Heavy-load stand column manipulator

Abstract

The utility model relates to the technical field of stand column mechanical arms, in particular to a heavy-load stand column mechanical arm which comprises a stand column, a sliding seat, a balancing weight, a chain and a grabbing mechanism, sliding rails are arranged on the two opposite side faces of the stand column, sliding blocks are arranged on the sliding rails on the two sides, and the sliding seat is fixed to the sliding block located on one side of the stand column. The balancing weight is fixed to the sliding block located on the other side of the stand column, the two ends of the chain are fixedly connected with the sliding base and the balancing weight respectively, a chain wheel is rotationally arranged at the top end of the stand column, the top end of the chain wheel is meshed with the chain, and the grabbing mechanism is fixed to the sliding base which is provided with a first servo motor. A driving shaft of the first servo motor is in driving connection with a first gear, the stand column is provided with a rack extending in the length direction of the stand column, the first gear is meshed with the rack, the weight of the sliding base and the weight of all components installed on the sliding base are balanced through the balancing weight, and in the lifting process of the sliding base and all the components installed on the sliding base, noise is smaller, and movement is more stable.

Description

Technical Field

[0001] This application relates to the technical field of column manipulators, and more specifically, to a heavy-duty column manipulator. Background Technology

[0002] A column-mounted robotic arm is a type of industrial automation equipment, also known as a vertical robotic arm or column-mounted robot. It is widely used in manufacturing to automate processes such as material handling, assembly, welding, and painting. With its unique design and functionality, the column-mounted robotic arm can improve production efficiency, reduce labor costs, and ensure product quality.

[0003] In related technologies, column-mounted robotic arms typically include a column, a Z-axis lifting mechanism mounted on the column, and a gripping mechanism connected to the Z-axis lifting mechanism. The Z-axis lifting mechanism drives the gripping mechanism to lift and grasp materials, enabling the materials to move up and down. The Z-axis lifting mechanism typically includes a slide, a servo motor, gears, and a rack. The slide is slidably connected to the column, the rack is fixed to the column, and the servo motor is fixed to the slide. The servo motor drives the gear, which meshes with the rack. By driving the gear to rotate forward and backward, the servo motor drives the slide and the robot itself to lift and lower. The gripping mechanism is mounted on the slide, and the lifting and lowering of the slide drives the lifting and lowering of the gripping mechanism.

[0004] Using the aforementioned technologies, the Z-axis lifting mechanism needs to overcome the weight of the gripping mechanism and its own weight, as well as the load, during the process of driving the material to rise and fall. Under the action of these two forces, the heavy load can easily cause noise and unstable operation during the lifting process. Utility Model Content

[0005] In order to solve the problem that the Z-axis lifting mechanism of heavy-duty column in related technologies is prone to noise and unstable operation and vibration during the lifting process, this application provides a heavy-duty column robot.

[0006] A heavy-duty column manipulator includes a column, a sliding seat, a counterweight, a chain, and a gripping mechanism. The column has slide rails on both opposite sides, and sliders are mounted on the slide rails on both sides. The sliding seat is fixed to a slider on one side of the column, and the counterweight is fixed to a slider on the other side of the column. The two ends of the chain are respectively connected and fixed to the sliding seat and the counterweight. A sprocket is rotatably mounted at the top of the column, and the top of the sprocket meshes with the chain. The gripping mechanism is fixed to the sliding seat. A first servo motor is mounted on the sliding seat, and the drive shaft of the first servo motor drives a first gear. The column has a rack extending along its length, and the first gear meshes with the rack.

[0007] Preferably, there are two sprockets, which are arranged at intervals perpendicular to the length of the column, and there are two chains.

[0008] Preferably, the device further includes a base, a vertically arranged mounting shaft fixed at the center of the base, a rotating seat rotatably mounted on the top of the base, a clearance hole at the center of the rotating seat to avoid the mounting shaft, the mounting shaft extending out of the top of the rotating seat through the clearance hole, a hollow mounting seat fixed on the top of the rotating seat, the mounting shaft being located inside the mounting seat, and an external gear ring coaxial with the top outer wall of the mounting shaft being provided, a vertical second servo motor being fixedly mounted on the top of the mounting seat, the drive shaft of the second servo motor penetrating into the interior of the mounting seat, and the drive shaft of the second servo motor being provided with a second gear, the second gear meshing with the external gear ring, and the bottom end of the column being connected and fixed to the top end of the mounting seat.

[0009] Preferably, triangular reinforcing plates are provided on opposite sides of the bottom end of the column, and the bottom end of the triangular reinforcing plates abuts against the top end of the mounting base.

[0010] Preferably, a lifting ring is provided on the top side wall of the column.

[0011] Preferably, it also includes a bellows cover, one end of which is connected and fixed to the bottom end of the column, and the other end of which is connected and fixed to the sliding seat, and the bellows cover covers the rack.

[0012] In summary, this application includes at least one of the following beneficial technical effects:

[0013] 1. The sliding seat and the counterweight are connected by a chain. The weight of the counterweight is set to be equal to the total weight of the sliding seat and the first servo motor, gripping mechanism and other components installed on the sliding seat. This makes the sliding seat and the components installed on it form a balance lever structure with the counterweight. The counterweight balances the weight of the sliding seat and the components installed on it. When the first servo motor drives the gear to rotate and the sliding seat moves up and down along the length of the slide rail, the noise is smaller and the movement is more stable. It also makes the first servo motor bear less load, which makes it easier to select a smaller power servo motor, which helps to save energy and reduce costs.

[0014] 2. The column is supported by a base, and the base rotates to form a rotating seat. The rotating seat is connected to the mounting base, and the column is installed on the mounting base. When the rotating seat rotates, it drives the column to rotate, which in turn drives the gripping mechanism to swing, so as to realize the horizontal position change of the gripping mechanism, which facilitates the horizontal transfer of materials. A second servo motor drives the second gear to rotate. The second gear meshes with the external gear ring, so that the second servo motor moves around the external gear ring, thereby driving the rotating seat to rotate. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a heavy-duty column robot in this embodiment.

[0016] Figure 2 This is a cross-sectional view of the base and the connection structure of the components disposed thereon in this embodiment.

[0017] Reference numerals: 1. Column; 11. Rack; 12. Sprocket; 13. Triangular reinforcing plate; 14. Lifting ring; 2. Sliding seat; 21. First servo motor; 211. First gear; 3. Counterweight; 4. Chain; 5. Gripping mechanism; 6. Base; 61. Mounting shaft; 611. External gear ring; 62. Rotating seat; 63. Mounting seat; 631. Second servo motor; 6311. Second gear; 7. Bellows cover. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] Reference Figure 1A heavy-duty column manipulator includes a column 1, a sliding seat 2, a counterweight 3, a chain 4, and a gripping mechanism 5. The column 1 has slide rails on both opposite sides, and sliders are mounted on the slide rails on both sides. The sliding seat 2 is fixed to the slider on one side of the column 1, allowing the sliding seat 2 to move up and down along the length of the column 1. The counterweight 3 is fixed to the slider on the other side of the column 1, allowing the counterweight 3 to move up and down along the length of the column 1. The gripping mechanism 5 is fixed to the sliding seat 2 and is used to grip materials. Its structure includes an extension arm and an actuator. The extension arm is perpendicular to the column 1 and connected and fixed to the sliding seat 2. The actuator is installed... The end of the extension arm away from the sliding seat 2 is used to perform the gripping action. The actuator can be a pneumatic gripper or an electric gripper to achieve the structure of clamping objects. A first servo motor 21 is installed on the sliding seat 2. The drive shaft of the first servo motor 21 is connected to a first gear 211 (not shown in the figure). The column 1 is provided with a rack 11 extending along its length direction. The first gear 211 meshes with the rack 11. The first servo motor 211 drives the first gear 211 to rotate in both directions. When the column 1 is fixed, the first gear 211 drives the first servo motor 21, the sliding seat 2 and the gripping mechanism 5 to perform lifting and lowering activities. Both ends of the chain 4 are connected and fixed to the top of the sliding seat 2 and the top of the counterweight 3, respectively. The top of the column 1 is rotatably equipped with a sprocket 12, and the top of the sprocket 12 meshes with the chain 4. The sliding seat 2 and the counterweight 3 are linked through the chain 4. By setting the weight of the counterweight 3 to be equal to the total weight of the sliding seat 2 and the components such as the first servo motor 21 and the gripping mechanism 5 installed on the sliding seat 2, the sliding seat 2 and the components installed on it and the counterweight 3 form a balance lever structure. The counterweight 3 balances the weight of the sliding seat 2 and the components installed on it, so that when the first servo motor 21 drives the gear to rotate and the sliding seat 2 moves up and down along the length of the slide rail, the noise is smaller and the movement is more stable. In addition, the first servo motor 21 bears a smaller load, which makes it easier to select a smaller power servo motor, which helps to save energy and reduce costs.

[0020] Reference Figure 1 Furthermore, there are two sprockets 12, which are arranged at intervals perpendicular to the length of the column 1. There are two chains 4, which support the sliding seat 2 and the counterweight 3 to distribute the force, so that each chain 4 is subjected to less force and is not easy to break.

[0021] Reference Figure 1 and Figure 2Furthermore, a heavy-duty column manipulator also includes a base 6, with a vertically arranged mounting shaft 61 fixed at the center of the base 6. A rotating seat 62 is rotatably mounted on the top of the base 6, with a clearance hole at the center of the rotating seat 62 to allow the mounting shaft 61 to pass through. The mounting shaft 61 extends out of the top of the rotating seat 62 through the clearance hole. A hollow mounting seat 63 is fixed on the top of the rotating seat 62, with the mounting shaft 61 located inside the mounting seat 63. An external gear ring 611 with the same axis is provided on the outer wall of the top end of the mounting shaft 61. A vertically mounted second servo motor 631 is fixed on the top end of the mounting seat 63. The drive shaft of the second servo motor 631 extends through the interior of the mounting seat 63, and a second gear 6311 is provided on the drive shaft of the second servo motor 631. The second gear 6311 meshes with the external gear ring 611. The bottom end of the column 1 is connected and fixed to the top end of the mounting base 63, and the second servo motor 631 is located on the same side as the counterweight 3 on the column 1, which facilitates the avoidance of materials. In the above structure, the column 1 is supported by the base 6, and the base 6 is rotatably equipped with a rotating seat 62, which is connected to the mounting base 63. The column 1 is installed on the mounting base 63, so that when the rotating seat 62 rotates, it drives the column 1 to rotate, thereby driving the gripping mechanism 5 to swing, realizing the horizontal position change of the gripping mechanism 5, which facilitates the horizontal transfer of materials. By setting the second servo motor 631 to drive the second gear 6311 to rotate, the second gear 6311 meshes with the external gear ring 611, so that the second servo motor 631 moves around the external gear ring 611, thereby driving the rotating seat 62 to rotate.

[0022] Reference Figure 1 Furthermore, triangular reinforcing plates 13 are provided on both sides of the bottom end of the column 1. The bottom end of the triangular reinforcing plate 13 abuts against the top end of the mounting base 63. The triangular reinforcing plate 13 provides balance, making the column 1 more stable when installed on the mounting base 63. The column 1 is not easy to shake or even collapse under force.

[0023] Reference Figure 1 Furthermore, a lifting ring 14 is provided on the top side wall of the column 1. When the material is heavy, it can be hung on the lifting ring 14 by rope and the rope can be connected to the material for manual pulling to distribute the load, which facilitates the lifting and lowering of heavy materials.

[0024] Reference Figure 1 Furthermore, a heavy-duty column manipulator also includes a bellows cover 7. One end of the bellows cover 7 is connected and fixed to the bottom end of the column 1, and the other end of the bellows cover 7 is connected and fixed to the sliding seat 2. The bellows cover 7 covers the rack 11 and performs dust prevention operation on the rack 11 through the bellows cover 7.

[0025] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A heavy duty column robot, characterized by: Including stand, sliding seat, counterweight, chain, grabbing mechanism, the opposite two sides of the stand are provided with slide rails, and the slide rails on the two sides are provided with sliding blocks, the sliding seat is fixed on the sliding block on the side of the stand, the counterweight is fixed on the sliding block on the other side of the stand, the two ends of the chain are respectively connected and fixed with the sliding seat and the counterweight, the top end of the stand is rotatably provided with a chain wheel, the top end of the chain wheel is engaged with the chain, the grabbing mechanism is fixed on the sliding seat, the sliding seat is provided with a first servo motor, the driving shaft of the first servo motor is drivingly connected with a first gear, the stand is provided with a rack extending along the length direction thereof, and the first gear is engaged with the rack.

2. A heavy duty column robot according to claim 1, characterized in that: The number of the chain wheels is two, and the two chain wheels are arranged in parallel with the length direction of the stand.

3. A heavy duty column robot as claimed in claim 1, characterized in that: It also includes a base, the center of the base is fixed with a vertically arranged mounting shaft, the top of the base is rotatably provided with a rotating seat, the rotating seat is provided with an avoiding hole avoiding the mounting shaft, the mounting shaft avoids the rotating seat through the avoiding hole, the top of the rotating seat is fixed with a hollow mounting seat, the mounting shaft is in the mounting seat, and the outer wall of the top end of the mounting shaft is provided with an outer tooth ring with the same axis, the top end of the mounting seat is fixedly provided with a vertical second servo motor, the driving shaft of the second servo motor penetrates into the mounting seat, and the driving shaft of the second servo motor is provided with a second gear, the second gear is engaged with the outer tooth ring, and the bottom end of the stand is connected and fixed with the top end of the mounting seat.

4. A heavy duty column robot according to claim 3, characterized in that: The bottom end of the stand is provided with a triangular reinforcing plate on the opposite two sides, and the bottom end of the triangular reinforcing plate abuts against the top end of the mounting seat.

5. A heavy duty column robot as claimed in claim 1, characterized in that: The top end of the stand is provided with a lifting ring.

6. A heavy duty column robot according to claim 1, characterized in that: It also includes an organ cover, one end of the organ cover is connected and fixed with the bottom end of the stand, the other end of the organ cover is connected and fixed with the sliding seat, and the organ cover covers the rack.

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