CN110902382A - High-precision three-dimensional large-space heavy-load material conveying mechanism and using method thereof - Google Patents
High-precision three-dimensional large-space heavy-load material conveying mechanism and using method thereof Download PDFInfo
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- CN110902382A CN110902382A CN201911285128.6A CN201911285128A CN110902382A CN 110902382 A CN110902382 A CN 110902382A CN 201911285128 A CN201911285128 A CN 201911285128A CN 110902382 A CN110902382 A CN 110902382A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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Abstract
The invention discloses a high-precision three-dimensional large-space heavy-load material conveying mechanism which comprises a supporting frame, a truss, a connecting support and a tail end grabbing device, wherein two ends of the truss are connected to the supporting frame in a sliding mode, the connecting support is connected to the truss in a sliding mode, and the tail end grabbing device is installed at the bottom of the connecting support. The supporting frame is provided with racks, the two end parts of the truss are provided with gears, the gears are meshed with the racks, and the truss is further provided with a servo motor used for driving the gears to move. The truss moves along the support frame to realize X-direction operation. The connecting support is connected to the truss through the mounting support, the connecting support is provided with a rack, the mounting support is provided with a gear I meshed with the rack, and the gear I and the rack move to enable the connecting support to move up and down relative to the mounting support, so that Z-direction operation is realized. The truss is provided with a rack, the mounting bracket is provided with a gear II meshed with the rack, and the gear II and the rack operate to enable the mounting bracket to move along the truss so as to realize Y-direction operation.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing and conveying, and particularly relates to a high-precision three-dimensional large-space heavy-load material conveying mechanism and a using method thereof.
Background
At present to heavy material and when needing the big distance to carry, the transport form is mostly manual operation driving, calabash etc. and conveying time is long and positioning accuracy is relatively poor, and personnel's operation intensity of labour is big and have great safety risk, and heavy material handling efficiency is crossed lowly.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a high-precision three-dimensional large-space heavy-load type material conveying mechanism which is stable in conveying, high in positioning precision, large in span stroke and capable of greatly reducing the time for carrying heavy materials precisely and the logistics cost.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a heavy-duty type material conveying mechanism in big space of high accuracy solid, includes braced frame, truss, linking bridge and end snatchs equipment, the both ends sliding connection of truss is on braced frame, and linking bridge sliding connection is on the truss, at the terminal equipment of snatching of the bottom installation of linking bridge.
Furthermore, the terminal equipment of snatching includes mount pad, positioning mechanism and fixture, and the mount pad is installed on linking bridge, and positioning mechanism connects in the bottom of mount pad, and fixture installs on the mount pad.
Furthermore, the mounting seat is of a frame structure, the clamping mechanism is connected to the mounting seat through the mounting plate and comprises a clamping jaw and an air cylinder, the clamping jaw is connected with a movable rod of the air cylinder, and the clamping mechanism is symmetrically arranged on two sides of the connecting support.
Further, fixture still includes gear and rack, is equipped with the guide rail on the mounting panel, and rack sliding connection is on the guide rail, and the stiff end of cylinder is connected on the rack, and the clamping jaw is connected on the movable rod of cylinder, rack symmetrical arrangement in the both sides of gear and with gear engagement, gear revolve drive two racks relative motion.
Furthermore, positioning mechanism includes sucking disc, flexible joint and spring beam, and the one end of spring beam is connected on the mount pad, and the other end of spring beam is connected with flexible one end of connecting, and flexible other end of connecting is connected with the sucking disc.
Furthermore, be equipped with the extension board on the mount pad, also be equipped with positioning mechanism on the extension board, positioning mechanism installs on the mount pad and symmetric distribution in the both sides of linking bridge.
Furthermore, a rack is arranged on the supporting frame, gears are arranged at two end parts of the truss and are meshed with the rack, the truss is further provided with a servo motor used for driving the gears to move, and the gears are connected to an output shaft of the servo motor.
Furthermore, the connecting support is connected to the truss through the mounting support, a rack is arranged on the connecting support, and a gear I meshed with the rack is arranged on the mounting support.
Furthermore, the truss is of a triangular frame structure, a rack is arranged on the truss, and a gear II meshed with the rack is arranged on the mounting support.
The invention also relates to a use method of the high-precision three-dimensional large-space heavy-load type material conveying mechanism, which is characterized by comprising the following steps of: the using method comprises the following steps:
a. firstly, a servo motor drives gears at two ends of a truss to rotate, the truss moves on a support frame to realize X-direction movement, and the movement stops after the truss moves in place; secondly, controlling a gear rack mechanism through a servo motor, enabling a connecting bracket to move on a truss to realize Y-direction movement, and stopping after the connecting bracket moves in place; then, the gear rack mechanism is controlled by a servo motor, the connecting bracket moves up and down relative to the truss to realize Z-direction movement, and the connecting bracket stops moving in place to carry or put down materials;
b. the suction disc of the positioning mechanism is firstly contacted with the surface of the material, the suction disc is adsorbed on the surface of the material to position the tail end grabbing equipment, the air cylinder retracts the clamping jaw to move downwards to clamp the material, then the gear rack mechanism is driven to operate, the gear rotates to drive the two racks to move in opposite directions, so that the two clamping jaws are driven to move in opposite directions to clamp the material, and the material is transported;
c. after the materials are conveyed in place, the gear rack mechanism is driven to reversely run, the gear reversely rotates to drive the two racks to reversely move, so that the two clamping jaws are driven to reversely move, the air cylinder retracts to enable the clamping jaws to be upwards turned to be opened to loosen the materials, and the materials are put down.
The technical scheme adopted by the invention has the advantages that:
1. according to the invention, a servo system is utilized to control the linear motion of the conveying mechanism in space, high-precision linear walking is executed in three dimensions of X \ Y \ Z, and a terminal grabbing device is used for positioning materials and conveying the materials to a specified position, so that the process needs design precision and shorter conveying time is achieved, and three shafts are in linkage fit, so that a high-precision positioning and conveying function is realized; rely on X \ Y \ Z triaxial to drive the end and snatch equipment and realize this regional automatic function of carrying in the space removal of messenger's material carried, and possess the high accuracy and snatch the function of placing, its transport scope is: the X axis is 24 meters, the Y axis is 12 meters, and the Z axis is 1.2 meters, so that the large-span high-precision conveying of heavy materials is realized.
2. The truss is designed into a triangular frame structure, so that firstly, the frame structure can reduce the weight of the truss and is beneficial to lightweight design; and secondly, the triangular structure has the characteristic of stability, so that the stability of the truss is improved while the weight is reduced.
3. The sucker can play a role in positioning and a role in buffering when the clamping mechanism is in contact with the material, so that the clamping mechanism and the material are prevented from being damaged due to direct contact of the clamping mechanism and the material.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic view of the overall structure of a heavy duty material conveying mechanism according to the present invention.
Fig. 2 is a schematic structural view of the truss of the present invention.
Fig. 3 is a schematic view of the overall structure of the end gripping apparatus of the present invention.
FIG. 4 is a partially enlarged view of the end gripping apparatus of the present invention
The labels in the above figures are respectively: 1. a support frame; 2. a truss; 3. connecting a bracket; 4. an end gripping device.
Detailed Description
In the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "planar direction", "circumferential", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1 to 4, the high-precision three-dimensional large-space heavy-load material conveying mechanism comprises a supporting frame 1, a truss 2, a connecting support 3 and a terminal grabbing device 4, wherein two ends of the truss 2 are slidably connected to the supporting frame 1, the connecting support 3 is slidably connected to the truss 2, and the terminal grabbing device 4 is installed at the bottom of the connecting support 3. The length direction of the support frame 1 is the X direction, the direction of the truss 2 is the Y direction, and the direction of the connecting bracket 3 is the Z direction. The supporting frame 1 is fixedly connected to the ground through the upright supporting legs.
The supporting frame 1 is provided with a rack 11, two ends of the truss 2 are provided with gears 21, the gears 21 are meshed with the rack 11, the truss 2 is further provided with a servo motor for driving the gears 21 to move, and the gears 21 are connected to an output shaft of the servo motor. The truss 2 moves along the support frame 1 to realize the X-direction movement. Connecting bracket 3 passes through the installing support connection on truss 2, is equipped with rack 31 on connecting bracket 3, is equipped with gear I with rack 31 meshing on the installing support, and gear I moves with rack 31 and makes connecting bracket 3 for the installing support up-and-down motion, and connecting bracket 3 and terminal grabbing equipment move for truss 2 up-and-down motion promptly, realize the operation of Z direction. The truss 2 is of a triangular frame structure, a rack 22 is arranged on the truss 2, a gear II meshed with the rack 22 is arranged on the mounting support, and the gear II and the rack 22 operate to enable the mounting support to move along the truss 2, namely the connecting support 3 and the tail end grabbing equipment move along the truss 2, so that Y-direction operation is achieved. The operation of X, Y, Z three directions above can be through each gear rotation of servo motor control, and servo motor control accuracy is high, can realize X, Y, Z three direction's accurate control, improves conveying mechanism's precision. According to the invention, the terminal grabbing equipment is driven to move in space by means of X \ Y \ Z three axes, so that the carried materials realize the automatic conveying function of the area, and the automatic conveying device has the functions of grabbing and placing with high precision, and the carrying range is as follows: the X axis is 24 meters, the Y axis is 12 meters, and the Z axis is 1.2 meters, so that the large-span high-precision conveying of heavy materials is realized.
The truss 2 is designed into a triangular frame structure, and firstly, the frame structure can reduce the weight of the truss and is beneficial to lightweight design; and secondly, the triangular structure has the characteristic of stability, so that the stability of the truss is improved while the weight is reduced.
The terminal grabbing device 4 comprises a mounting seat 41, a positioning mechanism 42 and a clamping mechanism 43, wherein the mounting seat 41 is mounted on the connecting support 3, the positioning mechanism 42 is connected to the bottom of the mounting seat 41, and the clamping mechanism 43 is mounted on the mounting seat 41. The mounting base 41 is a frame structure, the clamping mechanism 43 is connected to the mounting base 41 through a mounting plate 435, the clamping mechanism 43 comprises a clamping jaw 431 and an air cylinder 432, the clamping jaw 431 is connected with a movable rod of the air cylinder 432, and the clamping mechanisms 43 are symmetrically arranged on two sides of the connecting bracket 3.
The clamping mechanism 43 further comprises a gear 433 and a rack 434, a guide rail 436 is arranged on the mounting plate 435, the rack 434 is connected to the guide rail 436 in a sliding manner, the fixed end of the cylinder 432 is connected to the rack 434, the clamping jaws 431 are connected to the movable rod of the cylinder 432, the racks 434 are symmetrically arranged on two sides of the gear 433 and meshed with the gear, and the gear 433 rotates to drive the two racks to move in opposite directions, so that the two clamping jaws 431 are driven to move in opposite directions to clamp. The rack is driven to rotate through the servo motor drive gear 433 or to move through the pushing of the air cylinder, so that the rack and pinion mechanism is driven to operate.
The positioning mechanism 42 comprises a suction cup 421, a flexible joint 422 and a spring rod 423, wherein one end of the spring rod 423 is connected to the mounting base 41, the other end of the spring rod 423 is connected to one end of the flexible joint 422, and the other end of the flexible joint 422 is connected to the suction cup 421. In order to increase the contact area between the positioning mechanism and the material, an extension plate 44 is disposed on the mounting seat 41, a positioning mechanism 42 is also disposed on the extension plate 44, and the positioning mechanism 42 is mounted on the mounting seat 41 and symmetrically distributed on two sides of the connecting bracket 3. The sucking disc 421 is set up firstly to play the effect of location, secondly plays the cushioning effect when fixture 43 contacts with the material, avoids fixture 43 and material direct contact, causes fixture 43 and material damage.
The invention also relates to a use method of the high-precision three-dimensional large-space heavy-load type material conveying mechanism, which comprises the following steps:
a. firstly, a servo motor drives gears at two ends of a truss 2 to rotate, the truss 2 moves on a support frame 1 to realize movement in the X direction, and the movement stops after the movement is in place; secondly, the gear rack mechanism is controlled by a servo motor, the connecting bracket 3 moves on the truss 2 to realize Y-direction movement, and the movement stops after the movement is in place; then, the gear rack mechanism is controlled by a servo motor, the connecting bracket 3 moves up and down relative to the truss 2 to realize Z-direction movement, and the movement is stopped after the movement is in place to carry or put down materials;
b. the suction cup 421 of the positioning mechanism 42 is firstly contacted with the surface of the material, the suction cup 421 is adsorbed on the surface of the material to position the terminal grabbing device 4, the cylinder 432 retracts the clamping jaw 431 to move downwards to grab the material, then the gear rack mechanism is driven to operate, the gear 433 rotates to drive the two racks to move oppositely, so that the two clamping jaws 431 are driven to move oppositely to realize clamping, and the material is transported;
c. after the transported materials are in place, the gear rack mechanism is driven to reversely run, the gear 433 reversely rotates to drive the two racks to reversely move, so that the two clamping jaws 431 are driven to reversely move, the air cylinder 432 retracts the clamping jaws 431 to upwards turn open to loosen the materials, and the materials are put down.
The invention utilizes a servo system to control the linear motion of the conveying mechanism in space, performs high-precision linear walking in three dimensions of X \ Y \ Z, and realizes the function of high-precision positioning and carrying through three-axis linkage coordination.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the technical solution of the invention or to apply the concept and technical solution of the invention directly to other occasions without modification.
Claims (10)
1. The utility model provides a big space heavy load type material conveyor of high accuracy solid constructs which characterized in that: including braced frame (1), truss (2), linking bridge (3) and terminal equipment (4) of snatching, the both ends sliding connection of truss (2) is on braced frame (1), and linking bridge (3) sliding connection is on truss (2), snatchs equipment (4) at the bottom installation end of linking bridge (3).
2. The high-precision three-dimensional large-space heavy-duty material conveying mechanism of claim 1, wherein: terminal equipment (4) of snatching includes mount pad (41), positioning mechanism (42) and fixture (43), and mount pad (41) are installed on linking bridge (3), and positioning mechanism (42) are connected in the bottom of mount pad (41), and fixture (43) are installed on mount pad (41).
3. The high-precision three-dimensional large-space heavy-duty material conveying mechanism of claim 2, wherein: the mounting seat (41) is of a frame structure, the clamping mechanism (43) is connected to the mounting seat (41) through the mounting plate (435), the clamping mechanism (43) comprises a clamping jaw (431) and an air cylinder (432), the clamping jaw (431) is connected with a movable rod of the air cylinder (432), and the clamping mechanism (43) is symmetrically arranged on two sides of the connecting support (3).
4. The high-precision three-dimensional large-space heavy-duty material conveying mechanism of claim 3, wherein: the clamping mechanism (43) further comprises a gear (433) and a rack (434), a guide rail (436) is arranged on the mounting plate (435), the rack (434) is connected to the guide rail (436) in a sliding mode, the fixed end of the cylinder (432) is connected to the rack (434), the clamping jaw (431) is connected to the movable rod of the cylinder (432), the rack (434) is symmetrically arranged on two sides of the gear (433) and meshed with the gear, and the gear (433) rotates to drive the two racks to move in the opposite direction.
5. The high-precision three-dimensional large-space heavy-duty material conveying mechanism according to any one of claims 2 to 4, wherein: the positioning mechanism (42) comprises a sucker (421), a flexible joint (422) and a spring rod (423), one end of the spring rod (423) is connected to the mounting seat (41), the other end of the spring rod (423) is connected with one end of the flexible joint (422), and the other end of the flexible joint (422) is connected with the sucker (421).
6. The high-precision three-dimensional large-space heavy-duty material conveying mechanism of claim 5, wherein: the mounting seat (41) is provided with an extension plate (44), the extension plate (44) is also provided with a positioning mechanism (42), and the positioning mechanism (42) is mounted on the mounting seat (41) and symmetrically distributed on two sides of the connecting support (3).
7. The high-precision three-dimensional large-space heavy-duty material conveying mechanism of claim 6, wherein: the supporting frame (1) is provided with a rack (11), two ends of the truss (2) are provided with gears (21), the gears (21) are meshed with the rack (11), the truss (2) is further provided with a servo motor used for driving the gears (21) to move, and the gears (21) are connected to an output shaft of the servo motor.
8. The high-precision three-dimensional large-space heavy-duty material conveying mechanism according to claim 7, wherein: the connecting support (3) is connected to the truss (2) through the mounting support, a rack (31) is arranged on the connecting support (3), and a gear I meshed with the rack (31) is arranged on the mounting support.
9. The high-precision three-dimensional large-space heavy-duty material conveying mechanism according to claim 8, wherein: the truss (2) is of a triangular frame structure, a rack (22) is arranged on the truss (2), and a gear II meshed with the rack (22) is arranged on the mounting support.
10. The use method of the high-precision three-dimensional large-space heavy-duty material conveying mechanism according to any one of claims 1 to 9, wherein: the using method comprises the following steps:
a. firstly, a servo motor drives gears at two ends of a truss (2) to rotate, the truss (2) moves on a support frame (1) to realize X-direction movement, and the movement stops after the movement is in place; secondly, the gear rack mechanism is controlled through a servo motor, the connecting support (3) moves on the truss (2), Y-direction movement is achieved, and the connecting support stops moving in place; then, a gear rack mechanism is controlled by a servo motor, the connecting support (3) moves up and down relative to the truss (2) to realize Z-direction movement, and the movement stops after the connecting support moves in place to carry or put down materials;
b. the sucker (421) of the positioning mechanism (42) is firstly contacted with the surface of the material, the sucker (421) is adsorbed on the surface of the material to position the terminal grabbing equipment (4), the cylinder (432) retracts the clamping jaws (431) to clamp the material downwards, then the rack and pinion mechanism is driven to operate, the gear (433) rotates to drive the two racks to move in opposite directions, and therefore the two clamping jaws (431) are driven to move in opposite directions to clamp the material, and the material is transported;
c. after the transported materials are in place, the gear rack mechanism is driven to run reversely, the gear (433) rotates reversely to drive the two racks to move reversely, so that the two clamping jaws (431) are driven to move reversely, the air cylinder (432) retracts the clamping jaws (431) to turn upwards to loosen the materials, and the materials are put down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911285128.6A CN110902382A (en) | 2019-12-13 | 2019-12-13 | High-precision three-dimensional large-space heavy-load material conveying mechanism and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911285128.6A CN110902382A (en) | 2019-12-13 | 2019-12-13 | High-precision three-dimensional large-space heavy-load material conveying mechanism and using method thereof |
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| CN110902382A true CN110902382A (en) | 2020-03-24 |
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| CN201911285128.6A Pending CN110902382A (en) | 2019-12-13 | 2019-12-13 | High-precision three-dimensional large-space heavy-load material conveying mechanism and using method thereof |
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| CN109264378A (en) * | 2018-08-14 | 2019-01-25 | 中民筑友有限公司 | A kind of reinforced mesh grasping system of view-based access control model identification |
| CN208485309U (en) * | 2018-05-30 | 2019-02-12 | 广州市永合祥自动化设备科技有限公司 | Palletizing apparatus and stacking jig |
| CN208616914U (en) * | 2018-07-25 | 2019-03-19 | 洛阳锦东智能科技有限公司 | A kind of glass pendulum robot |
| CN109676581A (en) * | 2017-10-19 | 2019-04-26 | 上海顶欣机电设备有限公司 | A kind of truss robot and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0418319B1 (en) * | 1988-05-31 | 1995-11-08 | BROWN, Gordon T. | Gantry robot construction and drive mechanism |
| CN203624557U (en) * | 2013-11-29 | 2014-06-04 | 曾定启 | Sucking disc transmission device capable of automatically positioning |
| CN105752679A (en) * | 2016-05-13 | 2016-07-13 | 缪磊 | Mechanical arm device used for loading and unloading tiles |
| CN206521079U (en) * | 2016-12-12 | 2017-09-26 | 吉林久盛生态环境科技股份有限公司 | A kind of stacking machine |
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Application publication date: 20200324 |