CN107813302A - A kind of double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry and its application - Google Patents
A kind of double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry and its application Download PDFInfo
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- CN107813302A CN107813302A CN201711243126.1A CN201711243126A CN107813302A CN 107813302 A CN107813302 A CN 107813302A CN 201711243126 A CN201711243126 A CN 201711243126A CN 107813302 A CN107813302 A CN 107813302A
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- carrier
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- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000012546 transfer Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000007115 recruitment Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000002436 steel type Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry and its application, including overturn-preventing carrier mechanism, drive mechanism and force transfer mechanism；Overturn-preventing carrier mechanism includes frame, can load and unload carrier bar and is oriented to load carrier, the both sides connection of frame it is described load and unload carrier bar, in frame and can load and unload described guiding load carrier is set respectively on carrier bar；Drive mechanism is arranged on frame side, and force transfer mechanism is arranged on double truss, and drive mechanism is engaged operation with force transfer mechanism.During operation, it is oriented to load carrier and is arranged in double truss guiding bearing guide rails, be oriented to and carry along guide rail, drive whole Overthrow preventing device to be moved by drive mechanism.Moved by the quick and stable of the achievable gantry manipulator of the present invention, improve stability of the large span high-speed overload gantry manipulator in high speed, big load motion, improve operating efficiency, reduce recruitment cost.
Description
Technical field
The present invention relates to be applied to applied to goods conveying robot field in the long range logistics of workshop, more particularly to one kind
A kind of double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry.
Background technology
At present, in shop logistics operation, for needing the goods that carrying stacking, weight are big over long distances, usually using fork
Car or row the logistics equipment such as hang and transported, and the quantity that this means of transportation once transports goods determines according to device parameter, and
Whole process is completed by manual operation.To improve logistic efficiency, in relatively small workshop, fortune is improved by increasing logistics equipment
Movement Capabilities, logistics field management difficulty will certainly be caused to increase, or even the disorder problem of logistics occur.Existing long range is carried
, the problems such as operating efficiency is low, stacking is of poor quality, the amount of labour used is big, labor intensity is high be present, turn into the method for the big goods of stacking weight
Influence the bottleneck of goods logistics.
Traditional row hangs typically gear-rack drive or roller shaped steel type of drive.Gear-rack drive manufactures installation accuracy
It is required that high, maintenance cost height, conevying efficiency is relatively low, and discomfort is fit to do Long Distant Transmit.Roller shaped steel type of drive is roller in type
Rolled on steel, structure bulky, speed is slower, and precision is relatively low.Currently widely used guide rail slide block drive-type gantry manipulator, essence
Degree requires high, and bearing capacity is limited, and cost is high, is not suitable for large span heavy duty motion.
Gantry-type mechanical arm have load is big, speed is fast, precision is high, can large span motion, it is programmable automatically control etc. it is excellent
Point.Requirement for carrying stacking high speed, big load, large span, can be achieved the goal by rational structure design.But set
Meter it is a key issue that solves the problems, such as gantry robot movement part guiding driving and overturn-preventing, and rapid starting/stopping with
Stability and safety issue during high-speed motion.
For rectangular co-ordinate gantry-type mechanical arm, efficiency is delivered to improve, typically two axles move simultaneously.For heavily loaded machine
Tool hand, moving parts will be born also can be heavier compared with big load, self structure.In motion process, eccentric loading structure will make fortune
By larger distortion modification, structural strength rigidity will not enough cause topples dynamic component.
Therefore, for above-mentioned technical problem, it is necessary to provide a kind of high-speed overload gantry double truss machinery hand-guided drivings
Overthrow preventing device.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of high-speed overload gantry double truss machinery hand-guided driving anti-dumpings
Coating device, it is intended to meet quick goods logistics, heavy duty, large span requirement, improve operating efficiency and security performance, lift stacking matter
Amount, the amount of labour used is reduced, reduce entreprise cost.
The present invention also provides the method for work of the double truss machinery hand-guided driving Overthrow preventing devices in above-mentioned high-speed overload gantry.
Technical scheme is as follows：
A kind of double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry, including overturn-preventing carrier mechanism, drive
Motivation structure and force transfer mechanism；The overturn-preventing carrier mechanism includes frame, can load and unload carrier bar and is oriented to load carrier, frame
Both sides connection it is described load and unload carrier bar, in frame and can load and unload and set described guiding to carry machine on carrier bar respectively
Structure；The drive mechanism is arranged on frame side, and force transfer mechanism is arranged on double truss, drive mechanism and force transfer mechanism phase
Coordinating operation.The double truss machinery hand-guideds driving Overthrow preventing devices in high-speed overload gantry of the present invention, during actual job, it is oriented to
Load carrier is arranged on the double truss of gantry robot movement and is oriented in bearing guide rail, and carrying is oriented to along the guide rail on double truss,
Whole Overthrow preventing device is driven to be moved by the coordinating operation of drive mechanism and force transfer mechanism.
Preferably, the frame includes the quadra being mutually welded by cross bar, montant and support plate, is provided with cross bar
Locating slot, carrier bar can be loaded and unloaded and be arranged on by locating slot on cross bar.
Preferably, the guiding load carrier includes being oriented to carrying wheel seat, concentric bearing wheels and eccentric guide wheel, holds with one heart
Carry wheel and be installed on guiding carrying wheel seat bottom, eccentric guide wheel is installed on guiding carrying wheel seat side.
Preferably, two eccentric guide wheels are set side by side with guiding carrying wheel seat same side.The benefit of this design exists
In two eccentric guide wheels coordinate with the guide rail side on double truss, by increasing capacitance it is possible to increase stability during guiding.
Preferably, eccentric guide wheel leaves 3-12mm gap with the guide rail side on double truss.
Preferably, carrying wheel seat is oriented to be arranged on cross bar by bolt and can load and unload on carrier bar.
Preferably, the drive mechanism includes motor and its reductor, motor cabinet, motor cabinet fixed pin shaft, installing plate, electricity
The support axis of guide, motor cabinet guide spring and motor cabinet active pin shaft；Motor and its reductor are arranged on motor cabinet, motor cabinet
Side earrings is fixed on installing plate by motor cabinet fixed pin shaft, and motor cabinet interstitial hole passes through the motor on the motor cabinet axis of guide
On a mounting board, motor cabinet opposite side earrings is fixed on installing plate the connection of seat guide spring by motor cabinet active pin shaft, peace
Loading board is fixedly connected with support plate, and motor and its reductor are connected with force transfer mechanism.
Preferably, the force transfer mechanism includes rolling wheel guide rails mechanism and pinion and rack.
Preferably, motor cabinet active pin shaft leaves 3-10mm gap with earrings.This design is advantageous in that, when motor with
During force transfer mechanism matching resultant motion, motor jam overload is impaired when can prevent from being oriented to load carrier motion.
A kind of method of work of the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry, including following step
Suddenly：
Between frame is placed in into the double truss in high-speed overload gantry, guiding load carrier is set to be arranged on gantry robot movement double
Truss is oriented in bearing guide rail；Motor starts, by reductor and force transfer mechanism matching resultant motion, in drive mechanism band
Move in whole Overthrow preventing device running, Overthrow preventing device is oriented in bearing guide rail in double truss by guiding load carrier and put down
It is steady mobile.
The beneficial effects of the present invention are：
The quick and stable of gantry manipulator can be realized by double truss machinery hand-guideds driving Overthrow preventing devices of the invention
Motion, stability of the large span high-speed overload gantry manipulator in high speed, big load motion is improved, improves work effect
Rate, reduce recruitment cost.It is easy to install meanwhile Overthrow preventing device of the present invention is reasonable in design, it is simple to operate, make
With obvious, significant effect.
Brief description of the drawings
Fig. 1 is the installation diagram of Overthrow preventing device of the present invention；
Fig. 2 is the structural representation that overturn-preventing is oriented to load carrier in the present invention；
Fig. 3 is the installation diagram that carrying wheel assembly is oriented in the present invention；
Fig. 4 is that the present invention is oriented to the schematic diagram that bearing wheels are oriented to carrying；
Fig. 5 is the installation diagram of drive mechanism in the present invention.
Wherein：1st, overturn-preventing carrier mechanism；2nd, drive mechanism；3rd, double truss；4th, double truss；5th, guide rail；6th, cross bar；7th, erect
Bar；8th, support plate；11st, frame；12nd, carrier bar can be loaded and unloaded；13rd, it is oriented to load carrier；131st, it is oriented to carrying wheel seat；132nd, hold with one heart
Carry wheel；133rd, eccentric guide wheel；21st, motor and its reductor；22nd, motor cabinet；23rd, motor cabinet fixed pin shaft；24th, installing plate；
25th, the motor cabinet axis of guide；26th, motor cabinet guide spring；27th, motor cabinet active pin shaft；28th, force transfer mechanism.
Embodiment
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1：
As shown in Figures 1 to 5, the present embodiment provides a kind of high-speed overload gantry double truss machinery hand-guided driving overturn-preventings
Device, including overturn-preventing carrier mechanism 1, drive mechanism 2 and force transfer mechanism 28；Overturn-preventing carrier mechanism 1 include frame 11, can
Load and unload carrier bar 12 and be oriented to load carrier 13, carrier bar 12 is loaded and unloaded described in the both sides connection of frame 11, in the He of frame 11
It can load and unload and described guiding load carrier 13 is set respectively on carrier bar 12；Drive mechanism 2 is arranged on the side of frame 11, power transmission
Mechanism 28 is arranged on double truss, and drive mechanism 2 is engaged operation with force transfer mechanism 28.
Wherein, frame 11 includes the quadra being mutually welded with support plate 8 by cross bar 6, montant 7, and cross bar shares about 6
Four, four are shared before and after montant 7, support plate 8 or so shares two pieces, is provided with locating slot on the cross bar 6 of lower section, can load and unload carrying
Bar 12 is arranged on the cross bar 6 of lower section by locating slot by bolt, ensures integrally-built precision and intensity, support plate 8 connects
On the montant 7 of both sides.The length of lower section cross bar is less than the spacing (while again smaller than length of top cross bar) between double truss,
It is easy to the installation of whole frame 11.
Being oriented to load carrier 13 includes being oriented to carrying wheel seat 131, concentric bearing wheels 132 and eccentric guide wheel 133, holds with one heart
Carry wheel 132 and be installed on guiding carrying wheel seat 131 bottom, eccentric guide wheel 133 is installed on guiding carrying wheel seat 131 side.Leading
Be set side by side with two eccentric guide wheels 133 to carrying wheel seat 131 same side, two eccentric guide wheels 133 with double truss
The side of guide rail 5 coordinate, by increasing capacitance it is possible to increase stability during guiding.Eccentric guide wheel 133 leaves with the guide rail side on double truss
3-12mm gap.
The end of cross bar 6 of top is provided with to be oriented to load carrier 13 and can load and unload the end of carrier bar 12 and is also provided with and leads
To load carrier 13, specifically, it is oriented to carrying wheel seat 131 and the end of cross bar 6 is mounted above by bolt and carrier bar can be loaded and unloaded
12 ends.
Drive mechanism 2 includes motor and its reductor 21, motor cabinet 22, motor cabinet fixed pin shaft 23, installing plate 24, motor
The seat axis of guide 25, motor cabinet guide spring 26 and motor cabinet active pin shaft 27；Motor and its reductor 21 are arranged on motor cabinet 22
On, the side earrings of motor cabinet 22 is fixed on installing plate 24 by motor cabinet fixed pin shaft 23, and the interstitial hole of motor cabinet 22 passes through electricity
Motor cabinet guide spring 26 on the support axis of guide 25 is connected on installing plate 24, and the opposite side earrings of motor cabinet 22 passes through motor cabinet
Active pin shaft 27 is fixed on installing plate 24, and installing plate 24 is fixedly connected with support plate 8, and motor and its reductor 21 transmit machine with power
Structure 28 is connected.
In the present embodiment, from rolling wheel guide rails mechanism, guide rail is C-type steel rail and is arranged on double truss 3 force transfer mechanism 28
The output axis connection and roller of inner side, roller and reductor are located in guide rail.Power subsequently is provided by motor, is driven by reductor
Dynamic roller moves in guide rail, so as to drive the movement of whole Overthrow preventing device.
Motor cabinet active pin shaft 27 leaves 3-10mm gap with earrings., can when motor driving force transmission mechanism moves
Motor jam overload is impaired when preventing from being oriented to load carrier motion.
The double truss machinery hand-guideds driving Overthrow preventing devices in high-speed overload gantry of the present invention, during actual job, it is oriented to
Load carrier is arranged on the double truss of gantry robot movement and is oriented in bearing guide rail, and carrying is oriented to along the guide rail on double truss,
Gantry manipulator is mounted above on cross bar, drives whole Overthrow preventing device to be moved by motor and reductor, overturn-preventing
Device moves with gantry plane tool hand and carries out operation.
Embodiment 2：
A kind of double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry, as described in Example 1, it is or not structure
It is with part：Force transfer mechanism 28 selects pinion and rack, and rack is arranged on double inner sides of truss 3, gear and reductor
Export axis connection and wheel and rack is meshed, subsequently provide power by motor, nibbled by reductor drive gear on rack
Movement is closed, so as to drive the movement of whole Overthrow preventing device.
Embodiment 3：
A kind of work side of the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry as described in Example 1
Method, comprise the following steps：
The montant 7 of frame is from top to bottom inserted between the double truss 3 in high-speed overload gantry, can then load and unload carrier bar 12
Connected with the locating slot on the cross bar of lower section, be finally directed to load carrier 13 again and be separately mounted to top cross bar 6 and lower section
It can load and unload on carrier bar 12, and guiding load carrier 13 is arranged on the double truss of gantry robot movement and be oriented in bearing guide rail 5,
Concentric bearing wheels 132 are installed on guiding carrying wheel seat 131 bottom, and the front face of guide rail 5 on truss 3,4, for weighing at a high speed
Carrying is moved, and eccentric guide wheel 133 is installed on guiding carrying wheel seat 131 side, coordinates with the side of the guide rail 5 on truss 3,4；Electricity
Machine starts, and drives roller to be moved in guide rail by reductor, and when roller motion, whole Overthrow preventing device carries by guiding
Mechanism 13 is oriented to even running in bearing guide rail 5 in double truss, so as to move operation with gantry manipulator.
Claims (10)
1. the double truss machinery hand-guided driving Overthrow preventing devices in a kind of high-speed overload gantry, it is characterised in that transported including overturn-preventing
Mounted mechanism, drive mechanism and force transfer mechanism；The overturn-preventing carrier mechanism includes frame, can load and unload carrier bar and is oriented to carrying
Mechanism, the both sides connection of frame it is described load and unload carrier bar, in frame and can load and unload described lead is set respectively on carrier bar
To load carrier；The drive mechanism is arranged on frame side, and force transfer mechanism is arranged on double truss, and drive mechanism passes with power
Pass mechanism and be engaged operation.
2. the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry as claimed in claim 1, it is characterised in that
The frame includes the quadra being mutually welded by cross bar, montant and support plate, is provided with locating slot on cross bar, can load and unload and hold
Bar is carried to be arranged on cross bar by locating slot.
3. the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry as claimed in claim 2, it is characterised in that
The guiding load carrier includes guiding carrying wheel seat, concentric bearing wheels and eccentric guide wheel, concentric bearing wheels and is installed on guiding
Wheel seat bottom is carried, eccentric guide wheel is installed on guiding carrying wheel seat side.
4. the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry as claimed in claim 3, it is characterised in that
Two eccentric guide wheels are set side by side with being oriented to carrying wheel seat same side.
5. the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry as claimed in claim 1, it is characterised in that
Eccentric guide wheel leaves 3-12mm gap with the guide rail side on double truss.
6. the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry as claimed in claim 3, it is characterised in that
Carrying wheel seat is oriented to be arranged on cross bar by bolt and can load and unload on carrier bar.
7. the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry as claimed in claim 2, it is characterised in that
The drive mechanism includes motor and its reductor, motor cabinet, motor cabinet fixed pin shaft, installing plate, the motor cabinet axis of guide, motor
Seat guide spring and motor cabinet active pin shaft；Motor and its reductor are arranged on motor cabinet, and motor cabinet side earrings passes through electricity
Support fixed pin shaft is fixed on installing plate, and motor cabinet interstitial hole is connected by the motor cabinet guide spring on the motor cabinet axis of guide
On a mounting board, motor cabinet opposite side earrings is fixed on installing plate by motor cabinet active pin shaft, and installing plate is fixed with support plate
Connection, motor and its reductor are connected with force transfer mechanism.
8. the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry as claimed in claim 7, it is characterised in that
The force transfer mechanism includes rolling wheel guide rails mechanism and pinion and rack.
9. the double truss machinery hand-guided driving Overthrow preventing devices in high-speed overload gantry as claimed in claim 7, it is characterised in that
Motor cabinet active pin shaft leaves 3-10mm gap with earrings.
A kind of 10. double truss machinery hand-guided driving overturn-preventing dresses in high-speed overload gantry as described in claim any one of 1-9
The method of work put, comprises the following steps：
Between frame is placed in into the double truss in high-speed overload gantry, guiding load carrier is set to be arranged on the double truss of gantry robot movement
It is oriented in bearing guide rail；Motor starts, and by reductor and force transfer mechanism matching resultant motion, is driven in drive mechanism whole
In individual Overthrow preventing device running, Overthrow preventing device is oriented in bearing guide rail in double truss by guiding load carrier and steadily moved
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711243126.1A CN107813302B (en) | 2017-11-30 | 2017-11-30 | High-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711243126.1A CN107813302B (en) | 2017-11-30 | 2017-11-30 | High-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device and application thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107813302A true CN107813302A (en) | 2018-03-20 |
| CN107813302B CN107813302B (en) | 2024-02-13 |
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| CN201711243126.1A Active CN107813302B (en) | 2017-11-30 | 2017-11-30 | High-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device and application thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527341A (en) * | 2018-06-28 | 2018-09-14 | 宁波米诺机床有限公司 | A kind of mechanical grip device |
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