Mechanical hand lifting mechanism for heavy material handling

Abstract

The utility model relates to heavy material handling technical field, and disclose heavy material handling's mechanical arm lifting mechanism, including two portal jib, the top fixed connection of two portal jibs has rigid crossbeam, and the bottom fixed connection of two portal jibs is on the moving trolley, heavy material handling's mechanical arm lifting mechanism still includes: drive and transmission mechanism, drive and transmission mechanism set up at the top of rigid crossbeam, for drive mechanical arm realizes vertical motion, the combination structure of rigid crossbeam and moving trolley, forms stable door frame, and the guide rail of cooperation rectangular guide rail or heavy linear guide rail, and will moving trolley be as can with X direction horizontal displacement mechanism cooperation's headgear type structure, be favorable to promote overall rigidity and anti -eccentric load capacity, reduce the sway when heavy load moves, expand the carrying range and realize flexible positioning in horizontal plane simultaneously, solve the problem that the overall structure rigidity is insufficient, anti -eccentric load capacity is weak and the positioning range is limited in prior art.

Description

Technical Field

[0001] This utility model relates to the field of heavy material handling technology, and more specifically to a robotic lifting mechanism for heavy material handling. Background Technology

[0002] In the field of heavy industrial robots, the lifting mechanism is the core component for realizing the vertical (Z-axis) movement of the load, and its performance is directly related to the safety, stability and accuracy of the entire system.

[0003] Research indicates that traditional robotic lifting mechanisms commonly employ the following two solutions: 1. Wire rope / chain lifting mechanism: This method utilizes a motor to wind a wire rope or chain to lift the load. While simple in structure, it has significant drawbacks: the wire rope is prone to elongation, wear, and even breakage, leading to poor positioning accuracy and a substantial safety risk of the load falling from a height. It also requires a complex fall arrestor, resulting in low system reliability. 2. Rack and pinion lifting mechanism: This method uses a motor to drive a gear, causing it to move up and down in engagement with a rack. While offering superior load-bearing capacity and rigidity compared to wire rope, it still presents risks: meshing gaps can cause fluctuations in positioning accuracy; in the event of a power outage, without an additional braking device, the load will fall freely due to its own weight, compromising safety.

[0004] The shortcomings of existing technologies: The aforementioned traditional mechanisms are usually installed on cantilever structures or frames with insufficient rigidity. When bearing heavy loads of 10 tons or more and moving over a wide range, the overall structure is prone to shaking, which further affects positioning accuracy and safety. In summary, existing heavy handling equipment generally suffers from problems such as insufficient safety (risk of falling), positioning accuracy limited by the transmission method, weak resistance to off-center loads and easy shaking, and insufficient overall structural rigidity.

[0005] Therefore, there is a need to provide robotic lifting mechanisms for heavy material handling to solve the problems mentioned above. Utility Model Content

[0006] In order to overcome the above-mentioned defects of the prior art, the present invention provides a robotic lifting mechanism for heavy material handling to solve the problems existing in the background art.

[0007] This utility model provides the following technical solution: a lifting mechanism for a heavy material handling robot, comprising two gantry frames, with a rigid crossbeam fixedly connected to the top of the two gantry frames, and the bottom of the two gantry frames fixedly connected to a mobile trolley;

[0008] The robotic lifting mechanism for heavy material handling also includes:

[0009] A drive and transmission mechanism is provided above the rigid crossbeam and is used to drive the robotic arm to achieve vertical movement.

[0010] An execution and locking mechanism is provided at the bottom of the rigid crossbeam to provide dual safety locking for the lifting mechanism;

[0011] Preferably, the drive and transmission mechanism includes:

[0012] A high-torque servo motor is positioned at the center of the top of a rigid crossbeam. An output shaft is connected to the bottom of the high-torque servo motor, and high-precision couplings are fixedly connected to both ends of the output shaft. The output shaft is connected to two worm gear lifts through the two high-precision couplings.

[0013] Preferably, the two worm gear lifts are symmetrically arranged on both sides of the rigid crossbeam, and the rotational motion of the high-torque servo motor is converted into linear motion through the two T-shaped lead screws.

[0014] Preferably, the execution and locking mechanism includes:

[0015] The first locking mechanism includes a T-shaped lead screw, which is set at the bottom of the rigid crossbeam. The bottom ends of the two worm gear jacks pass through the rigid crossbeam and are connected to the T-shaped lead screw. The bottom ends of the two T-shaped lead screws are provided with an actuator, and the two T-shaped lead screws and the actuator are connected by nuts.

[0016] The second locking mechanism is installed at the normally closed mechanical brake structure on the top of the high-torque servo motor. The normally closed mechanical brake structure is released when energized, and locked when energized, triggered by emergency stop, or in the event of a system failure.

[0017] Preferably, the mobile trolley has an overhead crane structure, which enables the load to move horizontally in the Y direction; and the mobile trolley can cooperate with a mechanism that enables lateral movement in the X direction.

[0018] Preferably, the guide rail is a rectangular guide rail or a heavy-duty linear guide rail.

[0019] The technical effects and advantages of this utility model are as follows:

[0020] 1. This utility model, through the combination of two gantry frames, a rigid crossbeam and a moving trolley, forms a stable portal frame. It is guided by rectangular or heavy-duty linear guide rails, and the moving trolley is designed as a crane-type structure that can cooperate with the X-axis lateral movement mechanism. This helps to improve the overall rigidity and resistance to eccentric loads, reduce swaying during heavy-load movement, expand the handling range and achieve flexible positioning in the horizontal plane. It solves the problems of insufficient overall structural rigidity, weak resistance to eccentric loads and limited positioning range in the prior art.

[0021] 2. This utility model utilizes a high-torque servo motor. The high-torque servo motor's power is transmitted through its output shaft to high-precision couplings at both ends, synchronously driving two worm gear lifters symmetrically arranged on both sides of a rigid crossbeam. The worm gear lifters convert the rotational motion of the high-torque servo motor into linear motion via a T-screw. The T-screw, through a nut, drives the actuator and robotic arm to achieve vertical lifting movements. This improves the transmission accuracy of the robotic arm's vertical movement and, through double locking, completely eliminates the risk of heavy-load falls, solving the problems of insufficient positioning accuracy and lack of safety in traditional mechanisms. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0023] The attached diagram is labeled as follows: 1. High-torque servo motor; 2. High-precision coupling; 3. Output shaft; 4. Nut; 5. Actuator; 6. Gantry frame; 7. Guide rail; 8. T-type lead screw; 9. Worm gear jack; 10. Rigid crossbeam. Detailed Implementation

[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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0025] like Figure 1 As shown, this utility model has the following two specific embodiments.

[0026] Example 1

[0027] This utility model is a lifting mechanism for a heavy material handling robot, including two gantry frames 6, with a rigid crossbeam 10 fixedly connected to the top of the two gantry frames 6, and the bottom of the two gantry frames 6 fixedly connected to a mobile trolley.

[0028] The robotic lifting mechanism for heavy material handling also includes:

[0029] The drive and transmission mechanism is located above the rigid crossbeam 10 and is used to drive the robotic arm to achieve vertical movement.

[0030] An execution and locking mechanism is located at the bottom of the rigid crossbeam 10 to provide double safety locking for the lifting mechanism.

[0031] The drive and transmission mechanism includes:

[0032] A high-torque servo motor 1 is located at the center of the top of the rigid crossbeam 10. The bottom end of the high-torque servo motor 1 is connected to an output shaft 3. Both ends of the output shaft 3 are fixedly connected to high-precision couplings 2. The output shaft 3 is connected to two worm gear lifts 9 through the two high-precision couplings 2.

[0033] Two worm gear lifts 9 are symmetrically arranged on both sides of the rigid crossbeam 10, and the rotational motion of the high-torque servo motor 1 is converted into linear motion through two T-shaped lead screws 8.

[0034] The enforcement and locking mechanisms include:

[0035] The first locking mechanism includes a T-shaped lead screw 8, which is located at the bottom of the rigid crossbeam 10. The bottom ends of the two worm gear lifts 9 pass through the rigid crossbeam 10 and are connected to the T-shaped lead screw 8. The bottom ends of the two T-shaped lead screws 8 are provided with actuators 5, and the two T-shaped lead screws 8 and actuators 5 are connected by nuts 4.

[0036] The second locking mechanism is installed on the normally closed mechanical brake structure at the top of the high-torque servo motor 1. The normally closed mechanical brake structure is released when energized, locked when de-energized, triggered by emergency stop, or when there is a system failure.

[0037] Guide rail 7 is a rectangular guide rail or a heavy-duty linear guide rail.

[0038] In this embodiment, as Figure 1 As shown, the high-torque servo motor 1 starts, and its power is transmitted to the high-precision couplings 2 at both ends through the output shaft 3, thereby synchronously driving the two worm gear lifters 9 symmetrically arranged on both sides of the rigid crossbeam 10. The worm gear lifters 9 convert the rotational motion of the high-torque servo motor 1 into linear motion through the T-screw 8. The T-screw 8 drives the actuator 5 and the robotic arm through the nut 4 to achieve vertical lifting and lowering movements.

[0039] Example 2

[0040] The difference from Embodiment 1 is that this embodiment discloses a crane-type structure for the mobile trolley, which can realize the movement of the load in the horizontal Y direction; and the mobile trolley can cooperate with a mechanism that realizes the lateral movement in the X direction.

[0041] In this embodiment, as Figure 1 As shown, the trolley can travel on a preset track, enabling the load to move over a wide range in a horizontal direction, such as the Y-axis. The trolley can be a crane-type structure to achieve Y-axis movement, and can cooperate with other mechanisms to achieve X-axis lateral movement, such as ground tracks and another set of cross carriages, to ultimately achieve the positioning of the load in the horizontal plane.

[0042] The working principle of this utility model is as follows: When heavy materials need to be transported, the load is first moved horizontally in the Y direction by a trolley with a crane-like structure, and can be precisely positioned in the horizontal plane in conjunction with the X-direction lateral movement mechanism; during vertical lifting operations, the high-torque servo motor 1 is started, and its power is transmitted to the high-precision couplings 2 at both ends through the output shaft 3, thereby synchronously driving the two worm gear lifts 9 symmetrically arranged on both sides of the rigid crossbeam 10. The worm gear jack 9 converts the rotational motion of the high-torque servo motor 1 into linear motion through the T-screw 8. The T-screw 8 drives the actuator 5 and the robotic arm through the nut 4 to achieve vertical lifting and lowering. During this process, the guide rail 7 of the rectangular guide rail or heavy-duty linear guide rail provides precise guidance for the movement of the actuator 5. Together with the stable portal frame formed by the two gantry frames 6 and the rigid crossbeam 10, it effectively ensures the smoothness of the lifting process and the ability to resist eccentric loads. When it is necessary to stop lifting or when an abnormal situation occurs, the execution and locking mechanism comes into play: the T-screw 8 uses its own trapezoidal thread structure to achieve the first layer of mechanical self-locking to prevent the load from falling due to its own weight; at the same time, the normally closed mechanical braking structure installed on the top of the high-torque servo motor 1 serves as the second layer of locking, which immediately locks the motor shaft in the event of power failure, emergency stop triggering, or system failure. The dual locking mechanism together ensures operational safety.

[0043] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0044] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0045] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A lifting mechanism for heavy material handling robotic arms, comprising two gantry frames (6), characterized in that: The top ends of the two gantry frames (6) are fixedly connected to rigid crossbeams (10), and the bottom ends of the two gantry frames (6) are fixedly connected to the moving trolley; The robotic lifting mechanism for heavy material handling also includes: The drive and transmission mechanism is located above the rigid crossbeam (10) and is used to drive the robotic arm to achieve vertical movement. An execution and locking mechanism is provided at the bottom of the rigid crossbeam (10) to provide double safety locking for the lifting mechanism.

2. The lifting mechanism for heavy material handling robots according to claim 1, characterized in that: The drive and transmission mechanism includes: A high-torque servo motor (1) is located at the center of the top of a rigid crossbeam (10). The bottom end of the high-torque servo motor (1) is connected to an output shaft (3). Both ends of the output shaft (3) are fixedly connected to high-precision couplings (2). The output shaft (3) is connected to two worm gear lifts (9) through two high-precision couplings (2).

3. The lifting mechanism for heavy material handling robots according to claim 2, characterized in that: The two worm gear lifts (9) are symmetrically arranged on both sides of the rigid crossbeam (10), and the rotational motion of the high-torque servo motor (1) is converted into linear motion by two T-shaped lead screws (8).

4. The lifting mechanism for heavy material handling robots according to claim 3, characterized in that: The execution and locking mechanism includes: The first locking mechanism includes a T-shaped lead screw (8), which is located at the bottom of the rigid beam (10). The bottom ends of the two worm gear lifts (9) pass through the rigid beam (10) and are connected to the T-shaped lead screw (8) for transmission. The bottom ends of the two T-shaped lead screws (8) are provided with an actuator (5), and the two T-shaped lead screws (8) and the actuator (5) are connected by a nut (4). The second locking mechanism is installed at the normally closed mechanical braking structure on the top of the high torque servo motor (1). The normally closed mechanical braking structure is released when energized, locked when de-energized, triggered by emergency stop, or when there is a system failure.

5. The lifting mechanism for heavy material handling robots according to claim 1, characterized in that: The mobile trolley has an overhead crane structure, which enables the load to move horizontally in the Y direction; and the mobile trolley can cooperate with a mechanism that enables lateral movement in the X direction.

6. The lifting mechanism for heavy material handling robots according to claim 1, characterized in that: The guide rail (7) is a rectangular guide rail or a heavy-duty linear guide rail.

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