CN107813302B - High-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device and application thereof - Google Patents
High-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device and application thereof Download PDFInfo
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- CN107813302B CN107813302B CN201711243126.1A CN201711243126A CN107813302B CN 107813302 B CN107813302 B CN 107813302B CN 201711243126 A CN201711243126 A CN 201711243126A CN 107813302 B CN107813302 B CN 107813302B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 15
- 238000003466 welding Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- 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 invention relates to a high-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device and application thereof, comprising an anti-overturning carrying mechanism, a driving mechanism and a force transmission mechanism; the overturning-preventing carrying mechanism comprises a frame, a detachable carrying rod and a guiding carrying mechanism, wherein the two sides of the frame are connected with the detachable carrying rod, and the guiding carrying mechanism is respectively arranged on the frame and the detachable carrying rod; the driving mechanism is arranged on one side of the frame, the force transmission mechanism is arranged on the double trusses, and the driving mechanism and the force transmission mechanism work cooperatively. During operation, the guide bearing mechanism is arranged on the double-truss guide bearing guide rail, and is guided and borne along the guide rail, and the whole anti-overturning device is driven to move through the driving mechanism. The invention can realize the rapid and stable movement of the gantry manipulator, improves the stability of the large-span high-speed heavy-load gantry manipulator in high-speed and high-load movement, improves the working efficiency and reduces the labor cost.
Description
Technical Field
The invention relates to the field of cargo handling manipulators in long-distance logistics of workshops, in particular to a guide driving anti-overturning device for a high-speed heavy-load gantry double-truss manipulator.
Background
At present, in the workshop logistics operation, for goods needing to be transported for a long distance and stacked and heavy, logistics equipment such as a forklift or a crane is often used for transporting, and the quantity of the goods transported once in the transportation mode is determined according to equipment parameters and is completed by manual operation in the whole process. In order to improve logistics efficiency, in relatively smaller workshops, the transportation capacity is improved by adding logistics equipment, so that the logistics field management difficulty is increased, and even the problem of logistics order disorder is solved. The existing method for carrying cargoes with large stacking weight in long distance has the problems of low working efficiency, poor stacking quality, large labor amount, high labor intensity and the like, and becomes a bottleneck affecting cargo logistics.
Conventional traveling cranes are typically rack and pinion driven or roller profile steel driven. The gear rack drive has high requirements on manufacturing and installation precision, high maintenance cost and lower transportation efficiency, and is not suitable for long-distance transmission. The roller profile steel driving mode is that the rollers roll on the profile steel, the structure is heavy, the speed is slower, and the precision is lower. The guide rail slide block driving gantry manipulator commonly used at present has high precision requirement, limited bearing capacity and high cost, and is not suitable for large-span heavy-load movement.
The gantry manipulator has the advantages of large load, high speed, high precision, large span movement, programmable automatic control and the like. The requirements of high speed, large load and large span of carrying and stacking can be met through reasonable structural design. But the key problem of design is that the problem of guiding driving and anti-overturning of the moving part of the gantry manipulator is solved, and the problem of stability and safety during quick start-stop and high-speed movement is solved.
For rectangular coordinate gantry manipulators, two axes are usually moved simultaneously to improve the carrying efficiency. For a heavy-duty manipulator, the motion assembly will bear a large load, and its own structure will be heavy. During movement, the eccentric load structure will subject the moving parts to large torsional variations and insufficient structural strength and rigidity will cause overturning.
Therefore, in order to solve the above technical problems, it is necessary to provide a high-speed heavy-load gantry double-truss manipulator guiding driving anti-overturning device.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a high-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device, which aims to meet the requirements of quick, heavy load and large span of cargo logistics, improve the working efficiency and the safety performance, improve the stacking quality, reduce the labor consumption and reduce the enterprise cost.
The invention also provides a working method of the high-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device.
The technical scheme of the invention is as follows:
a high-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device comprises an anti-overturning carrying mechanism, a driving mechanism and a force transmission mechanism; the anti-overturning carrying mechanism comprises a frame, a detachable carrying rod and a guiding carrying mechanism, wherein the two sides of the frame are connected with the detachable carrying rod, and the guiding carrying mechanism is respectively arranged on the frame and the detachable carrying rod; the driving mechanism is arranged on one side of the frame, the force transmission mechanism is arranged on the double truss, and the driving mechanism and the force transmission mechanism work cooperatively. According to the high-speed heavy-load gantry double-truss manipulator guiding driving anti-overturning device, in the actual operation process, the guiding bearing mechanism is arranged on the gantry manipulator moving double-truss guiding bearing guide rail, guiding bearing is carried along the guide rail on the double-truss, and the whole anti-overturning device is driven to move through the cooperation operation of the driving mechanism and the force transmission mechanism.
Preferably, the frame comprises a square frame formed by welding a cross rod, a vertical rod and a support plate, wherein a positioning groove is formed in the cross rod, and the detachable bearing rod is arranged on the cross rod through the positioning groove.
Preferably, the guide bearing mechanism comprises a guide bearing wheel seat, a concentric bearing wheel and an eccentric guide wheel, wherein the concentric bearing wheel is arranged at the bottom of the guide bearing wheel seat, and the eccentric guide wheel is arranged on the side surface of the guide bearing wheel seat.
Preferably, two eccentric guide wheels are arranged on the same side face of the guide bearing wheel seat in parallel. The design has the advantage that the two eccentric guide wheels are matched with the side surfaces of the guide rail on the double truss, so that the stability in guiding can be improved.
Preferably, the eccentric guide wheel and the side surface of the guide rail on the double truss are kept at a gap of 3-12 mm.
Preferably, the guide carrier wheel seat is mounted on the cross bar and the detachable carrier bar by bolts.
Preferably, the driving mechanism comprises a motor and a speed reducer thereof, a motor base fixing pin shaft, a mounting plate, a motor base guide shaft, a motor base guide spring and a motor base movable pin shaft; the motor and the speed reducer thereof are arranged on the motor base, the earring on one side of the motor base is fixed on the mounting plate through a motor base fixing pin shaft, a middle hole of the motor base is connected on the mounting plate through a motor base guide spring on a motor base guide shaft, the earring on the other side of the motor base is fixed on the mounting plate through a motor base movable pin shaft, the mounting plate is fixedly connected with the support plate, and the motor and the speed reducer thereof are in transmission connection with the force transmission mechanism.
Preferably, the force transmission mechanism includes a roller guide mechanism and a rack and pinion mechanism.
Preferably, a gap of 3-10mm is reserved between the movable pin shaft of the motor base and the earring. The design has the advantage that when the motor and the force transmission mechanism move cooperatively, the motor blocking overload is prevented from being damaged when the guide bearing mechanism moves.
A working method of a high-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device comprises the following steps:
the frame is arranged between the high-speed heavy-load gantry double trusses, so that the guide bearing mechanism is arranged on the guide bearing guide rail of the gantry manipulator moving double trusses; the driving motor is started, the speed reducer and the force transmission mechanism are matched to move, and the anti-overturning device stably moves on the double truss guide bearing guide rail by the guide bearing mechanism in the process that the driving mechanism drives the whole anti-overturning device to operate.
The invention has the beneficial effects that:
the double-truss manipulator guiding driving anti-overturning device can realize the rapid and stable movement of the gantry manipulator, improve the stability of the large-span high-speed heavy-load gantry manipulator in high-speed and heavy-load movement, improve the working efficiency and reduce the labor cost. Meanwhile, the anti-overturning device is reasonable in structural design, convenient to install and use, simple to operate, obvious in effect and remarkable in effect.
Drawings
FIG. 1 is an installation view of an anti-tipping device of the invention;
FIG. 2 is a schematic diagram of an anti-toppling guide bearing mechanism according to the present invention;
FIG. 3 is an installation view of a guide load wheel assembly of the present invention;
FIG. 4 is a schematic view of a guide load of the guide load wheel of the present invention;
fig. 5 is an installation view of the driving mechanism in the present invention.
Wherein: 1. anti-overturning carrying mechanism; 2. a driving mechanism; 3. double trusses; 4. double trusses; 5. a guide rail; 6. a cross bar; 7. a vertical rod; 8. a support plate; 11. a frame; 12. a detachable carrying rod; 13. a guide bearing mechanism; 131. a guide bearing wheel seat; 132. a concentric carrier wheel; 133. an eccentric guide wheel; 21. a motor and a speed reducer thereof; 22. a motor base; 23. the motor base is provided with a fixed pin shaft; 24. a mounting plate; 25. a motor base guide shaft; 26. a motor base guide spring; 27. the motor base is provided with a movable pin shaft; 28. a force transmission mechanism.
Detailed Description
The invention will now be further illustrated by way of example, but not by way of limitation, with reference to the accompanying drawings.
Example 1:
as shown in fig. 1 to 5, the present embodiment provides a high-speed heavy-duty gantry double-truss manipulator guide driving anti-overturning device, which comprises an anti-overturning carrying mechanism 1, a driving mechanism 2 and a force transmission mechanism 28; the anti-overturning carrying mechanism 1 comprises a frame 11, a detachable carrying rod 12 and a guide carrying mechanism 13, wherein two sides of the frame 11 are connected with the detachable carrying rod 12, and the guide carrying mechanism 13 is respectively arranged on the frame 11 and the detachable carrying rod 12; the driving mechanism 2 is arranged on one side of the frame 11, the force transmission mechanism 28 is arranged on the double truss, and the driving mechanism 2 and the force transmission mechanism 28 work cooperatively.
Wherein, frame 11 includes the square frame that forms by horizontal pole 6, montant 7 and extension board 8 welding mutually, and four altogether about horizontal pole 6, the montant 7 is four in total, and the extension board 8 is left and right sides totally two, is provided with the constant head tank on the horizontal pole 6 of below, and removable carrier bar 12 passes through the constant head tank and installs on the horizontal pole 6 of below with the help of the bolt, guarantees overall structure's precision and intensity, and extension board 8 is connected on the montant 7 of both sides. The length of the lower cross bar is smaller than the distance between the double trusses (and also smaller than the length of the upper cross bar), facilitating the installation of the entire frame 11.
The guide bearing mechanism 13 comprises a guide bearing wheel seat 131, a concentric bearing wheel 132 and an eccentric guide wheel 133, wherein the concentric bearing wheel 132 is arranged at the bottom of the guide bearing wheel seat 131, and the eccentric guide wheel 133 is arranged on the side surface of the guide bearing wheel seat 131. Two eccentric guide wheels 133 are arranged on the same side face of the guide bearing wheel seat 131 in parallel, and the two eccentric guide wheels 133 are matched with the side face of the guide rail 5 on the double truss, so that stability in guide can be improved. The eccentric guide wheels 133 are spaced 3-12mm from the sides of the guide rails on the double truss.
The upper cross bar 6 is provided with a guide bearing mechanism 13 at its end and a detachable bearing bar 12 is also provided with a guide bearing mechanism 13 at its end, specifically a guide bearing wheel seat 131 is mounted at the upper cross bar 6 end and the detachable bearing bar 12 end by bolts.
The driving mechanism 2 comprises a motor and a speed reducer 21, a motor seat 22, a motor seat fixed pin 23, a mounting plate 24, a motor seat guide shaft 25, a motor seat guide spring 26 and a motor seat movable pin 27; the motor and the speed reducer 21 thereof are arranged on the motor seat 22, the earring on one side of the motor seat 22 is fixed on the mounting plate 24 through the motor seat fixing pin shaft 23, the middle hole of the motor seat 22 is connected on the mounting plate 24 through the motor seat guide spring 26 on the motor seat guide shaft 25, the earring on the other side of the motor seat 22 is fixed on the mounting plate 24 through the motor seat movable pin shaft 27, the mounting plate 24 is fixedly connected with the support plate 8, and the motor and the speed reducer 21 thereof are in transmission connection with the force transmission mechanism 28.
In this embodiment, the force transmission mechanism 28 is a roller guide rail mechanism, the guide rail is a C-shaped steel rail and is mounted on the inner side of the double truss 3, and the roller is connected with the output shaft of the speed reducer and is located in the guide rail. The motor is used for providing power subsequently, and the roller is driven by the speed reducer to move in the guide rail, so that the whole anti-overturning device is driven to move.
The movable pin shaft 27 of the motor base and the earrings are kept at a gap of 3-10 mm. When the motor driving force transmission mechanism moves, the motor blocking overload is prevented from being damaged when the guide bearing mechanism moves.
In the practical operation process, the guide bearing mechanism is arranged on the guide bearing guide rail of the gantry manipulator moving double-truss, the guide bearing is carried along the guide rail on the double-truss, the gantry manipulator is arranged on the upper cross rod, and the whole anti-overturning device is driven to move through the motor and the speed reducer, so that the anti-overturning device moves with the gantry manipulator to operate.
Example 2:
the structure of the high-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device is as described in embodiment 1, and the structure is characterized in that: the force transmission mechanism 28 is a gear-rack mechanism, a rack is arranged on the inner side of the double truss 3, the gear is connected with an output shaft of a speed reducer and meshed with the rack, and then the motor provides power to drive the gear to move on the rack in a meshed manner through the speed reducer, so that the whole anti-overturning device is driven to move.
Example 3:
the working method of the high-speed heavy-duty gantry double-truss manipulator guide driving anti-overturning device according to the embodiment 1 comprises the following steps:
the vertical rod 7 of the frame is inserted between the high-speed heavy-load double trusses 3 from top to bottom, the detachable bearing rod 12 is connected with the positioning groove on the lower cross rod, the guiding bearing mechanism 13 is finally arranged on the upper cross rod 6 and the detachable bearing rod 12 below respectively, the guiding bearing mechanism 13 is arranged on the double truss guiding bearing guide rail 5 of the gantry manipulator movement, the concentric bearing wheel 132 is arranged at the bottom of the guiding bearing wheel seat 131 and is in front contact with the guide rail 5 on the trusses 3 and 4 for high-speed heavy-load movement, the eccentric guide wheel 133 is arranged on the side surface of the guiding bearing wheel seat 131 and is matched with the side surface of the guide rail 5 on the trusses 3 and 4; the motor starts, drives the roller to move in the guide rail through the speed reducer, and when the roller moves, the whole anti-overturning device stably runs on the double-truss guide bearing guide rail 5 by virtue of the guide bearing mechanism 13, so that the gantry manipulator is carried to carry out moving operation.
Claims (6)
1. The working method of the high-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device is characterized in that the high-speed heavy-load gantry double-truss manipulator guide driving anti-overturning device comprises an anti-overturning carrying mechanism, a driving mechanism and a force transmission mechanism; the anti-overturning carrying mechanism comprises a frame, a detachable carrying rod and a guiding carrying mechanism, wherein the two sides of the frame are connected with the detachable carrying rod, and the guiding carrying mechanism is respectively arranged on the frame and the detachable carrying rod; the driving mechanism is arranged on one side of the frame, the force transmission mechanism is arranged on the double truss, and the driving mechanism and the force transmission mechanism are matched for operation;
the frame comprises a square frame formed by welding a cross rod, a vertical rod and a support plate, wherein a positioning groove is formed in the cross rod, and a detachable bearing rod is arranged on the cross rod through the positioning groove;
the guide bearing mechanism comprises a guide bearing wheel seat, a concentric bearing wheel and an eccentric guide wheel, wherein the concentric bearing wheel is arranged at the bottom of the guide bearing wheel seat, and the eccentric guide wheel is arranged on the side surface of the guide bearing wheel seat;
two eccentric guide wheels are arranged on the same side face of the guide bearing wheel seat in parallel;
the driving mechanism comprises a motor and a speed reducer thereof, an output shaft of the speed reducer is connected with a roller, and the roller is positioned in the guide rail;
the working method comprises the following steps:
the vertical rod of the frame is inserted between the high-speed heavy-load gantry double trusses from top to bottom, the detachable bearing rod is connected with the positioning groove on the lower cross rod, the guide bearing mechanism is respectively arranged on the upper cross rod and the lower detachable bearing rod, the guide bearing mechanism is arranged on the guide rail, the concentric bearing wheels are arranged at the bottom of the guide bearing wheel seat and are in front contact with the guide rail on the trusses for high-speed heavy-load movement, the eccentric guide wheels are arranged on the side surfaces of the guide bearing wheel seat, and the eccentric guide wheels are matched with the side surfaces of the guide rail on the trusses;
the motor is started, the roller is driven to move in the guide rail through the speed reducer, and when the roller moves, the whole anti-overturning device runs on the guide rail by means of the guide bearing mechanism, and the gantry manipulator moves.
2. The method for operating the high-speed heavy-duty gantry double-truss manipulator guide driving anti-overturning device according to claim 1, wherein a gap of 3-12mm is reserved between the eccentric guide wheel and the side surface of the guide rail on the double-truss.
3. The method of claim 1, wherein the guide carrier wheel mount is mounted on the cross bar and the removable carrier bar by bolts.
4. The working method of the high-speed heavy-duty gantry double-truss manipulator guide driving anti-overturning device according to claim 1, wherein the driving mechanism comprises a motor base, a motor base fixed pin shaft, a mounting plate, a motor base guide shaft, a motor base guide spring and a motor base movable pin shaft; the motor and the speed reducer thereof are arranged on the motor base, the earring on one side of the motor base is fixed on the mounting plate through a motor base fixing pin shaft, a middle hole of the motor base is connected on the mounting plate through a motor base guide spring on a motor base guide shaft, the earring on the other side of the motor base is fixed on the mounting plate through a motor base movable pin shaft, the mounting plate is fixedly connected with the support plate, and the motor and the speed reducer thereof are in transmission connection with the force transmission mechanism.
5. The method for operating a high-speed heavy-duty gantry double-truss manipulator guide drive anti-overturning device according to claim 4, wherein the force transmission mechanism comprises a roller guide rail mechanism and a gear rack mechanism.
6. The working method of the high-speed heavy-duty gantry double-truss manipulator guide driving anti-overturning device according to claim 4, wherein a gap of 3-10mm is reserved between the movable pin shaft of the motor base and the earring.
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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN107813302A CN107813302A (en) | 2018-03-20 |
| CN107813302B true CN107813302B (en) | 2024-02-13 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108527341B (en) * | 2018-06-28 | 2021-12-31 | 宁波米诺机床有限公司 | Mechanical clamping device |
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