Multi-degree-of-freedom turnover carrying device
By designing a multi-degree-of-freedom flipping and handling device, which utilizes cylinder-driven linear gears and motor-driven belt transmission to achieve 90° flipping and multi-angle clamping of parts, the flexibility and adaptability of the gantry crane when handling goods of different sizes and shapes are solved, thereby improving production efficiency and operational precision.
Patent Information
- Application Number
- CN202423205648.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2034-12-25
AI Technical Summary
Existing gantry cranes lack flexibility and adaptability when handling goods of different sizes and shapes. In particular, the inconsistent orientation of small parts makes picking difficult, affecting production efficiency and operational complexity, and making it difficult to accurately clamp equipment with special placement angles.
A multi-degree-of-freedom flipping and handling device was designed, including a gantry mechanism and a flipping and handling mechanism. The part can be clamped and flipped at any angle through a 90° flipping mechanism and a multi-angle clamping mechanism. The 90° flipping is achieved by using a cylinder to drive a linear gear and gear meshing, and the multi-angle clamping is achieved by a motor-driven belt drive.
It enables a wide range of movement of the gantry and precise clamping and flipping of parts at any angle, improving production efficiency and operational flexibility, and adapting to the handling needs of goods of different sizes and shapes.
Smart Images
Figure CN223852133U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a clamping device, concretely relates to a multi-degree-of-freedom turnover carrying device. BACKGROUND
[0002] It is a common method in the prior art to carry goods through a portal frame, but the stroke of the two sides of the existing portal frame is relatively fixed and cannot be adjusted to adjust the stroke of the two sides of the portal frame. This fixedness limits the flexibility and adaptability of the portal frame when carrying goods of different sizes and shapes. At the same time, for smaller parts, their orientations cannot be kept consistent when they are placed outside, which makes it difficult to pick up when processing. Especially on an automated production line, the consistency and predictability of parts are crucial to improving efficiency. In addition, the mechanisms for processing parts are generally arranged close together, especially for some devices that are placed at 90°, and the existing carrying and clamping device is difficult to achieve its function. This not only affects production efficiency, but also increases the complexity of operation. Therefore, for the design improvement of the portal frame, the flexibility of stroke adjustment and the adaptability to parts of different orientations need to be considered, especially for devices that need to be placed at special angles. The improved design of the portal frame needs to be able to achieve accurate clamping and carrying to meet the needs of modern industrial automation. SUMMARY
[0003] To solve the above technical problems, the purpose of the utility model is to provide a device capable of carrying parts with multiple degrees of freedom.
[0004] The technical scheme of the utility model is as follows:
[0005] A multi-degree-of-freedom turnover carrying device, comprising a portal frame mechanism (2), and two hoist arms (208) provided on the portal frame mechanism (2), wherein each hoist arm (208) is provided with a turnover carrying mechanism (4), characterized in that:
[0006] The turnover carrying mechanism (4) comprises a lower fixed plate (401) and an upper fixed plate (4014) connected through a plurality of vertical columns (4013) arranged in an up-down manner, wherein the upper fixed plate (4014) is connected to the bottom of the hoist arm (208);
[0007] The lower fixed plate (401) is provided with a 90° turnover mechanism and a multi-angle clamping mechanism;
[0008] The 90° turnover mechanism comprises a cylinder (403) arranged on the lower fixed plate (401), a rotating rod (4011) rotatably arranged on the lower fixed plate (401), a linear gear (407) connected to the driving end of the cylinder (403), a gear (4012) arranged on the rotating rod (4011), and the linear gear (407) meshes with the gear (4012), the cylinder (403) drives the linear gear (407) to move and can drive the gear (4012) to rotate 90°.
[0009] The multi-angle clamping mechanism comprises a fixed sleeve (4016) fixedly connected outside the rotating rod (4011), a second bearing (4017) connected outside the fixed sleeve (4016), a first outer gear (4015) arranged outside the second bearing (4017), an upper transverse plate (4018) and a lower transverse plate (4019) arranged at the upper and lower ends of the fixed sleeve (4016) respectively, rotating wheels (4021) rotatably connected to the ends of the upper transverse plate (4018) and the lower transverse plate (4019), a second outer gear (4022) connected outside the rotating wheels (4021), a belt (4030) connected between the first outer gear (4015) and the second outer gear (4022), and a motor (4020) arranged on the upper transverse plate (4018) and driving the rotating wheels (4021) to rotate, and a clamping cylinder (4024) connected to the bottom of the rotating wheels (4021) through a connecting rod (4023).
[0010] Further, the cylinder (403) is enclosed by a cylinder mounting plate (402) connected to the lower fixed plate (401) in front and back, a driving head (408) is connected to the driving end of the cylinder (403), a connecting plate (406) is connected to the lower part of the driving head (408), a slide rail (404) is arranged on one side of the lower fixed plate (401) and located at the cylinder (403), a sliding block (405) is slidably arranged on the slide rail (404), the sliding block (405) is connected to the connecting plate (406), and the linear gear (407) is arranged on the connecting plate (406).
[0011] Further, a first bearing (4010) is arranged on the lower fixed plate (401), the lower end of the rotating rod (4011) is connected to the inside of the first bearing (4010), and the upper end of the rotating rod (4011) is connected to the inside of the upper fixed plate (4014).
[0012] Further, a groove (401801) is arranged on the upper horizontal plate (4018), an adjusting plate (4025) is arranged in the groove, one end of the adjusting plate (4025) is rotationally connected with a pressing wheel (4029), and the pressing wheel (4029) extrudes the belt (4030).
[0013] Further, a side plate (4026) is arranged on the side of the upper horizontal plate (4018), a fixing block (4027) is arranged on the adjusting plate (4025), and an adjusting rod (4028) is threadedly connected to the adjusting plate (4025), one end of the adjusting rod (4028) is threadedly connected into the fixing block (4027).
[0014] Further, the gantry mechanism (2) comprises a connecting disc (201), the bottom of the connecting disc (201) is connected with a disc fixing piece (202), the bottom of the disc fixing piece (202) is connected with a hanging frame (203), and the bottom of the hanging frame (203) is connected with a horizontal rod (204).
[0015] The two sides of the horizontal rod (204) are provided with moving mechanisms, the moving mechanisms comprise a moving frame (205) which is slidably arranged on the horizontal rod (204), an oil cylinder (206) is arranged on the horizontal rod (204), the driving end of the oil cylinder (206) is connected with the moving frame (205), and the bottom of the moving frame (205) is connected with a hanging arm (208).
[0016] Further, the outer side of the oil cylinder (206) is further provided with an oil cylinder protection cover (2061) for protection.
[0017] Further, one side of the hanging frame (203) is further provided with an electric control box (207), and the electric control box (207) is used for controlling the operation of the turnover carrying mechanism and the gantry mechanism.
[0018] By means of the above scheme, the turnover carrying mechanism can be moved in a large range by the gantry mechanism, so that the working range can be expanded, the turnover carrying mechanism can clamp and turn over the parts at any angle by 90 degrees.
[0019] The device can expand the working range by the gantry mechanism, the turnover carrying mechanism can clamp and turn over the parts at any angle by 90 degrees.
[0020] The above description is only a summary of the technical scheme of the device, in order to more clearly understand the technical means of the device, and the device can be implemented according to the content of the description, the preferred embodiments of the device are described in detail below, and the device is described in detail below. BRIEF DESCRIPTION OF DRAWINGS
[0021] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows, and it should be understood that the following drawings only show one embodiment of the present application, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the premise of the drawings.
[0022] Figure 1 is a structural schematic diagram of the present application;
[0023] Figure 2 is a structural schematic diagram of the present application Figure One ;
[0024] Figure 3 is a structural schematic diagram of the present application Figure Two ;
[0025] in the figure:
[0026] 100 - parts;
[0027] 2 - gantry mechanism; 201 - connecting disc; 202 - disc fixing piece; 203 - hanging frame; 204 - cross bar; 205 - moving frame; 206 - oil cylinder; 2061 - oil cylinder protection cover; 207 - electric control box; 208 - hanging arm;
[0028] 4 - turnover carrying mechanism; 401 - lower fixed plate; 402 - cylinder mounting plate; 403 - cylinder; 404 sliding rail; 405 - sliding block; 406 - connecting plate; 407 - linear gear; 408 - driving head; 409 - limiting plate; 4010 - first bearing; 4011 - rotating rod; 4012 - gear; 4013 - stand column; 4014 upper fixed plate; 4015 - first external gear; 4016 - fixed sleeve; 4017 - second bearing; 4018 - upper cross plate; 401801 - groove; 4019 - lower cross plate; 4020 - motor; 4021 - rotating wheel; 4022 - second external gear; 4023 - connecting rod; 4024 - clamping cylinder; 4025 - adjusting plate; 4026 - side plate; 4027 - fixed block; 4028 - adjusting rod; 4029 - pressing wheel; 4030 - belt. DETAILED DESCRIPTION
[0029] The specific embodiments of the present application will be further described in detail below in combination with the drawings and embodiments. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.
[0030] Referring to Figures 1-3The utility model discloses a kind of multi-degree-of-freedom turnover handling devices, the device includes portal frame mechanism 2, and be set on the two hanger arms 208 of portal frame 2 turnover handling mechanism 4, the portal frame mechanism 2 can control the movement of two hanger arms 208, to be able to realize the larger working range of turnover handling mechanism 4.
[0031] Specific portal frame mechanism 2 includes connecting disc 201, connecting disc 201 is circular, connecting disc 201 can be connected to external travelling crane or crane generally, the bottom of connecting disc 201 is connected with disc fixing part 202, disc fixing part 202 bottom is connected with hanger frame 203, hanger frame 203 bottom is connected with cross bar 204, and the length of cross bar 204 exceeds the both ends of hanger frame 203.
[0032] Cross bar 204 both sides are provided with moving mechanism, and moving mechanism includes moving frame 205 slidingly arranged to cross bar 204, generally by setting slide rail on cross bar 204, slide block is set in the lower portion of moving frame 205, then slide block and slide rail are connected to realize sliding connection.
[0033] Cross bar 204 is provided with oil cylinder 206, and the driving end of oil cylinder 206 is connected with moving frame 205, and moving frame is driven moving frame 205 by the driving end of oil cylinder 206, so as to drive the movement of moving frame 205 on cross bar 204, and the bottom of moving frame 205 is connected with hanger arm 208, and hanger arm 208 is vertically connected with moving frame 205, and turnover handling mechanism 4 is connected at the bottom of hanger arm 208.
[0034] Oil cylinder 206 is further provided with oil cylinder protective cover 2061 for protection, and oil cylinder protective cover 2061 is directly connected to the outside of oil cylinder, and an outlet is left for the driving end of oil cylinder to extend, to protect oil cylinder.
[0035] Turnover handling mechanism 4 includes lower fixed plate 401 and upper fixed plate 4014 arranged up and down and connected through a plurality of stand columns 4013, wherein the bottom of hanger arm 208 is connected with upper fixed plate 4014, generally, the number of stand column 4013 is four, and fixed connection is achieved by welding.
[0036] 90° turnover mechanism and multi-angle clamping mechanism are arranged on lower fixed plate 401, 90° turnover mechanism is to realize the reciprocating 90° movement of multi-angle clamping mechanism, and multi-angle clamping mechanism is to realize the clamping and handling of part 100.
[0037] The 90° overturning mechanism comprises a cylinder 403 arranged on the lower fixed plate 401, a rotating rod 4011 rotatably arranged on the lower fixed plate 401, a linear gear 407 connected to the driving end of the cylinder 403, a gear 4012 arranged on the rotating rod 4011, the linear gear 407 meshes with the gear 4012, the cylinder 403 drives the linear gear 407 to move and can drive the gear 4012 to rotate by 90°, and the cylinder 403 is enclosed by a cylinder mounting plate 402 connected to the front and back of the lower fixed plate 401. The driving head 408 is connected to the lower part of the connecting plate 406, a slide rail 404 is arranged on one side of the lower fixed plate 401, a sliding block 405 is slidably arranged on the slide rail 404, the sliding block 405 is connected to the connecting plate 406, and the linear gear 407 is arranged on the connecting plate 406. In the 90° overturning mechanism, the driving head 408 is driven to move by the driving rod of the cylinder 403, so as to drive the linear gear 407 to move forward and backward. Since the linear gear 407 meshes with the gear 4012, according to the reciprocating motion of the cylinder 403, the reciprocating rotation of the gear 4012 can be realized. A limiting plate 409 is arranged in front of the stroke of the driving head 408 on the lower fixed plate 401. The stroke from the shortest stroke of the driving head 408 to the stroke of contacting the limiting plate 409 can drive the gear 4012 to rotate by 90°.
[0038] The multi-angle clamping mechanism comprises a fixed sleeve 4016 fixedly connected to the outer side of the rotating rod 4011, a second bearing 4017 connected to the outer side of the fixed sleeve 4016, a first outer gear 4015 arranged on the outer part of the second bearing 4017, an upper horizontal plate 4018 and a lower horizontal plate 4019 arranged on the upper and lower ends of the fixed sleeve 4016 respectively, a rotating wheel 4021 rotatably connected to the end of the upper horizontal plate 4018 and the lower horizontal plate 4019, a second outer gear 4022 connected to the outer side of the rotating wheel 4021, a belt 4030 connected between the first outer gear 4015 and the second outer gear 4022, a motor 4020 arranged on the upper horizontal plate 4018 and driving the rotating wheel 4021 to rotate, and a clamping cylinder 4024 connected to the bottom of the rotating wheel 4021 through a connecting rod 4023. A first bearing 4010 is arranged on the lower fixed plate 401, the lower end of the rotating rod 4011 is connected to the inner part of the first bearing 4010, and the upper end of the rotating rod 4011 is connected to the inner part of the upper fixed plate 4014. A recess 401801 is further arranged on the upper horizontal plate 4018, an adjusting plate 4025 is clamped in the recess, one end of the adjusting plate 4025 is rotatably connected to a pressing wheel 4029, and the pressing wheel 4029 extrudes the belt 4030. A side plate 4026 is arranged on the side of the upper horizontal plate 4018, a fixed block 4027 is arranged on the adjusting plate 4025, an adjusting rod 4028 is threadedly connected to the inner part of the fixed block 4027, and one end of the adjusting rod 4028 is threadedly connected to the adjusting plate 4025.
[0039] In the multi-angle clamping mechanism, the driving of the motor 4020 can drive the arbitrary angle rotation of the lower clamping cylinder 4024, so that the parts can be conveniently picked up. In the multi-angle clamping mechanism, the speed of the motor 4020 is too fast, so the first external gear and the belt need to be designed. The motor 4020 can be loaded by pressing the belt with the pressing wheel, so that the speed of the motor can be slowed down, and the problem of excessive weight of the end part caused by the use of the speed reducer can be avoided. The clamping cylinder 4024 itself can also clamp the parts.
[0040] The device has the following advantages:
[0041] The device realizes the large-range movement of the turnover carrying mechanism through the gantry mechanism, so that the working range can be expanded. The device can clamp and turn over the parts at any angle through the turnover carrying mechanism.
[0042] The above is only the preferred embodiment of the present application, and is not used to limit the present application. It should be pointed out that for ordinary skilled persons in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims
1. A multi-degree-of-freedom turnover carrying device, comprising a portal frame mechanism (2), and two hoist arms (208) provided on the portal frame mechanism (2), and a turnover carrying mechanism (4) provided on each of the hoist arms (208), characterized in that: the turnover carrying mechanism (4) comprises a lower fixed plate (401) and an upper fixed plate (4014) arranged in a vertical direction and connected through a plurality of vertical columns (4013), wherein the upper fixed plate (4014) is connected to the bottom of the hoist arm (208); a 90° turnover mechanism and a multi-angle clamping mechanism are arranged on the lower fixed plate (401); the 90° turnover mechanism comprises a cylinder (403) arranged on the lower fixed plate (401), a rotating rod (4011) rotatably arranged on the lower fixed plate (401), a linear gear (407) connected to the driving end of the cylinder (403), a gear (4012) arranged on the rotating rod (4011), and the linear gear (407) meshes with the gear (4012), and the cylinder (403) drives the linear gear (407) to move and can drive the gear (4012) to rotate by 90°; the multi-angle clamping mechanism comprises a fixed sleeve (4016) fixedly connected to the outside of the rotating rod (4011), a second bearing (4017) connected to the outside of the fixed sleeve (4016), a first outer gear (4015) arranged on the outside of the second bearing (4017), an upper horizontal plate (4018) and a lower horizontal plate (4019) arranged on the upper and lower ends of the fixed sleeve (4016) respectively, a rotating wheel (4021) rotatably connected to the end of the upper horizontal plate (4018) and the lower horizontal plate (4019), a second outer gear (4022) connected to the outside of the rotating wheel (4021), a belt (4030) connected between the first outer gear (4015) and the second outer gear (4022), and a motor (4020) arranged on the upper horizontal plate (4018) and driving the rotating wheel (4021) to rotate, and a clamping cylinder (4024) connected to the bottom of the rotating wheel (4021) through a connecting rod (4023). The cylinder (403) is surrounded by a cylinder mounting plate (402) connected to the lower fixed plate (401) in front and back, a driving head (408) is connected to the driving end of the cylinder (403), a connecting plate (406) is connected to the lower part of the driving head (408), a slide rail (404) is arranged on one side of the lower fixed plate (401) where the cylinder (403) is located, a sliding block (405) is slidingly arranged on the slide rail (404), the sliding block (405) is connected to the connecting plate (406), and the linear gear (407) is arranged on the connecting plate (406). A first bearing (4010) is arranged on the lower fixed plate (401), the lower end of the rotating rod (4011) is connected to the inside of the first bearing (4010), and the upper end of the rotating rod (4011) is connected to the inside of the upper fixed plate (4014). 2. A multi-degree of freedom roll-over handling device according to claim 1, characterized in that: 3. The multi-degree-of-freedom roll-over handling device of claim 1, wherein: 4. The multi-degree-of-freedom roll-over handling device of claim 1, wherein: The upper transverse plate (4018) is further provided with a recess (401801), and an adjusting plate (4025) is clamped in the recess.
5. A multi-degree of freedom roll-over handling device according to claim 4, wherein: The upper transverse plate (4018) is provided with a side plate (4026), the adjusting plate (4025) is provided with a fixed block (4027), and the adjusting plate (4025) is threadedly connected with an adjusting rod (4028), one end of the adjusting rod (4028) being threadedly connected into the fixed block (4027).
6. The multi-degree-of-freedom roll-over handling device of claim 1, wherein: The portal mechanism (2) comprises a connecting disc (201), the bottom of the connecting disc (201) is connected with a disc fixing piece (202), the bottom of the disc fixing piece (202) is connected with a hanging frame (203), and the bottom of the hanging frame (203) is connected with a cross bar (204). The cross bar (204) is provided with a moving mechanism on both sides, the moving mechanism comprises a moving frame (205) slidingly arranged on the cross bar (204), the cross bar (204) is provided with an oil cylinder (206), and the driving end of the oil cylinder (206) is connected with the moving frame (205).
7. A multi-degree of freedom roll-over handling device according to claim 6, characterised in that: The outer side of the oil cylinder (206) is further provided with an oil cylinder protection cover (2061) for protection.
8. A multi-degree of freedom roll-over handling device according to claim 7, characterised in that: The side of the hanging frame (203) is further provided with an electric control box (207), and the electric control box (207) is used for controlling the operation of the turnover carrying mechanism and the portal mechanism.