Heavy-load truss carrying manipulator

Abstract

The utility model provides a heavy-load truss carrying manipulator. The heavy-load truss carrying manipulator comprises a main frame, a lifting arm, a connecting shaft and a walking beam, a foundation plate is fixedly installed on the front side of the main frame, a Z-axis servo motor is fixedly installed on the inner side of the foundation plate, a Z-axis gear is installed on the Z-axis servo motor through an output shaft of a speed reducer, and a gear protection cover is installed on the side, away from the Z-axis servo motor, of the foundation plate. A Z-axis rack is installed on the side, close to the gear protection cover, of the lifting arm, an X-axis servo motor is vertically installed on the top of the main frame, an X-axis gear is installed on the X-axis servo motor through an output shaft of a speed reducer, and an X-axis rack is installed on the top of the walking beam. Based on the overall structural design, the load of the arm can reach five hundred kilograms, loading and conveying of most middle and large workpieces can be met, the linear running speed of the X-axis driving truss manipulator module along the cross beam can reach 84m / min, and the conveying efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a carrying manipulator, in particular to a heavy load truss carrying manipulator, belongs to workpiece processing technical field. BACKGROUND

[0002] In different machining applications, in order to connect the machining equipment of each station together, it is necessary to configure corresponding feeding and discharging devices to move the workpiece from the machining equipment of one station to the machining equipment of another station, and such feeding and discharging devices are generally installed and moved by high-altitude erection of a beam, and are installed and moved by taking the beam as a carrier, and such feeding and discharging devices are called truss manipulator modules, and when it is necessary to machine a workpiece with a large weight, most truss manipulators cannot meet the operation requirements of large loads, or the operation life and precision cannot be guaranteed, so that an efficient and stable automatic machining production line cannot be established.

[0003] However, most machining assembly lines have high requirements on production rhythm, and in order to meet the production needs, the truss manipulator module needs to move along the beam at a high speed under the premise of meeting the load, and needs to have sufficient strength to ensure the life and resist the impact force from the outside, so that the demand for high-degree-of-freedom, high-load and high-reliability products is imminent.

[0004] To solve the above technical problems, a heavy load truss carrying manipulator is provided. CONTENT OF THE UTILITY MODEL

[0005] Therefore, the utility model provides a heavy load truss carrying manipulator to solve or alleviate the technical problems in the prior art, and at least provides a beneficial choice.

[0006] The technical scheme of the utility model is as follows: a heavy load truss carrying manipulator, comprising a main frame, a lifting arm, a connecting shaft and a walking beam.

[0007] The front side of the main frame is fixedly provided with a base plate, the inner side of the base plate is fixedly provided with a Z-axis servo motor, the Z-axis servo motor is provided with a Z-axis gear through the output shaft of a speed reducer, the side, away from the Z-axis servo motor, of the base plate is provided with a gear protection cover, the side, close to the gear protection cover, of the lifting arm is provided with a Z-axis rack, the top of the main frame is vertically provided with an X-axis servo motor, the X-axis servo motor is provided with an X-axis gear through the output shaft of a speed reducer, the top of the walking beam is provided with an X-axis rack, the top of the walking beam is provided with an upper guide rail, the bottom of the walking beam is provided with a lower guide rail, and the bottom of the main frame is provided with a lower roller set on both sides.

[0008] Further preferably, the two main frames are composed of a connecting shaft as a whole, and the lifting arm is fixedly installed on both sides of the main frame.

[0009] Further preferably, the Z-axis servo motor is shared by two, and the Z-axis gear is engaged with the Z-axis rack.

[0010] Further preferably, the main frame is in the shape of an I-beam, and four sets of upper and lower roller groups are mounted on one side of the main frame, and the X-axis gear is engaged with the X-axis rack.

[0011] Further preferably, the upper roller group comprises an upper load bearing wheel, a side load bearing wheel and an auxiliary wheel, the upper load bearing wheel is attached to the top surface of the upper guide rail, the side load bearing wheel is attached to the side surface of the upper guide rail, and the auxiliary wheel is attached to the other side surface of the upper guide rail.

[0012] Further preferably, the lower roller group comprises a side load bearing wheel and an auxiliary wheel, the side load bearing wheel is attached to the side surface of the lower guide rail, and the auxiliary wheel is attached to the other side surface of the lower guide rail, and the two sets of side load bearing wheels are oppositely arranged according to the direction of the roll force.

[0013] Further preferably, the bottom surface of the two ends of the walking beam is fixedly mounted with a stand, the stand is fixedly mounted on the ground, and the lifting arm is mounted on the front side of the main frame.

[0014] The embodiment of the utility model has the following advantages due to the adoption of the above technical scheme:

[0015] One, the utility model discloses Z axis servo motor connection speed reducer, passes through the power output of speed reducer, and the output shaft of speed reducer is equipped with Z axis gear, and Z axis gear is connected with the output shaft by tension sleeve, utilizes the principle of gear and rack to convert rotary motion into linear motion and drives lifting arm to move up and down along the vertical direction, X axis servo motor connection speed reducer, passes through the power output of speed reducer, and the output shaft of speed reducer is equipped with X axis gear, and X axis gear is connected with the output shaft by tension sleeve, utilizes the principle of gear and rack to convert rotary motion into linear motion and drives the whole module to move left and right along the horizontal direction;

[0016] Two, the utility model is based on the overall construction design, and the load of arm can reach five hundred kilograms, can satisfy the loading of most medium -sized workpieces and transports, and the linear running speed of X axis drive truss manipulator module along the crossbeam can reach eighty -four meters per minute, greatly improves the efficiency of transportation.

[0017] The above summary is intended to illustrate the present description and is not intended to limit in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features will be readily apparent to those skilled in the art by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0019] Figure 1 The structural diagram of the utility model;

[0020] Figure 2 The structural diagram of the lifting arm in the utility model;

[0021] Figure 3 The structural diagram of the upper roller set in the utility model;

[0022] Figure 4 The structural diagram of the lower roller set in the utility model.

[0023] The drawings are as follows: 1, main frame; 2, lifting arm; 3, connecting shaft; 4, walking beam; 5, base plate; 6, Z-axis servo motor; 7, Z-axis gear; 8, gear protection cover; 9, Z-axis rack; 10, upper roller set; 11, X-axis servo motor; 12, X-axis gear; 13, X-axis rack; 14, upper guide rail; 15, lower guide rail; 16, lower roller set. DETAILED DESCRIPTION

[0024] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the utility model. Therefore, the drawings and description are considered to be exemplary in nature rather than limiting.

[0025] The embodiments of the utility model will be described in detail in the following with reference to the drawings.

[0026] As Figures 1-4 shown, the utility model embodiment provides a heavy load truss handling manipulator, which is composed of main frame 1, lifting arm 2, connecting shaft 3 and walking beam 4.

[0027] The front side of the main frame 1 is fixedly installed with a base plate 5, the inner side of the base plate 5 is fixedly installed with a Z-axis servo motor 6, the Z-axis servo motor 6 is installed with a Z-axis gear 7 through the output shaft of a speed reducer, the side, away from the Z-axis servo motor 6, of the base plate 5 is installed with a gear protection cover 8, the side, close to the gear protection cover 8, of the lifting arm 2 is installed with a Z-axis rack 9, the lifting arm 2 is driven to move up and down along the vertical direction by utilizing the principle of converting rotary motion into linear motion of the Z-axis gear 7 and the Z-axis rack 9, the transmission structure composed of the Z-axis gear 7 and the Z-axis rack 9 has the advantages of high precision, high bearing and high reliability, and the transmission in this way can improve the stability of the Z-axis movement, the top of the main frame 1 is vertically installed with an X-axis servo motor 11, the X-axis servo motor 11 is installed with an X-axis gear 12 through the output shaft of a speed reducer, the top of the walking beam 4 is installed with an X-axis rack 13, the whole module is driven to move left and right along the horizontal direction by utilizing the principle of converting rotary motion into linear motion of the X-axis gear 12 and the X-axis rack 13, the transmission structure composed of the X-axis gear 12 and the X-axis rack 13 is compact and has a wide transmission speed range, so that the linear running transmission speed of the X-axis driven truss manipulator module along the cross beam is increased to 84 m / min, and the transportation efficiency is greatly improved, the top of the walking beam 4 is installed with an upper guide rail 14, the bottom of the walking beam 4 is installed with a lower guide rail 15, the bottom of the main frame 1 is installed with a lower roller set 16 on both sides, the main frame 1 is in the shape of an I-beam, four sets of upper roller sets 10 and lower roller sets 16 are installed on one side of the main frame 1, the main frame 1 carries the lifting arm 2 through the four sets of upper and lower roller sets and is connected into an integral whole on the guide rail of the walking beam 4 through the connecting shaft 3, the X-axis gear 12 and the X-axis rack 13 are engaged with each other, and the whole module is driven to move left and right along the horizontal direction, based on the overall structural design, the load can reach 500 kg, so that the loading and conveying of most medium-sized workpieces are met, and the overall structural design improves the overall strength and the resistance to external impact.

[0028] In one embodiment, the main frame 1 is two in total, the main frame 1 is composed of a connecting shaft 3 into an integral module, and the main frame 1 is respectively installed with a lifting arm 2.

[0029] In one embodiment, the Z-axis servo motor 6 is two in total, and the Z-axis gear 7 and the Z-axis rack 9 are engaged with each other.

[0030] In one embodiment, the upper roller set 10 includes an upper bearing wheel, a side bearing wheel and an auxiliary wheel. The upper bearing wheel is attached to the top surface of the upper guide rail 14, the side bearing wheel is attached to the side surface of the upper guide rail 14, and the auxiliary wheel is attached to the other side surface of the upper guide rail 14, which plays a limiting protection role.

[0031] In one embodiment, the lower roller set 16 includes side load wheels and auxiliary wheels, the side load wheels are in contact with the side of the lower guide rail 15, and the auxiliary wheels are in contact with the other side of the lower guide rail 15, and the auxiliary wheels play a limiting protection role, and the upper and lower side load wheels are oppositely arranged according to the direction of the side leaning force.

[0032] In one embodiment, the bottom surface of the walking beam 4 at both ends is fixedly installed with a stand column, the stand column is fixedly installed on the ground, the lifting arm 2 is installed on the front side of the main frame 1, the entire device is supported through the stand column, and the effect of supporting the device is achieved.

[0033] The utility model discloses a working time: Z axis servo motor 6 connects speed reducer, passes through speed reducer output power, and speed reducer output shaft is equipped with Z axis gear 7, and Z axis gear 7 is connected by tensioner and output shaft, utilizes Z axis gear 7, Z axis rack 9 the principle of converting rotary motion into linear motion drive lifting arm 2 along the vertical direction and moves up and down;X axis servo motor 11 connects speed reducer, passes through speed reducer output power, and speed reducer output shaft is equipped with X axis gear 12, and X axis gear 12 is connected by tensioner and output shaft, utilizes X axis gear 12 and X axis rack 13 the principle of converting rotary motion into linear motion drive whole module along horizontal direction and moves left and right.

[0034] The above is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, any skilled person in the art can easily think of various changes or replacements within the technical range disclosed by the utility model, and these should be covered in the protection scope of the utility model. Therefore, the protection scope of the utility model should be limited to the protection scope of the claims.

Claims

1. A heavy load gantry handling robot, characterized by: It comprises a main frame (1), a lifting arm (2), a connecting shaft (3) and a walking beam (4); The front side of the main frame (1) is fixedly installed with a base plate (5), the inner side of the base plate (5) is fixedly installed with a Z-axis servo motor (6), the Z-axis servo motor (6) is installed with a Z-axis gear (7) through the output shaft of a speed reducer, two main frames (1) are composed into a whole by a connecting shaft (3), the lifting arm (2) is fixedly installed on the two sides of the main frame (1), the side, close to the gear protection cover (8), of the lifting arm (2) is installed with a Z-axis rack (9), the top of the main frame (1) is vertically installed with an X-axis servo motor (11), the X-axis servo motor (11) is installed with an X-axis gear (12) through the output shaft of a speed reducer, the top of the walking beam (4) is installed with an X-axis rack (13), the top of the walking beam (4) is installed with an upper guide rail (14), the bottom of the walking beam (4) is installed with a lower guide rail (15), and the bottom of the main frame (1) is installed with a lower roller set (16) on both sides.

2. A heavy duty gantry handling machine according to claim 1 wherein: The side, away from the Z-axis servo motor (6), of the base plate (5) is installed with a gear protection cover (8).

3. A heavy duty gantry handling machine according to claim 1 wherein: The Z-axis servo motor (6) is shared by two, and the Z-axis gear (7) is meshed with the Z-axis rack (9).

4. A heavy duty gantry handling machine according to claim 1 wherein: The main frame (1) is in the shape of an I-beam, four sets of upper roller sets (10) and lower roller sets (16) are installed on one side of the main frame (1), and the X-axis gear (12) is meshed with the X-axis rack (13).

5. A heavy duty gantry handling machine according to claim 4 wherein: The upper roller set (10) comprises an upper bearing wheel, a side bearing wheel and an auxiliary wheel, the upper bearing wheel is attached to the top surface of the upper guide rail (14), the side bearing wheel is attached to the side surface of the upper guide rail (14), and the auxiliary wheel is attached to the other side surface of the upper guide rail (14).

6. A heavy duty gantry handling machine according to claim 4 wherein: The lower roller set (16) comprises a side bearing wheel and an auxiliary wheel, the side bearing wheel is attached to the side surface of the lower guide rail (15), and the auxiliary wheel is attached to the other side surface of the lower guide rail (15), and the two sets of side bearing wheels are oppositely arranged according to the direction of the side leaning force.

7. A heavy duty gantry handling machine according to claim 1 wherein: The bottom surface of the two ends of the walking beam (4) is fixedly installed with a stand column, the stand column is fixedly installed on the ground, and the lifting arm (2) is installed on the front side of the main frame (1).

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