Telescopic manipulator for truss stacker crane

Abstract

The utility model relates to the technical field of truss stacking, and particularly discloses a telescopic manipulator for a truss stacking machine, which comprises a rack, a first driving device, a second driving device and a third driving device, the first driving device comprises a bearing arm arranged on the rack in a reciprocating mode and a first driving mechanism used for driving the bearing arm, and the second driving device comprises a supporting frame arranged on the bearing arm in a reciprocating mode and a second driving mechanism used for driving the supporting frame. The third driving device comprises a first supporting arm arranged on the supporting frame in a reciprocating mode, a third driving mechanism used for driving the first supporting arm, a second supporting arm arranged on the first supporting arm in a reciprocating mode and a second transmission mechanism rotationally arranged on the first supporting arm and used for driving the second supporting arm to move. The cooperative movement of the first support arm and the second support arm increases the reciprocating distance of the second support arm on the first support arm relative to the support frame.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizers, and in particular discloses a telescopic manipulator for a truss palletizer. Background Art

[0002] Palletizer is a device that automatically stacks the materials of different shapes and sizes into stacks according to the preset process requirements, and then transports them out automatically or manually. The most commonly used automatic palletizer is the truss palletizer. The truss palletizer has the advantages of simple structure, strong stability, easy maintenance and upkeep. The truss palletizer is usually supported by a steel structure frame. The second drive device can move freely in the three-dimensional space defined by the truss, grabbing the materials from the input end according to the preset process requirements and placing them in the designated position for palletizing.

[0003] The palletizing efficiency of a truss palletizer mainly depends on the number of manipulators and their moving speed and accuracy in the three-dimensional space defined by the truss. Currently, most of the manipulators of truss palletizers on the market are single-arm structures. The manipulators of such truss palletizers have limited moving efficiency in the vertical direction, which makes it difficult to meet the needs of the current era of continuous pursuit of high-efficiency palletizing operations of automated equipment. The proposed telescopic manipulator for a truss palletizer mainly solves the problem of insufficient moving efficiency of the manipulators of truss palletizers in the vertical direction. Utility Model Content

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the utility model is to provide a telescopic manipulator for a truss palletizer, which mainly solves the technical problem of insufficient efficiency of the manipulator of the truss palletizer in the vertical direction.

[0005] To achieve the above-mentioned purpose, the utility model provides a telescopic manipulator for a truss palletizer, comprising a frame, a first drive device, a second drive device and a third drive device, the first drive device being arranged on the frame, the second drive device being arranged on the first drive device, and the third drive device being arranged on the second drive device; it is characterized in that: the first drive device comprises a load-bearing arm reciprocatingly arranged on the frame, and a first drive mechanism for driving the load-bearing arm; the second drive device comprises a support frame reciprocatingly arranged on the load-bearing arm and a second drive mechanism for driving the support frame; the third drive device comprises a first support arm reciprocatingly arranged on the support frame, a third drive mechanism for driving the first support arm, a second support arm reciprocatingly arranged on the first support arm, and a second transmission mechanism arranged on the first support arm and used in conjunction with the support frame and used to drive the second support arm to move; the moving direction of the first support arm, the moving direction of the support frame and the moving direction of the load-bearing arm are cross-arranged, and the moving direction of the second support arm is parallel to the moving direction of the first support arm.

[0006] Furthermore, the first driving device includes a first transmission mechanism arranged on the frame and used in conjunction with the carrying arm; the first driving mechanism is fixedly arranged on the frame, and two first synchronous wheels connected to the frame for rotation are arranged in parallel on the frame, a first driving shaft is connected between the two first synchronous wheels, and a first motor is arranged on the frame and connected to the first driving shaft through a first synchronous belt; the first transmission mechanism is fixed on the frame, and the first transmission mechanism includes a second synchronous belt meshing with the two first synchronous wheels, a first toothed plate arranged on the second synchronous belt and connected to the carrying arm, and a first guide rail arranged on the frame and connected to the carrying arm; a first slider slidably connected to the first guide rail and a second guide rail connected to the support frame are provided on the carrying arm.

[0007] Furthermore, the second driving mechanism includes two second synchronous wheels rotatably arranged on the carrying arm, a third synchronous belt sleeved on the outside of the two second synchronous wheels and a second motor for driving the second synchronous wheels to rotate, and the support frame is provided with a second slider slidably connected to the carrying arm, a second toothed plate meshingly connected to the third synchronous belt, a third slider connected to the first support arm and a third toothed plate connected to the second transmission mechanism.

[0008] Furthermore, the third driving mechanism includes a third motor, which is connected to the support frame. The output shaft of the third motor passes through the support frame and is provided with a helical gear connected to the first support arm. The first support arm is provided with a third guide rail for sliding connection with the third slider, a helical rack for meshing with the helical gear and a fourth slider for sliding connection with the second support arm.

[0009] Furthermore, the second transmission mechanism includes an annular transmission belt rotatably arranged on the first arm, the annular transmission belt forms two parallel belt body portions, the two belt body portions are respectively connected to the support frame and the second arm, and the second arm is provided with a fourth guide rail for sliding connection with the fourth slider and a fourth pressure tooth plate for meshing connection with the belt body portion.

[0010] Furthermore, the first motor is arranged on the frame near the middle of the first driving shaft, the first slider and the first pressure tooth plate are connected by a connecting plate, the first guide rail is arranged on the frame adjacent to the second synchronous belt, and the second guide rail is arranged on the side of the bearing arm adjacent to the support frame.

[0011] Furthermore, the second synchronous wheel is symmetrically arranged on both sides of the upper part of the bearing arm, and the output shaft of the second motor is connected to the second synchronous wheel; the support frame includes a plurality of support plates distributed around the first support arm, the second support arm and the second transmission mechanism, the second slider and the second tooth pressure plate are fixedly connected to the left side of the first support plate, the third slider and the third tooth pressure plate are fixedly connected to the right side of the first support plate, and the second support plate and the third driving mechanism are fixedly connected through the mounting plate.

[0012] Furthermore, the third guide rail is fixedly connected to the left side of the first arm, the fourth slider is fixedly connected to the right side of the first arm, the bevel rack is fixedly connected to the front side of the first arm, and the annular transmission belt is rotatably arranged on the rear side of the first arm; the fourth guide rail is fixedly connected to the left side of the second arm, and the fourth pressure tooth plate is fixedly connected to the rear side of the second arm.

[0013] Furthermore, the moving directions of the first arm, the support frame and the bearing arm are perpendicular to each other, and a lubrication pump for lubricating the joint between the first arm and the second arm is provided through a connecting plate on the upper part of the first support plate. The lubrication pump is connected to the second tooth pressing plate through a connecting plate and is arranged on the upper part of the second tooth pressing plate.

[0014] Furthermore, a safety grating for protecting safety is provided on the frame, and the safety grating is arranged at the rear bottom of the frame.

[0015] The beneficial effects of the utility model are as follows: the third driving mechanism drives the first arm to reciprocate on the support frame, the fourth slider on the first arm drives the second arm to reciprocate on the first arm through the fourth guide rail slidably connected thereto, and the annular transmission belt rotatably arranged on the first arm drives the second arm to reciprocate on the first arm through the fourth toothed plate meshed therewith; the first arm itself and the fourth toothed plate fixedly connected to the first arm jointly drive the second arm to reciprocate on the first arm, and the reciprocating distance of the second arm on the first arm relative to the support frame is increased; the lubrication pump fixedly connected to the upper part of the first support plate provides lubrication for the coordinated movement of the first arm and the second arm, so as to better realize the higher efficiency of the reciprocating movement of the second arm on the first arm. The coordinated movement of the first arm and the second arm solves the problem of insufficient efficiency of the truss palletizer manipulator in the vertical direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of a telescopic manipulator for a truss palletizer according to the utility model;

[0017] Figure 2 This is a schematic structural diagram of the first, second and third drive devices of a telescopic manipulator for a truss palletizer according to the utility model;

[0018] Figure 3 It is a schematic structural diagram of the first and second driving devices of the utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the second driving device of the utility model;

[0020] Figure 5 This is a schematic structural diagram of the third driving device of the utility model from a first viewing angle;

[0021] Figure 6This is a schematic structural diagram of the third driving device of the utility model from a second viewing angle;

[0022] Figure 7 This is a schematic structural diagram of the third driving device of the utility model from a third viewing angle;

[0023] Figure 8 It is a schematic diagram of the structure of the second driving device of the utility model from a top view.

[0024] The reference numerals include: 1, frame; 11, safety grating; 2, first driving device; 21, first driving mechanism; 211, first motor; 212, first synchronous belt; 213, first synchronous wheel; 214, first driving shaft; 22, first transmission mechanism; 221, second synchronous belt; 222, first toothed plate; 223, first guide rail; 23, bearing arm; 231, first slider; 232, second guide rail; 3, second driving device; 31, second driving mechanism; 311, second motor; 312, second synchronous wheel; 313, third synchronous belt; 32, support frame; 32 0. Support plate; 3201. First support plate; 3202. Second support plate; 321. Second slider; 322. Second tooth-pressing plate; 323. Third slider; 324. Third tooth-pressing plate; 325. Lubrication pump; 4. Third driving device; 41. Third driving mechanism; 411. Third motor; 412. Bevel gear; 42. First support arm; 421. Bevel rack; 422. Third guide rail; 423. Fourth slider; 43. Second transmission mechanism; 430. Ring transmission belt; 431. Belt body; 44. Second support arm; 441. Fourth guide rail; 442. Fourth tooth-pressing plate. DETAILED DESCRIPTION

[0025] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with the embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention. Figures 1 to 8As shown, the utility model is a telescopic manipulator for a truss palletizer, comprising a frame 1, a first drive device 2, a second drive device 3 and a third drive device 4, wherein the first drive device 2 is arranged on the frame 1, the second drive device 3 is arranged on the first drive device 2, and the third drive device 4 is arranged on the second drive device 3; the first drive device 2 comprises a bearing arm 23 reciprocatingly arranged on the frame 1, and a first drive mechanism 21 for driving the bearing arm 23; the second drive device 3 comprises a support frame 32 reciprocatingly arranged on the bearing arm 23 and a driving support frame 32 The third driving device 4 includes a first arm 42 reciprocatingly arranged on the support frame 32, a third driving mechanism 41 for driving the first arm 42, a second arm 44 reciprocatingly arranged on the first arm 42, and a second transmission mechanism 43 arranged on the first arm 42 and used in conjunction with the support frame 32 and used to drive the second arm 44 to move; the moving direction of the first arm 42, the moving direction of the support frame 32 and the moving direction of the carrying arm 23 are cross-arranged, and the moving direction of the second arm 44 is parallel to the moving direction of the first arm 42.

[0026] In actual use, the first driving mechanism 21 drives the carrying arm 23 to reciprocate on the frame 1, the second driving mechanism 31 drives the support frame 32 to reciprocate on the carrying arm 23, the third driving mechanism 41 drives the first support arm 42 to reciprocate on the support frame 32, and the second transmission mechanism 43 drives the second support arm 44 to reciprocate on the first support arm 42.

[0027] Specifically, the first driving device 2 includes a first transmission mechanism 22 arranged on the frame 1 and used in conjunction with the carrying arm 23; the first driving mechanism 21 is fixedly arranged on the frame 1, and two first synchronous wheels 213 rotatably connected to the frame 1 are arranged in parallel on the frame 1, and a first driving shaft 214 is connected between the two first synchronous wheels 213, and a first motor 211 is arranged on the frame 1 and connected to the first driving shaft 214 through a first synchronous belt 212; the first transmission mechanism 22 is fixed on the frame 1, and the first transmission mechanism 22 includes a second synchronous belt 221 meshingly connected to the two first synchronous wheels 213, a first toothed plate 222 arranged on the second synchronous belt 221 and connected to the carrying arm 23, and a first guide rail 223 arranged on the frame 1 and connected to the carrying arm 23; the carrying arm 23 is provided with a first slider 231 slidably connected to the first guide rail 223 and a second guide rail 232 connected to the support frame 32.

[0028] In actual use, the first motor 211 drives the first driving shaft 214 to rotate through the first synchronous belt 212, the first driving shaft 214 drives the first synchronous wheel 213 connected to both sides of the first driving shaft 214 to rotate, the first synchronous wheel 213 drives the second synchronous belt 221 meshed with it to rotate, the second synchronous belt 221 drives the first toothed plate 222 meshed with the second synchronous belt 221 to move, the first toothed plate 222 drives the first slider 231 connected to the first toothed plate 222 through the connecting plate to reciprocate on the first guide rail 223, and the first slider 231 drives the carrying arm 23 to reciprocate on the first guide rail 223.

[0029] Specifically, the second driving mechanism 31 includes two second synchronous wheels 312 rotatably arranged on the supporting arm 23, a third synchronous belt 313 sleeved on the outside of the two second synchronous wheels 312 and a second motor 311 for driving the second synchronous wheels 312 to rotate. The support frame 32 is provided with a second slider 321 slidingly connected to the supporting arm 23, a second toothed plate 322 meshingly connected to the third synchronous belt 313, a third slider 323 connected to the first support arm 42 and a third toothed plate 324 connected to the second transmission mechanism 43.

[0030] In actual use, the second motor 311 drives the second synchronous wheel 312 connected to the output shaft of the second motor 311 to rotate, the second synchronous wheel 312 drives the third synchronous belt 313 meshing with the second synchronous wheel 312 to rotate, the third synchronous belt 313 drives the second toothed plate 322 meshing therewith to move, the second toothed plate 322 drives the second slider 321 connected to it through the support frame 32 to reciprocate on the second guide rail 232, and the second slider 321 drives the support frame 32 to reciprocate on the second guide rail 232.

[0031] Specifically, the third driving mechanism 41 includes a third motor 411, which is connected to the support frame 32. The output shaft of the third motor 411 passes through the support frame 32 and is provided with a bevel gear 412 connected to the first support arm 42. The first support arm 42 is provided with a third guide rail 422 for sliding connection with the third slider 323, a bevel rack 421 for meshing connection with the bevel gear 412 and a fourth slider 423 for sliding connection with the second support arm 44.

[0032] Specifically, the second transmission mechanism 43 includes an annular transmission belt 430 rotatably arranged on the first support arm 42, and the annular transmission belt 430 is formed with two parallel belt bodies 431, and the two belt bodies 431 are respectively connected to the support frame 32 and the second support arm 44, and the second support arm 44 is provided with a fourth guide rail 441 for sliding connection with the fourth slider 423 and a fourth pressure tooth plate 442 for meshing connection with the belt body 431.

[0033] Specifically, the first motor 211 is arranged on the frame 1 near the middle of the first driving shaft 214, the first slider 231 and the first tooth pressure plate 222 are connected by a connecting plate, the first guide rail 223 is arranged on the frame 1 adjacent to the second synchronous belt 221, and the second guide rail 232 is arranged on the side of the bearing arm 23 adjacent to the support frame 32.

[0034] Specifically, the second synchronous wheel 312 is symmetrically arranged on both sides of the upper part of the supporting arm 23, and the output shaft of the second motor 311 is connected to the second synchronous wheel 312; the support frame 32 includes a plurality of support plates 320 distributed around the first support arm 42, the second support arm 44 and the second transmission mechanism 43, the second slider 321 and the second tooth pressing plate 322 are fixedly connected to the left side of the first support plate 3201, the third slider 323 and the third tooth pressing plate 324 are fixedly connected to the right side of the first support plate 3201, and the second support plate 3202 is fixedly connected to the third driving mechanism 41 through a mounting plate.

[0035] Specifically, the third guide rail 422 is fixedly connected to the left side of the first arm 42, the fourth slider 423 is fixedly connected to the right side of the first arm 42, the bevel rack 421 is fixedly connected to the front side of the first arm 42, and the annular transmission belt 430 is rotatably arranged on the rear side of the first arm 42; the fourth guide rail 441 is fixedly connected to the left side of the second arm 44, and the fourth pressure tooth plate 442 is fixedly connected to the rear side of the second arm 44.

[0036] Specifically, the moving directions of the first arm 42, the support frame 32 and the carrying arm 23 are perpendicular to each other. A lubrication pump 325 for lubricating the joint between the first arm 42 and the second arm 44 is provided on the upper part of the first support plate 3201 through a connecting plate. The lubrication pump 325 is connected to the second tooth pressing plate 322 through a connecting plate and is arranged on the upper part of the second tooth pressing plate 322.

[0037] Specifically, a safety grating 11 for protecting safety is disposed on the frame 1 , and the safety grating 11 is arranged at the rear bottom of the frame 1 .

[0038] In actual use, the third motor 411 drives the bevel gear 412 connected to the output shaft of the third motor 411 to rotate, and the bevel gear 412 drives the bevel rack 421 meshing with it to move, and the bevel rack 421 drives the first arm 42 fixedly connected to it to reciprocate on the support frame 32; the first arm 42 is slidably connected to the third slide block 323 through the third guide rail 422 fixedly connected to it, the third slide block 323 and the second slide block 321 are connected through the first support plate 3201, the second slide block 321 is slidably connected to the second guide rail 232 of the support arm 23, and the support frame 32 reciprocates on the support arm 23; the first arm 42 is slidably connected to the fourth guide rail 441 through the fourth slide block 423 fixedly connected to it, the fourth guide rail 441 is fixedly connected to the second arm 44, and the reciprocating movement of the first arm 42 drives the second arm 44 to reciprocate on the first arm 42; the third toothed plate 324 and The second slider 321 is fixedly connected through the first support plate 3201, the annular transmission belt 430 is rotationally connected to the first arm 42, and the fourth pressure tooth plate 442 is fixedly connected to the second arm 44. The reciprocating motion of the first arm 42 drives the annular transmission belt 430 to rotate relative to the third pressure tooth plate 324, and the rotation of the annular transmission belt 430 drives the second arm 44 fixedly connected to the fourth pressure tooth plate 442 to reciprocate on the first arm 42; the first arm 42 itself and the annular transmission belt 430 rotationally connected to the first arm 42 jointly drive the second arm 44 to reciprocate on the first arm 42, and the reciprocating distance of the second arm 44 increases; the lubrication pump 325 fixedly connected to the first support plate 3201 on the upper part of the first support plate 3201 provides lubrication for the coordinated motion of the first arm 42 and the second arm 44, so as to better achieve the higher efficiency of the reciprocating motion of the second arm 44 on the first arm 42. The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A telescopic manipulator for a truss palletizer, comprising a frame (1), a first drive device (2), a second drive device (3) and a third drive device (4), wherein the first drive device (2) is arranged on the frame (1), the second drive device (3) is arranged on the first drive device (2), and the third drive device (4) is arranged on the second drive device (3); characterized in that: The first driving device (2) comprises a bearing arm (23) reciprocatingly arranged on the frame (1) and a first driving mechanism (21) for driving the bearing arm (23); the second driving device (3) comprises a support frame (32) reciprocatingly arranged on the bearing arm (23) and a second driving mechanism (31) for driving the support frame (32); the third driving device (4) comprises a first support arm (42) reciprocatingly arranged on the support frame (32), a third driving mechanism (41) for driving the first support arm (42), a second support arm (44) reciprocatingly arranged on the first support arm (42), and a second transmission mechanism (43) arranged on the first support arm (42) and used in conjunction with the support frame (32) and for driving the second support arm (44) to move; the moving direction of the first support arm (42), the moving direction of the support frame (32) and the moving direction of the bearing arm (23) are arranged to intersect, and the moving direction of the second support arm (44) is parallel to the moving direction of the first support arm (42).

2. A telescopic manipulator for a truss palletizer according to claim 1, characterized in that: The first driving device (2) comprises a first transmission mechanism (22) arranged on the frame (1) and used in conjunction with the bearing arm (23); the first driving mechanism (21) is fixedly arranged on the frame (1); two first synchronous wheels (213) rotatably connected to the frame (1) are arranged in parallel on the frame (1); a first driving shaft (214) is connected between the two first synchronous wheels (213); a first motor (211) is arranged on the frame (1) and connected to the first driving shaft (214) via a first synchronous belt (212); A transmission mechanism (22) is fixed on the frame (1), the first transmission mechanism (22) comprising a second synchronous belt (221) connected to the two first synchronous wheels (213), a first toothed plate (222) arranged on the second synchronous belt (221) and connected to the bearing arm (23), and a first guide rail (223) arranged on the frame (1); the bearing arm (23) is provided with a first slider (231) slidably connected to the first guide rail (223) and a second guide rail (232) slidably connected to the support frame (32).

3. The telescopic manipulator for a truss palletizer according to claim 1, characterized in that: The second driving mechanism (31) comprises two second synchronous wheels (312) rotatably arranged on the bearing arm (23), a third synchronous belt (313) sleeved on the outside of the two second synchronous wheels (312), and a second motor (311) for driving the second synchronous wheels (312) to rotate. The support frame (32) is provided with a second slider (321) slidably connected to the bearing arm (23), a second toothed plate (322) connected to the third synchronous belt (313), a third slider (323) connected to the first support arm (42), and a third toothed plate (324) connected to the second transmission mechanism (43).

4. The telescopic manipulator for a truss palletizer according to claim 1, characterized in that: The third driving mechanism (41) comprises a third motor (411), the third motor (411) is connected to the support frame (32), the output shaft of the third motor (411) passes through the support frame (32) and is provided with a bevel gear (412), the first support arm (42) is provided with a third guide rail (422) for being slidably connected to the third slider (323), a bevel rack (421) for being meshedly connected to the bevel gear (412), and a fourth slider (423) for being slidably connected to the second support arm (44).

5. The telescopic manipulator for a truss palletizer according to claim 4, characterized in that: The second transmission mechanism (43) comprises an annular transmission belt (430) rotatably arranged on the first support arm (42); the annular transmission belt (430) is formed with two parallel belt bodies (431); the two belt bodies (431) are respectively connected to the support frame (32) and the second support arm (44); the second support arm (44) is provided with a fourth guide rail (441) for slidably connecting to the fourth slider (423) and a fourth toothed plate (442) for connecting to the belt body (431).

6. The telescopic manipulator for a truss palletizer according to claim 2, characterized in that: The first motor (211) is arranged on the frame (1) near the middle of the first driving shaft (214); the first slider (231) and the first tooth-pressing plate (222) are connected via a connecting plate; the first guide rail (223) is arranged on the frame (1) adjacent to the second synchronous belt (221); and the second guide rail (232) is arranged on the side of the bearing arm (23) adjacent to the support frame (32).

7. The telescopic manipulator for a truss palletizer according to claim 3, characterized in that: Two second synchronous wheels (312) are symmetrically arranged on both sides of the upper part of the bearing arm (23); the output shaft of the second motor (311) is connected to the second synchronous wheels (312); the support frame (32) comprises a plurality of support plates (320) distributed around the first support arm (42), the second support arm (44) and the second transmission mechanism (43); the second slider (321) and the second tooth-pressing plate (322) are fixedly connected to the left side of the first support plate (3201); the third slider (323) and the third tooth-pressing plate (324) are fixedly connected to the right side of the first support plate (3201); and the second support plate (3202) is fixedly connected to the third driving mechanism (41) via a mounting plate.

8. The telescopic manipulator for a truss palletizer according to claim 5, characterized in that: The third guide rail (422) is fixedly connected to the left side of the first support arm (42), the fourth slider (423) is fixedly connected to the right side of the first support arm (42), the bevel rack (421) is fixedly connected to the front side of the first support arm (42), and the annular transmission belt (430) is rotatably arranged on the rear side of the first support arm (42); the fourth guide rail (441) is fixedly connected to the left side of the second support arm (44), and the fourth toothed plate (442) is fixedly connected to the rear side of the second support arm (44).

9. The telescopic manipulator for a truss palletizer according to claim 1, characterized in that: The moving directions of the first support arm (42), the support frame (32) and the bearing arm (23) are perpendicular to each other, and the support frame (32) is provided with a lubrication pump (325) for lubricating the joint between the first support arm (42) and the second support arm (44).

10. The telescopic manipulator for a truss palletizer according to claim 1, characterized in that: A safety grating (11) for protecting safety is provided on the frame (1), and the safety grating (11) is arranged at the bottom of the rear side of the frame (1).

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