Truss manipulator barrel taking and placing mechanism

Abstract

The utility model provides a truss manipulator barrel taking and placing mechanism, which relates to the technical field of truss manipulators and comprises a retaining ring and a gear ring, four sliding sleeves are slidably mounted on the retaining ring in a surrounding manner, and connecting rods are rotatably connected between the four sliding sleeves and the tail ends of four six-edge sliding shafts; four transverse connecting rods are symmetrically welded among the three retaining rings, two U-shaped vertical supporting frames are symmetrically welded to the top ends of the four transverse connecting rods, longitudinal mounting rods are welded to the bottom sides of the interiors of the two U-shaped vertical supporting frames, and wheel shafts are rotatably mounted in the middles of two transverse mounting plates in a penetrating mode; the bottom ends of the two wheel shafts are fixedly sleeved with gears, and the gears are in meshing transmission with the two adjacent gear rings at the corresponding positions. The three sets of clamping and grasping mechanisms can share one set of driving assembly to tighten and loosen the three barrels, so that the situation that tightening and loosening driving units need to be arranged for the three sets of clamping and grasping mechanisms respectively can be omitted, and the overall design difficulty, manufacturing cost and power consumption of the barrel taking and placing mechanism can be reduced.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, and in particular to a gantry robot bucket picking and placing mechanism. Background Technology

[0002] When printing patterns on the outer circumferential surface of the barrel, a gantry robot and a pick-and-place mechanism mounted on the gantry robot are needed to transfer the barrel to the printing equipment.

[0003] Existing pick-and-place mechanisms are designed to clamp and grasp multiple buckets at once, and most of them are equipped with multiple clamping and grasping mechanisms. However, most of these clamping and grasping mechanisms lack a synchronous transmission structure, which requires separate drive units for each mechanism. Setting up a large number of drive units not only increases the overall cost and power consumption of the pick-and-place mechanism, but also requires consideration of the coordination problem of multiple drive units. Solving the coordination problem of multiple drive units will further increase the overall design difficulty of the pick-and-place mechanism, which in turn increases the overall cost of the mechanism. Summary of the Invention

[0004] In view of this, the present invention provides a truss manipulator for picking up and placing buckets, in order to solve the problem that most of the clamping and grasping mechanisms lack a synchronous transmission structure, which requires separate drive units for separate driving. Setting up a large number of drive units will increase the overall cost and power consumption of the picking and placing mechanism.

[0005] The technical solution proposed by this utility model is: a truss manipulator for picking up and placing buckets, specifically including retaining rings and toothed rings. The retaining rings are arranged in three places, and a toothed ring is welded and hoisted to the bottom of each retaining ring.

[0006] Four hexagonal sliding shafts are slidably mounted around the retaining ring, and each of the four hexagonal sliding shafts has an arc-shaped clamp welded to its head end. Four sliding sleeves are slidably mounted around the retaining ring, and each of the four sliding sleeves is rotatably connected to the tail end of the four hexagonal sliding shafts by a connecting rod. Four horizontal connecting rods are symmetrically welded between the three retaining rings. Two U-shaped vertical support frames are symmetrically welded to the top of the four horizontal connecting rods. A longitudinal mounting rod is welded to the bottom side of each of the two U-shaped vertical support frames. A wheel axle is rotatably mounted through the middle of each of the two longitudinal mounting rods. A gear is fixedly fitted at the bottom end of each of the two wheel axles, and the gear meshes with two adjacent gear rings at the corresponding positions for transmission.

[0007] Furthermore, a worm gear is fixedly fitted to the top of one of the axles, and a positioning collar and a mounting plate are welded to the middle positions of the two vertical side rods of the U-shaped vertical support frame, respectively.

[0008] Furthermore, a drive assembly is fixedly mounted on the mounting plate. The first end of the drive assembly's power output shaft is connected to a worm gear via a coupling. The worm gear meshes with a worm wheel for transmission, and the first end of the worm gear rotates through a positioning collar.

[0009] Furthermore, a horizontal mounting plate is welded between the top middle portions of the two U-shaped vertical support frames, and the entire bucket loading and unloading mechanism is fixed to the lifting mechanism of the truss through the horizontal mounting plate.

[0010] Furthermore, a rubber pad adapted to the shape of the arc-shaped clamp is glued and fixed to the inner side of the clamp.

[0011] Furthermore, the drive assembly consists of a servo motor and a reducer.

[0012] The truss-type robotic arm mechanism for picking up and placing buckets provided by this utility model has the following beneficial effects:

[0013] 1. Through the meshing transmission of two gears, all the sliding sleeves on the three gear rings and the three retaining rings can be driven synchronously in both directions. This allows all the arc-shaped clamps inside the three retaining rings to be driven synchronously in and out to efficiently tighten or loosen the three barrels in one go.

[0014] Second, through the meshing transmission of the worm gear and worm wheel, the drive assembly can rotate to drive the axle with the worm wheel and the gear on the axle, providing synchronous forward and reverse torsional driving force for the three retaining rings. This allows the three sets of clamping and gripping mechanisms on the three retaining rings to share a single drive assembly to tighten and loosen the three buckets. This eliminates the need to configure separate tightening and loosening drive units for the three sets of clamping and gripping mechanisms, and also eliminates the need to solve the problem of coordinating the three drive units. This helps to reduce the overall design difficulty, cost and power consumption of the bucket picking and placing mechanism. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of this utility model will be briefly described below.

[0016] The accompanying drawings described below are not intended to limit the scope of this invention.

[0017] In the attached diagram:

[0018] Figure 1 This diagram illustrates the overall usage state of the present invention.

[0019] Figure 2 A schematic diagram of the installation position structure of the drive assembly in this utility model is shown;

[0020] Figure 3 This diagram shows a bottom-side view of the present invention in its overall use state;

[0021] Figure 4 A schematic diagram of the overall structure of this utility model is shown;

[0022] Figure 5This invention illustrates the meshing transmission state of the gear and gear ring in this utility model.

[0023] Figure 6 A schematic diagram of the retaining ring structure in this invention is shown;

[0024] Figure 7 A schematic diagram of the gear ring in this utility model is shown.

[0025] List of reference numerals in the attached diagram:

[0026] 1. Retaining ring; 101. Sliding sleeve; 102. Hexagonal sliding shaft; 103. Arc-shaped clamp; 104. Connecting rod; 105. Horizontal connecting rod;

[0027] 2. Gear ring;

[0028] 3. Bucket;

[0029] 4. Drive assembly; 401. Worm gear;

[0030] 5. U-shaped vertical support frame; 501. Horizontal mounting plate; 502. Mounting disc; 503. Positioning collar; 504. Vertical mounting rod;

[0031] 6. Axle; 601. Gear; 602. Worm gear. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this 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, not all, of the embodiments of this utility model. Based on the described embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] Please refer to Figures 1 to 7 Example 1:

[0034] This embodiment proposes a truss manipulator for picking up and placing buckets, including retaining rings 1 and toothed rings 2. The retaining rings 1 are arranged in three places, and a toothed ring 2 is welded and hoisted to the bottom of each retaining ring 1.

[0035] Four hexagonal sliding shafts 102 are slidably mounted around the retaining ring 1, and arc-shaped clamps 103 are welded to the first end of each of the four hexagonal sliding shafts 102. Four sliding sleeves 101 are slidably mounted around the retaining ring 1, and connecting rods 104 are rotatably connected between the four sliding sleeves 101 and the tail ends of the four hexagonal sliding shafts 102. Four horizontal connecting rods 105 are symmetrically welded between the three retaining rings 1. Two U-shaped vertical support frames 5 are symmetrically welded to the top of the four horizontal connecting rods 105. Longitudinal mounting rods 504 are welded to the bottom of the two U-shaped vertical support frames 5. A wheel axle 6 is rotatably mounted through the middle of the two longitudinal mounting rods 504. Gears 601 are fixedly fitted at the bottom of the two wheel axles 6. The gears 601 mesh with two adjacent gear rings 2 at the corresponding positions for transmission.

[0036] Implementation 2: This embodiment is based on Implementation 1, but with the following additions:

[0037] A worm gear 602 is fixedly mounted on the top of a wheel axle 6. A positioning ring 503 and a mounting plate 502 are welded to the middle of the two vertical side rods of a U-shaped vertical support frame 5. A drive assembly 4 is fixedly mounted on the mounting plate 502. The first end of the power output shaft of the drive assembly 4 is connected to a worm 401 through a coupling. The worm 401 meshes with the worm gear 602 for transmission. The first end of the worm 401 is rotatably engaged with the positioning ring 503.

[0038] Preferably, a horizontal mounting plate 501 is welded between the middle part of the top of the two U-shaped vertical support frames 5, and the entire barrel picking and placing mechanism is fixed to the lifting mechanism of the truss through the horizontal mounting plate 501.

[0039] Preferably, a rubber pad adapted to the shape of the arc-shaped clamp 103 is glued and fixed to the inner side of the clamp.

[0040] Preferably, the drive assembly 4 consists of a servo motor and a reducer.

[0041] The following section provides a detailed explanation of the specific details, implementation steps, functions and interrelationships of the above features, and their roles in achieving this technical solution:

[0042] The bucket-taking and placing mechanism is used to clamp and position the bucket 3. During use, it utilizes the truss's lifting mechanism to lower the bucket to a certain height, causing the retaining ring 1 to rotate around the outer periphery of the bucket 3. Four sliding sleeves 101, four connecting rods 104, and four hexagonal sliding shafts 102 are connected to form four sets of crank-slider mechanisms. Through these four sets of crank-slider mechanisms, the four sliding sleeves 101 can be synchronously moved forward and backward along the retaining ring 1, driving the four hexagonal sliding shafts 102 and four arc-shaped clamping plates 103 to slide synchronously inward and outward. When the four arc-shaped clamping plates 103 slide inward synchronously, their inner rubber pads press against and abut against the outer periphery of the bucket 3, clamping and holding the bucket 3 between them. When the four arc-shaped clamping plates 103 slide outward synchronously, they can separate from the bucket 3, releasing it. The gear ring 2 connects the four sliding sleeves 101, enabling synchronous forward and reverse movement of the four sliding sleeves 101. Through the meshing transmission of two gears 601, all the sliding sleeves on the three gear rings 2 and three retaining rings 1... The sleeve 101 can be driven synchronously in both directions, which allows all the arc-shaped clamps 103 inside the three retaining rings 1 to be driven synchronously in and out to efficiently tighten or loosen the three buckets 3 in one go. The four sets of crank-slider mechanisms together form a mechanism for clamping and gripping the buckets. Through the meshing transmission of the worm gear 401 and the worm wheel 602, the drive assembly 4 can rotate to drive the axle 6 with the worm wheel 602 and the gear 601 on the axle 6, providing synchronous forward and reverse torsional driving force for the three retaining rings 1. This allows the three sets of clamping and gripping mechanisms on the three retaining rings 1 to share one drive assembly 4 to tighten or loosen the three buckets 3. This eliminates the need to configure separate tightening and loosening drive units for the three sets of clamping and gripping mechanisms, and also eliminates the need to solve the problem of the three drive units working together. This helps to reduce the overall design difficulty, cost and power consumption of the bucket picking and placing mechanism. The clamping and gripping mechanism is essentially a robotic arm for picking and placing the buckets 3.

[0043] It is worth noting that the servo motor uses a servo driver for precise rotation control. The servo driver can precisely control the number of revolutions of the servo motor in both directions and make the servo motor stop precisely after rotating a specified number of revolutions. This allows the drive assembly 4 to stop precisely after driving the drive sleeve 101 to a specified precise position. When the hexagonal slide shaft 102 is driven to slide to the specified position, it automatically and precisely stops and stays at that position. This avoids the arc clamp 103 from having an inaccurate sliding stroke when it performs internal clamping on the barrel 3, which would cause the arc clamp 103 to slide inwards with excessive interference, thus pressing and deforming or even damaging the barrel 3.

[0044] During the transfer of barrel 3, after the three sets of clamping and gripping mechanisms clamp barrel 3, the lifting mechanism of the truss is used to lift barrel 3 upward. After barrel 3 is lifted into position, the longitudinal and transverse translation conveying mechanism of the truss is used to transfer and hoist barrel 3 to the printing equipment for printing processing on the outer surface of barrel 3. After barrel 3 is transported to the position, the three sets of clamping and gripping mechanisms are controlled to release barrel 3, completing the transfer and loading of barrel 3.

[0045] The following points should be noted in this article:

[0046] 1. The accompanying drawings of this utility model embodiment only involve the structure involved in this utility model embodiment; other structures can refer to general designs.

[0047] 2. Where there is no conflict, the embodiments of this utility model and the features in the embodiments can be combined with each other to obtain new embodiments.

[0048] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A truss robot for picking up and placing buckets, comprising retaining rings (1) and toothed rings (2), wherein the retaining rings (1) are arranged in three places, and a toothed ring (2) is welded to the bottom of each retaining ring (1); characterized in that Four hexagonal sliding shafts (102) are slidably mounted around the retaining ring (1), and arc-shaped clamps (103) are welded to the first end of each of the four hexagonal sliding shafts (102); four sliding sleeves (101) are slidably mounted around the retaining ring (1), and connecting rods (104) are rotatably connected between the four sliding sleeves (101) and the tail ends of the four hexagonal sliding shafts (102); four horizontal connecting rods (105) are symmetrically welded between the three retaining rings (1), and two U-shaped vertical support frames (5) are symmetrically welded to the top of the four horizontal connecting rods (105). Longitudinal mounting rods (504) are welded to the bottom of the two U-shaped vertical support frames (5), and wheel axles (6) are rotatably mounted through the middle of the two longitudinal mounting rods (504). Gears (601) are fixedly fitted at the bottom of the two wheel axles (6), and the gears (601) mesh with the two adjacent gear rings (2) at the corresponding positions for transmission.

2. The gantry robot palletizing mechanism according to claim 1, wherein A worm gear (602) is fixedly fitted at the top of one of the axles (6), and a positioning ring (503) and a mounting plate (502) are welded to the middle of the two vertical side rods of a U-shaped vertical support frame (5).

3. The gantry robot palletizing mechanism according to claim 2, wherein, The drive assembly (4) is fixedly installed on the mounting plate (502). The first end of the power output shaft of the drive assembly (4) is connected to a worm (401) through a coupling. The worm (401) meshes with the worm wheel (602) for transmission. The first end of the worm (401) is rotated through the positioning collar (503).

4. The gantry robot palletizing mechanism according to claim 1, wherein, A horizontal mounting plate (501) is welded between the top middle parts of the two U-shaped vertical support frames (5). The entire barrel picking and placing mechanism is fixed to the lifting mechanism of the truss through the horizontal mounting plate (501).

5. The gantry robot palletizing mechanism according to claim 1, wherein, The inner side of the arc-shaped clamp (103) is glued and fixed with a rubber pad that is adapted to its shape.

6. The gantry robot palletizing mechanism according to claim 3, wherein, The drive assembly (4) consists of a servo motor and a reducer.

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