Conveying type truss

Abstract

The utility model discloses a conveying type truss, and relates to the technical field of trusses. Comprising a longitudinal moving ground rail, a gantry trolley which is movably arranged on the longitudinal moving ground rail and can do reciprocating motion in the extending direction of the longitudinal moving ground rail, a gantry cross beam fixedly arranged on the gantry trolley, and a lifting stand column movably arranged on the gantry cross beam. The first driving device can drive the lifting stand column to reciprocate in the extending direction of the gantry cross beam; the manipulator is fixedly arranged at the lifting end of the lifting stand column; the control system is in communication connection with the gantry trolley, the lifting stand column, the first driving device and the manipulator; the mechanical arm is provided with a hooking part, and the hooking part can stretch into the position below the workpiece to hook the workpiece. According to the conveying type truss, automation of workpiece feeding can be achieved, and placing precision and working efficiency are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to truss technical field, in particular to a conveying formula truss. BACKGROUND

[0002] The robot welding work station is the robot according to the program set, automatically to workpiece all -round welding, this requires workpiece in the loading position must be accurate, the traditional robot welding work station loading adopts manual use crane and takes the mode, and each time the deviation of the placement position is big, needs to place adjustment many times, is easy to lead to the deviation of the robot welding position, influence the welding quality of whole workpiece, can not satisfy the welding requirement, does not play the role of robot, and the work efficiency is low. UTILITY MODEL CONTENT

[0003] The utility model discloses a conveying formula truss to solve the problems of the prior art, can realize the automation of workpiece loading, and improve the placement precision and work efficiency.

[0004] To achieve the above object, the utility model provides the following scheme:

[0005] The utility model provides a conveying formula truss, including longitudinal movement ground rail, the portal jenny car of setting up in longitudinal movement ground rail and can reciprocating motion along the longitudinal movement ground rail extension direction, fixed setting in portal jenny car's portal crossbeam, the lifting column of setting up in portal crossbeam, the first drive arrangement of can drive lifting column reciprocating motion along the portal crossbeam extension direction, the mechanical hand of fixed setting in the lifting column lifting end and with portal jenny car, lifting column, first drive arrangement and mechanical hand communication connection's control system, the mechanical hand has hooking part, and the hooking part can extend to workpiece below to carry out hooking to workpiece.

[0006] Preferably, the portal crossbeam is provided with a slide rail, and the lifting column is slidably connected to the slide rail, and the lifting column can reciprocate on the slide rail.

[0007] Preferably, the mechanical hand includes a moving beam fixedly arranged at the lifting end of the lifting column, two gripper assemblies movably arranged on the moving beam, and a second drive device capable of driving the two gripper assemblies to move towards each other or away from each other.

[0008] Preferably, the second driving device comprises two driving structures, each of the driving structures is in transmission connection with one of the gripper assemblies, the driving structure comprises a first motor, a first screw rod in transmission connection with the first motor, and a first sliding block in threaded connection with the first screw rod, the first motor is in communication connection with the control system, the gripper assembly is fixedly arranged on the first sliding block, the moving beam is provided with a first guide rail, the first sliding block is in sliding connection with the first guide rail, and the first motor drives the first screw rod to rotate to drive the two gripper assemblies to move towards each other or away from each other.

[0009] Preferably, the driving structure further comprises a first speed reducer in transmission connection with the first motor, the moving beam is provided with a first screw rod fixing seat, and the first screw rod is in rotary connection with the first screw rod fixing seat; and the first speed reducer and the first screw rod are in transmission connection through a shaft coupling.

[0010] Preferably, the gripper assembly comprises a connecting seat, two gripper units movably arranged on the connecting seat, and a third driving device capable of driving the two gripper units to move towards each other or away from each other, and the gripper unit is provided with a hooking portion.

[0011] Preferably, the third driving device comprises a second motor, a left-handed screw rod and a right-handed screw rod in transmission connection with the second motor, a second sliding block in threaded connection with the left-handed screw rod, and a third sliding block in threaded connection with the right-handed screw rod, the second motor is in communication connection with the control system, one gripper unit is fixedly arranged on each of the second sliding block and the third sliding block, the connecting seat is provided with a second guide rail, and the second sliding block and the third sliding block are in sliding connection with the second guide rail; and the second motor can drive the left-handed screw rod and the right-handed screw rod to rotate at the same time to drive the two gripper units to move towards each other or away from each other.

[0012] Preferably, the connecting seat is further provided with a second screw rod fixing seat, a third screw rod fixing seat, and a second speed reducer in transmission connection with the second motor, the left-handed screw rod is in rotary connection with the second screw rod fixing seat, the right-handed screw rod is in rotary connection with the third screw rod fixing seat, and the left-handed screw rod and the right-handed screw rod are in transmission connection with the second speed reducer.

[0013] Preferably, the gripper unit is in L shape, and the hooking portion is formed at the bottom bending portion of the gripper unit.

[0014] Preferably, the gripper assembly further comprises four pressing electric cylinders correspondingly arranged with the gripper units, the pressing electric cylinders are vertically arranged, and the pressing electric cylinders can press the workpiece on the hooking portion.

[0015] The utility model discloses relative to prior art has obtained following technical effect:

[0016] The conveying type truss provided by the utility model can make the manipulator grab workpieces at different positions and accurately place the workpieces on the robot workstation clamp, so that the robot accurately welds each weld seam according to the program, realizes the automation of workpiece feeding, and has high precision and high work efficiency compared with the manual lifting mode. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the embodiments will be briefly introduced as follows, obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0018] Fig. 1 The structural schematic diagram of the conveying type truss provided by the utility model is shown in the figure.

[0019] Fig. 2 The structural schematic diagram of the manipulator provided by the utility model is shown in the figure.

[0020] Fig. 3 The partial structural schematic diagram of the manipulator provided by the utility model is shown in the figure.

[0021] Fig. 4 The partial structural schematic diagram of the manipulator provided by the utility model is shown in the figure.

[0022] Fig. 5 The structural schematic diagram of the manipulator when grabbing the workpiece provided by the utility model is shown in the figure.

[0023] In the figure, 1 is a longitudinal moving rail, 2 is a gantry trolley, 3 is a gantry beam, 4 is a lifting column, 5 is a manipulator, 6 is a moving beam, 61 is a first motor, 62 is a first screw rod, 63 is a first sliding block, 64 is a first screw rod fixing seat, 65 is a first guide rail, 66 is a first speed reducer, 67 is a shaft coupling, 7 is a gripper assembly, 71 is a second motor, 72 is a left-hand screw rod, 73 is a right-hand screw rod, 74 is a second screw rod fixing seat, 75 is a second sliding block, 76 is a second guide rail, 77 is a second speed reducer, 8 is a gripper unit, 81 is a hooking part, 82 is a pressing electric cylinder, and 9 is a workpiece. DETAILED DESCRIPTION

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] The purpose of this invention is to provide a conveyor truss to solve the problems existing in the prior art, which can realize the automation of workpiece loading and improve placement accuracy and work efficiency.

[0026] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] This utility model provides a conveyor truss, such as Figs. 1-5 As shown, the system includes a longitudinal moving track 1, a gantry trolley 2 movably mounted on the longitudinal moving track 1 and capable of reciprocating along the extension direction of the longitudinal moving track 1, a gantry beam 3 fixedly mounted on the gantry trolley 2, a lifting column 4 movably mounted on the gantry beam 3, a first drive device capable of driving the lifting column 4 to reciprocate along the extension direction of the gantry beam 3, a robotic arm 5 fixedly mounted on the lifting end of the lifting column 4, and a control system communicatively connected to the gantry trolley 2, the lifting column 4, the first drive device, and the robotic arm 5; the robotic arm 5 has a hooking part 81, which can extend into the workpiece. The gantry trolley 2 can hook the workpiece 9 from below. The gantry beam 3, the lifting column 4 and the robot arm 5 can move back and forth along the X-axis. The lifting column 4 can move left and right along the Y-axis on the gantry beam 3. The lifting column 4 can be raised and lowered, thereby driving the robot arm 5 to move up and down along the Z-axis in the vertical direction. The control system controls the operation of the gantry trolley 2, the lifting column 4 and the first drive device respectively, which can drive the robot arm 5 to move in the X, Y and Z directions, thereby achieving the purpose of automatically and accurately grabbing the workpiece 9 and placing the workpiece 9 on the robot welding fixture.

[0028] In some embodiments, a slide rail is provided on the gantry beam 3, and the lifting column 4 is slidably connected to the slide rail. The first driving device is preferably a motor, which can transmit power between the lifting column 4 and the chain. Alternatively, a telescopic cylinder can be used to drive the lifting column 4 to slide back and forth on the slide rail.

[0029] In some embodiments, the robotic arm 5 includes a movable beam 6 fixedly mounted on the lifting end of the lifting column 4, two gripper assemblies 7 movably mounted on the movable beam 6, and a second drive device capable of driving the two gripper assemblies 7 to move toward each other or away from each other. The second drive device is communicatively connected to the control system.

[0030] In some embodiments, the second driving device comprises two driving structures symmetrically arranged, each of which is in transmission connection with one gripper assembly 7. The driving structure comprises a first motor 61, a first lead screw 62 in transmission connection with the first motor 61, and a first sliding block 63 threadedly connected to the first lead screw 62. The two first lead screws 62 are coaxially arranged. The first motor 61 is in communication connection with the control system. The first motor 61 is preferably a servo motor. The gripper assembly 7 is fixedly arranged on the first sliding block 63. The moving beam 6 is provided with a first guide rail 65. The first sliding block 63 is slidingly connected to the first guide rail 65. The first motor 61 drives the first lead screw 62 to rotate, which can drive the gripper assembly 7 to move. The two first motors 61 cooperate to drive the two gripper assemblies 7 to move towards each other or away from each other.

[0031] In some embodiments, the driving structure further comprises a first speed reducer 66 in transmission connection with the first motor 61. The moving beam 6 is provided with a first lead screw fixing seat 64. The first lead screw 62 is rotatably connected to the first lead screw fixing seat 64. The first speed reducer 66 is in transmission connection with the first lead screw 62 through a shaft coupling 67.

[0032] In some embodiments, the gripper assembly 7 comprises a connecting seat, two gripper units 8 movably arranged on the connecting seat, and a third driving device capable of driving the two gripper units 8 to move towards each other or away from each other. The third driving device is in communication connection with the control system. The gripper unit 8 is provided with a hooking part 81.

[0033] In some embodiments, the third driving device comprises a second motor 71, a left-handed lead screw 72 and a right-handed lead screw 73 in transmission connection with the second motor 71, a second sliding block 75 threadedly connected to the left-handed lead screw 72, and a third sliding block threadedly connected to the right-handed lead screw 73. The left-handed lead screw 72 and the right-handed lead screw 73 are coaxially arranged. The second motor 71 is in communication connection with the control system. The second motor 71 is preferably a servo motor. Each of the second sliding block 75 and the third sliding block is fixedly provided with a gripper unit 8. The connecting seat is provided with a second guide rail 76. The second sliding block 75 and the third sliding block are slidingly connected to the second guide rail 76. The second motor 71 can drive the left-handed lead screw 72 and the right-handed lead screw 73 to rotate simultaneously to drive the two gripper units 8 to move towards each other or away from each other.

[0034] In some embodiments, a second screw rod fixing seat 74, a third screw rod fixing seat and a second speed reducer 77 in transmission connection with the second motor 71 are further arranged on the connecting seat, the left screw rod 72 is rotationally connected to the second screw rod fixing seat 74, the right screw rod 73 is rotationally connected to the third screw rod fixing seat, the left screw rod 72 and the right screw rod 73 are in transmission connection with the second speed reducer 77, the output shaft of the second speed reducer 77 is arranged perpendicularly to the left screw rod 72 and the right screw rod 73, and the connection can be driven by a gear, and the second motor 71 can drive the left screw rod 72 and the right screw rod 73 to rotate synchronously.

[0035] In some embodiments, the gripper unit 8 is L-shaped, and the hooking part 81 is formed at the bottom bending part of the gripper unit 8.

[0036] In some embodiments, the gripper assembly 7 further comprises four pressing electric cylinders 82 arranged correspondingly to the gripper unit 8, the pressing electric cylinders 82 are fixed to the gripper unit 8, the pressing electric cylinders 82 are vertically arranged, and the pressing electric cylinders 82 can press the workpiece 9 to the hooking part 81.

[0037] The conveying type truss provided by the utility model has the following working process: the operation of the portal trolley 2 and the first driving device is controlled by the control system, the manipulator 5 is adjusted to a suitable position, when the workpiece 9 is grabbed, the first motor 61 drives the first screw rod 62 to rotate, drives two groups of gripper assemblies 7 to move forward and backward until the gripper assemblies 7 are moved to a suitable position, then the lifting column 4 moves downward, the gripper assemblies 7 are moved to below the workpiece 9, at this time, the second motor 71 works, drives the left screw rod 72 and the right screw rod 73 to rotate, and makes two gripper units 8 move outward synchronously until the workpiece 9 is located above the hooking part 81 of the gripper unit 8, then the lifting column 4 is lifted, the upper plane of the hooking part 81 is tightly attached to the lower plane of the workpiece 9, then the second motor 71 works again, the left screw rod 72 and the right screw rod 73 are rotated, the gripper units 8 move outward synchronously until the gripper units 8 are tightly attached to the surface of the workpiece 9 and are pressed, finally, four pressing electric cylinders 82 are started, and the workpiece 9 is pressed downward, at this time, the workpiece 9 is completely pressed and fixed by the gripper units 8, because the left screw rod 72 and the right screw rod 73 rotate synchronously, the workpiece 9 is finally in a horizontal and central state, and is transferred to a tool clamp for realizing rapid positioning in the next process, a large amount of time is saved, the same workpiece 9 only needs to be programmed and debugged for the first time, and subsequent feeding and discharging processes are automatically controlled, manual operation is not needed, labor cost is greatly saved, and production efficiency is improved.

[0038] The principle and implementation mode of the utility model are described by applying specific examples, and the above embodiment is only used for helping to understand the method and core idea of the utility model; meanwhile, for the general technical personnel in the field, the specific implementation mode and application range will be changed according to the idea of the utility model. In conclusion, the content of the specification should not be understood as the limitation of the utility model.

Claims

1. A conveyor truss, characterized in that: include: Longitudinal moving track; A gantry trolley that is set on the longitudinal moving ground rail and can reciprocate along the extension direction of the longitudinal moving ground rail; The gantry beam is fixedly installed on the gantry trolley; The movable lifting column is set on the gantry beam; A first driving device capable of driving the lifting column to reciprocate along the extension direction of the gantry beam; A robotic arm is fixedly installed at the lifting end of the lifting column. The robotic arm has a hooking part that can extend under the workpiece to hook the workpiece. And a control system that is communicatively connected to the gantry trolley, the lifting column, the first drive device and the robotic arm.

2. The conveyor truss according to claim 1, characterized in that: The gantry beam is equipped with a slide rail, and the lifting column is slidably connected to the slide rail, allowing the lifting column to slide back and forth on the slide rail.

3. The conveyor truss according to claim 1, characterized in that: The robotic arm includes a movable beam fixedly mounted on the lifting end of the lifting column, two gripper assemblies movably mounted on the movable beam, and a second drive device capable of driving the two gripper assemblies to move toward each other or away from each other.

4. The conveyor truss according to claim 3, characterized in that: The second driving device includes two driving structures, each of which is connected to one of the gripper assemblies. Each driving structure includes a first motor, a first lead screw connected to the first motor, and a first slider threaded onto the first lead screw. The first motor is communicatively connected to the control system. The gripper assembly is fixedly mounted on the first slider. A first guide rail is provided on the moving beam, and the first slider is slidably connected to the first guide rail. The first motor drives the first lead screw to rotate, which can cause the two gripper assemblies to move toward each other or away from each other.

5. The conveyor truss according to claim 4, characterized in that: The drive structure also includes a first reducer that is connected to the first motor for transmission. A first lead screw fixing seat is provided on the moving beam. The first lead screw is rotatably connected to the first lead screw fixing seat. The first reducer and the first lead screw are connected for transmission through a coupling.

6. The conveyor truss according to claim 3, characterized in that: The gripper assembly includes a connecting base, two gripper units movably disposed on the connecting base, and a third driving device capable of driving the two gripper units to move toward each other or away from each other. Each gripper unit has a hooking part.

7. The conveyor truss according to claim 6, characterized in that: The third driving device includes a second motor, a left-hand lead screw and a right-hand lead screw connected to the second motor, a second slider threaded to the left-hand lead screw, and a third slider threaded to the right-hand lead screw. The second motor is communicatively connected to the control system. A gripper unit is fixedly mounted on both the second slider and the third slider. A second guide rail is mounted on the connecting seat. The second slider and the third slider are slidably connected to the second guide rail. The second motor can drive the left-hand lead screw and the right-hand lead screw to rotate simultaneously, thereby causing the two gripper units to move towards or away from each other.

8. The conveyor truss according to claim 7, characterized in that: The connecting seat is also provided with a second lead screw fixing seat, a third lead screw fixing seat, and a second reducer that is driven and connected to the second motor. The left-hand lead screw is rotatably connected to the second lead screw fixing seat, and the right-hand lead screw is rotatably connected to the third lead screw fixing seat. Both the left-hand lead screw and the right-hand lead screw are driven and connected to the second reducer.

9. The conveyor truss according to claim 6, characterized in that: The gripper unit is L-shaped, and the hook part is formed at the bottom bend of the gripper unit.

10. The conveyor truss according to claim 6, characterized in that: The gripper assembly also includes four clamping electric cylinders corresponding to the gripper unit. The clamping electric cylinders are vertically arranged and can clamp the workpiece onto the hook part.

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