Manipulator for transporting large equipment
Through the design of the three-axis robot structure and servo motor drive assembly, the existing robot structure is complex and the transmission efficiency is low, and efficient clamping assembly movement and large-scale equipment transportation are achieved.
Patent Information
- Application Number
- CN202422024460.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-20
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2034-08-20
AI Technical Summary
The existing robot has complex structure and low transmission efficiency, making it difficult to meet the transportation needs of large-scale equipment.
A three-axis robotic structure is adopted, including a base, a clamping assembly, a first, second and third mounting frames, and a drive assembly composed of a servo motor and a reducer for driving the movement of these components, and efficient transmission is achieved through rack and rack meshing.
The robot has a simple structure and high transmission efficiency, and can quickly move the clamping assembly to a designated position for grabbing.
Smart Images
Figure CN223160934U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of manipulator equipment, and more specifically, it relates to a manipulator for transporting large equipment. Background Art
[0002] In modern industry, the mechanization and automation of the production process have become prominent themes; the automation of continuous production processes such as chemical industry has been basically solved; however, in the machinery industry, production such as processing and assembly is discontinuous; a large number of operations such as loading, unloading, handling, and assembly remain to be further mechanized; industrial robots are mainly used in aspects such as loading, unloading, welding, forging, and heat treatment, and cannot meet the needs of industrial production development in terms of quantity, variety, and performance; the use of industrial robots to replace manual operations is mainly in environments that are not suitable for human work, such as dangerous operations, multi-dust, high temperature, noise, and narrow working spaces; in short, a robot is to use a machine to replace a human hand to move a workpiece from a certain place to a designated working position, or to manipulate the workpiece for processing according to work requirements.
[0003] At present, the structures of the manipulators on the market are relatively complex and the transmission efficiency is relatively low, so there is still room for improvement. Summary of the Utility Model
[0004] Aiming at the deficiencies of the existing technology, the purpose of the present utility model is to provide a manipulator for transporting large equipment, which has the advantages of simple structure and high transmission efficiency.
[0005] The above technical purpose of the present utility model is achieved through the following technical solutions: A manipulator for transporting large equipment, comprising: a machine base, a clamping assembly, a first mounting bracket, a second mounting bracket, a third mounting bracket, a first driving assembly for driving the clamping assembly to move up and down, a second driving assembly for driving the first mounting bracket to move left and right, and a third driving assembly for driving the third mounting bracket to move back and forth; the clamping assembly is fixed on the first mounting bracket; the first driving assembly is installed on the second mounting bracket; the first mounting bracket is slidably connected to the second mounting bracket; the second driving assembly is installed on the third mounting bracket; the second mounting bracket is slidably connected to the third mounting bracket; the third driving assembly is installed on the third mounting bracket; the third mounting bracket is slidably arranged on the machine base.
[0006] Optionally, the first driving assembly includes: a first servo motor, a first speed reducer, and a first rack; the first servo motor is disposed on the second mounting bracket; the first speed reducer is disposed on the second mounting bracket; an output end of the first servo motor is coaxially connected to the first speed reducer; an output end of the first speed reducer is provided with a first helical gear; the first rack is disposed on the first mounting bracket; the first helical gear meshes with the first rack.
[0007] Optionally, a first guide rail is disposed on the first mounting bracket; a first slider is disposed on the second mounting bracket; the first slider is slidably connected to the first guide rail.
[0008] Optionally, a limiting rod is disposed on the second mounting bracket.
[0009] Optionally, the second driving assembly includes: a second servo motor, a second speed reducer, and a second rack; the second servo motor is disposed on the third mounting bracket; the second speed reducer is disposed on the third mounting bracket; an output end of the second servo motor is coaxially connected to the second speed reducer; an output end of the second speed reducer is provided with a second helical gear; the second rack is disposed on the second mounting bracket; the second helical gear meshes with the second rack.
[0010] Optionally, a second guide rail is disposed on the second mounting bracket; a second slider is disposed on the third mounting bracket; the second slider is slidably connected to the second guide rail.
[0011] Optionally, the third driving assembly includes: a third servo motor, a third speed reducer, and a third rack; the third servo motor is disposed on the third mounting bracket; the third speed reducer is disposed on the third mounting bracket; an output end of the third servo motor is coaxially connected to the third speed reducer; an output end of the third speed reducer is provided with a third helical gear; the third rack is disposed on the machine base; the third helical gear meshes with the third rack.
[0012] Optionally, a third guide rail is disposed on the machine base; a third slider is disposed on the third mounting bracket; the third slider is slidably connected to the third guide rail.
[0013] In summary, the present utility model has the following beneficial effects: by driving the first helical gear to rotate through the first servo motor, driving the second helical gear to rotate through the second servo motor, and driving the third helical gear to rotate through the third servo motor, and the first helical gear meshes with the first rack, the second helical gear meshes with the second rack, and the third helical gear meshes with the third rack, the three-axis movement of the clamping assembly can be satisfied; and through the gear-rack transmission, the transmission efficiency is high and the moving speed is fast. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 is the overall structural schematic diagram of the present utility model;
[0015] Figure 2 is the overall structural schematic diagram of another perspective of the present utility model;
[0016] Figure 3 is the partial sectional structural schematic diagram highlighting the first driving component;
[0017] Figure 4 is the partial sectional structural schematic diagram highlighting the third driving component.
[0018] In the figure: 1, machine base; 2, clamping component; 3, first mounting bracket; 4, second mounting bracket; 5, third mounting bracket; 6, first driving component; 61, first servo motor; 62, first reduction gear; 63, first rack; 64, first helical gear; 7, second driving component; 71, second servo motor; 72, second reduction gear; 73, second rack; 74, second helical gear; 8, third driving component; 81, third servo motor; 82, third reduction gear; 83, third rack; 84, third helical gear; 9, first guide rail; 10, first slider; 11, limiting rod; 12, third guide rail; 13, third slider. Specific embodiments
[0019] To make the objectives, features, and advantages of the present utility model more apparent and understandable, the following provides a detailed description of the specific embodiments of the present utility model with reference to the accompanying drawings. Several embodiments of the present utility model are shown in the drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described herein.
[0020] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.
[0021] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature. Terms such as "vertical", "horizontal", "left", "right", "up", "down" and similar expressions are only for the purpose of illustration, 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 thus should not be construed as a limitation to the present utility model.
[0022] The present utility model will be described in detail below with reference to the accompanying drawings and embodiments.
[0023] The present utility model provides a manipulator for transporting large equipment, such as Figures 1-4 shown, comprising: a base 1, a clamping assembly 2, a first mounting bracket 3, a second mounting bracket 4, a third mounting bracket 5, a first driving assembly 6 for driving the clamping assembly 2 to move up and down, a second driving assembly 7 for driving the first mounting bracket 3 to move left and right, and a third driving assembly 8 for driving the third mounting bracket 5 to move back and forth; the clamping assembly 2 is fixed on the first mounting bracket 3; the first driving assembly 6 is mounted on the second mounting bracket 4; the first mounting bracket 3 is slidably connected to the second mounting bracket 4; the second driving assembly 7 is mounted on the third mounting bracket 5; the second mounting bracket 4 is slidably connected to the third mounting bracket 5; the third driving assembly 8 is mounted on the third mounting bracket 5; the third mounting bracket 5 is slidably arranged on the base 1.
[0024] In practical applications, when it is necessary to grasp an object by the manipulator, the clamping assembly 2 mounted on the first mounting bracket 3 can be moved up and down by the first driving assembly 6, the second mounting bracket 4 can be moved left and right by the second driving assembly 7, and then the clamping assembly 2 can be driven to move left and right. The third mounting bracket 5 can be moved back and forth by the third driving assembly 8, and then the clamping assembly 2 can be driven to move back and forth, so as to move the clamping assembly 2 to a required position to grasp the object.
[0025] Wherein, the clamping assembly 2 of the present application is detachably connected to the first mounting bracket 3, and the clamping assembly 2 can be replaced according to actual production requirements to adapt to the object to be transported. The clamping assembly 2 of the present application is a commonly used clamping assembly 2 in production requirements, such as mechanical jaws, electromagnetic chucks, pneumatic chucks, etc.
[0026] Optionally, the first driving assembly 6 includes: a first servo motor 61, a first speed reducer 62, and a first rack 63; the first servo motor 61 is disposed on the second mounting bracket 4; the first speed reducer 62 is disposed on the second mounting bracket 4; the output end of the first servo motor 61 is coaxially connected to the first speed reducer 62; a first helical gear 64 is disposed at the output end of the first speed reducer 62; the first rack 63 is disposed on the first mounting bracket 3; the first helical gear 64 meshes with the first rack 63.
[0027] In practical applications, when it is necessary to drive the clamping assembly 2 to move up and down, only the first servo motor 61 needs to be started. The first servo motor 61 drives the first helical gear 64 to rotate after reducing speed and increasing torque through the first speed reducer 62. Since the first rack 63 meshes with the first helical gear 64, the first mounting bracket 3 moves up and down under the action of the first helical gear 64 and the first rack 63, thereby driving the clamping assembly 2 on the first mounting bracket 3 to move up and down.
[0028] Optionally, a first guide rail 9 is disposed on the first mounting bracket 3; a first slider 10 is disposed on the second mounting bracket 4; the first slider 10 is slidably connected to the first guide rail 9.
[0029] In practical applications, the first mounting bracket 3 moves up and down under the action of the first helical gear 64 and the first rack 63, and the first slider 10 slides on the first guide rail 9, which can improve the stability of the first mounting bracket 3 when sliding.
[0030] Optionally, a limiting rod 11 is disposed on the second mounting bracket 4.
[0031] Specifically, when the first mounting bracket 3 moves to the uppermost end, the limiting rod 11 contacts the first mounting bracket 3, and at this time, the first servo motor 61 stops, thereby limiting the moving range of the first mounting bracket 3.
[0032] Optionally, the second driving assembly 7 includes: a second servo motor 71, a second speed reducer 72, and a second rack 73; the second servo motor 71 is disposed on the third mounting bracket 5; the second speed reducer 72 is disposed on the third mounting bracket 5; the output end of the second servo motor 71 is coaxially connected to the second speed reducer 72; a second helical gear 74 is disposed at the output end of the second speed reducer 72; the second rack 73 is disposed on the second mounting bracket 4; the second helical gear 74 meshes with the second rack 73.
[0033] Specifically, when it is necessary to drive the clamping assembly 2 to move left and right, only need to start the second servo motor 71. After the second servo motor 71 decelerates and increases torque through the second speed reducer 72, it drives the second helical gear 74 to rotate. And the second rack 73 meshes with the second helical gear 74. Therefore, the second mounting bracket 4 moves left and right under the action of the second helical gear 74 and the second rack 73, and then drives the clamping assembly 2 to move left and right.
[0034] Optionally, a second guide rail is provided on the second mounting bracket 4; a second slider is provided on the third mounting bracket 5; the second slider is slidably connected to the second guide rail.
[0035] Specifically, the second mounting bracket 4 moves left and right under the action of the second helical gear 74 and the second rack 73, and the second slider slides on the second guide rail, which can improve the stability of the second mounting bracket 4 when sliding.
[0036] Optionally, the third driving assembly 8 includes: a third servo motor 81, a third speed reducer 82, and a third rack 83; the third servo motor 81 is arranged on the third mounting bracket 5; the third speed reducer 82 is arranged on the third mounting bracket 5; the output end of the third servo motor 81 is coaxially connected to the third speed reducer 82; a third helical gear 84 is arranged at the output end of the third speed reducer 82; the third rack 83 is arranged on the machine base; the third helical gear 84 meshes with the third rack 83.
[0037] Specifically, when it is necessary to drive the clamping assembly 2 to move back and forth, only need to start the third servo motor 81. After the third servo motor 81 decelerates and increases torque through the third speed reducer 82, it drives the third helical gear 84 to rotate. And the third rack 83 meshes with the third helical gear 84. Therefore, the third mounting bracket 5 moves back and forth under the action of the third helical gear 84 and the third rack 83, and then drives the clamping assembly 2 to move back and forth.
[0038] Optionally, a third guide rail 12 is provided on the machine base 1; a third slider 13 is provided on the third mounting bracket 5; the third slider 13 is slidably connected to the third guide rail 12.
[0039] Specifically, the third mounting bracket 5 moves back and forth under the action of the third helical gear 84 and the third rack 83, and the third slider 13 slides on the third guide rail 12, which can improve the stability of the third mounting bracket 5 when sliding.
[0040] Specifically, when it is necessary to transport large equipment by the manipulator, the first servo motor 61 is started. After the first servo motor 61 reduces the speed and increases the torque through the first speed reducer 62, it drives the first helical gear 64 to rotate. Since the first helical gear 64 meshes with the first rack 63, the first rack 63 moves up and down through the first helical gear 64, thereby driving the clamping assembly 2 on the first mounting bracket 3 to move up and down. The second servo motor 71 is started. After the second servo motor 71 reduces the speed and increases the torque through the second speed reducer 72, it drives the second helical gear 74 to rotate. Since the second helical gear 74 meshes with the second rack 73, the second rack 73 moves left and right through the second helical gear 74, thereby driving the second mounting bracket 4 to move, and the clamping assembly 2 can be moved left and right. The third servo motor 81 is started. After the third servo motor 81 reduces the speed and increases the torque through the third speed reducer 82, it drives the third helical gear 84 to rotate. The third helical gear 84 drives the third rack 83 to move back and forth. Since the third rack 83 is arranged on the machine base 1, the third mounting bracket 5 moves back and forth under the action of the third helical gear 84, and the clamping assembly 2 can be moved back and forth.
[0041] A manipulator for transporting large equipment of the present utility model has a simple structure and high transmission efficiency.
[0042] The above are only the preferred embodiments of the present utility model. The protection scope of the present utility model is not limited to the above embodiments. All technical solutions within the idea of the present utility model belong to the protection scope of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, several improvements and refinements made without departing from the principle of the present utility model should also be regarded as the protection scope of the present utility model.
Claims
1. A manipulator for transporting large equipment, characterized in that, Including: A machine base, a clamping assembly, a first mounting bracket, a second mounting bracket, a third mounting bracket, a first driving assembly for driving the clamping assembly to move up and down, a second driving assembly for driving the first mounting bracket to move left and right, and a third driving assembly for driving the third mounting bracket to move forward and backward; the clamping assembly is fixed on the first mounting bracket; the first driving assembly is mounted on the second mounting bracket; the first mounting bracket is slidably connected to the second mounting bracket; the second driving assembly is mounted on the third mounting bracket; the second mounting bracket is slidably connected to the third mounting bracket; the third driving assembly is mounted on the third mounting bracket; The third mounting bracket is slidably arranged on the machine base; The first driving assembly includes: a first servo motor, a first speed reducer, and a first rack; the first servo motor is arranged on the second mounting bracket; the first speed reducer is arranged on the second mounting bracket; the output end of the first servo motor is coaxially connected to the first speed reducer; a first helical gear is arranged at the output end of the first speed reducer; the first rack is arranged on the first mounting bracket; the first helical gear meshes with the first rack; A first guide rail is arranged on the first mounting bracket; a first slider is arranged on the second mounting bracket; the first slider is slidably connected to the first guide rail; a limiting rod is arranged on the second mounting bracket.
2. The manipulator for transporting large equipment according to claim 1, characterized in that, The second driving assembly includes: a second servo motor, a second speed reducer, and a second rack; the second servo motor is arranged on the third mounting bracket; the second speed reducer is arranged on the third mounting bracket; the output end of the second servo motor is coaxially connected to the second speed reducer; a second helical gear is arranged at the output end of the second speed reducer; the second rack is arranged on the second mounting bracket; the second helical gear meshes with the second rack.
3. The manipulator for transporting large equipment according to claim 2, wherein A second guide rail is arranged on the second mounting bracket; a second slider is arranged on the third mounting bracket; the second slider is slidably connected to the second guide rail.
4. The manipulator for transporting large equipment according to claim 1, characterized in that, The third driving assembly includes: a third servo motor, a third speed reducer, and a third rack; the third servo motor is arranged on the third mounting bracket; the third speed reducer is arranged on the third mounting bracket; the output end of the third servo motor is coaxially connected to the third speed reducer; a third helical gear is arranged at the output end of the third speed reducer; the third rack is arranged on the machine base; the third helical gear meshes with the third rack.
5. The manipulator for transporting large equipment according to claim 4, wherein A third guide rail is arranged on the machine base; a third slider is arranged on the third mounting bracket; the third slider is slidably connected to the third guide rail.