) are fixedly connected with connecting blocks (65), and the outside of the connecting blocks (65) is fixedly connected with a cylinder (64), and the outer piston rod ends of the cylinder (64) are fixedly connected with clamping blocks (63); There are two connecting rods three (66), and the two connecting rods three (66) are fixedly connected to the side of the corresponding connecting pipe one (61) through several connecting rods four (67). The inner sides of the two connecting rods three (66) are fixedly connected to cylinder three (619), and the lower piston rod end of cylinder three (619) is fixedly connected to a pressure block (618). The outer sides of the two connecting rods three (66) are fixedly connected to a rotating cylinder (613), and the rotating shaft on the lower side of the rotating cylinder (613) is fixedly connected to a rotating arm (614). The bottoms of the two connecting rods three (66) are fixedly connected to several cylinders two (611), and the lower piston rod end of cylinder two (611) is fixedly connected to a positioning pin (612). A lifting block (616) is fixedly connected to the bottom of the rotating arm (614), and a clamping block 2 (617) is fixedly connected to the inner side of the rotating arm (614); The bottom of the fixing plate (68) is fixedly connected to the top of the connecting rod four (67) and the connecting pipe one (61), and the top of the fixing plate (68) is fixedly connected to a gas storage bottle (69); The lower part of the rotating mechanism (610) is fixedly connected to the top of the second central connecting rod (62).

6. The multi-area alternating heavy-load handling truss robot according to claim 5, characterized in that: The rotating mechanism (610) is composed of a servo motor and an RV reducer.

7. The multi-area alternating heavy-load handling truss robot according to claim 5, characterized in that: The contact surfaces of the clamping block 1 (63), the clamping block 2 (617), the pressing block (618) and the lifting block (616) with the product are all provided with an anti-slip protective layer.

8. The multi-area alternating heavy-load handling truss robot according to claim 1, characterized in that: The X-beam 1 (1) and the X-beam 2 (3) are both square tubes.

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