CN213971242U

CN213971242U - Heavy explosion-proof gantry truss robot

Info

Publication number: CN213971242U
Application number: CN202022451151.2U
Authority: CN
Inventors: 孟祥升; 刘培涛; 刘明; 宁波
Original assignee: Qingdao Xinghua Intelligent Equipment Co ltd
Current assignee: Qingdao Xinghua Intelligent Equipment Co ltd
Priority date: 2020-10-29
Filing date: 2020-10-29
Publication date: 2021-08-17
Anticipated expiration: 2030-10-29

Abstract

The utility model relates to a junked tire schizolysis is equipped, in particular to heavy explosion-proof longmen truss robot. Comprises a gripper mechanism and a lifting mechanism connected with the gripper mechanism. The gripper mechanism comprises a gripper support, a gripper and a gripper driving mechanism, the gripper driving mechanism is fixed on the gripper support, and the output end of the gripper driving mechanism is connected with the gripper to drive the gripper to reciprocate on the gripper support. The lifting mechanism comprises a Y-axis beam, a servo motor, a worm gear speed reducer, a nitrogen balance rod assembly and a Z-axis vertical beam, the Z-axis vertical beam is perpendicular to and fixedly connected with the gripper support, and the band-type brake servo motor, the worm gear speed reducer and the nitrogen balance rod assembly are fixed on the Y-axis beam and drive the Z-axis vertical beam to move up and down on the Y-axis beam. The utility model discloses the structure is succinct, and is explosion-proof effectual, safe and reliable, and is with low costs, suitable popularization and application.

Description

Heavy explosion-proof gantry truss robot

Technical Field

The utility model relates to a junked tire schizolysis is equipped, in particular to heavy explosion-proof longmen truss robot.

Background

In recent years, with the rapid development of the automobile industry in China, the tire industry also enters a rapid growth period, and China becomes a world with large tire production and consumption. However, how to store and degrade the discarded tires becomes an urgent problem to be solved in various countries. The existing waste tire degradation can be realized by putting the tire into a cracking furnace for cracking and then recycling the waste tire. In the process of cracking tires, the whole factory needs to be explosion-proof, so all the equipment needs to be designed to be explosion-proof. In addition, in the cracking process of the tires, the weight of the tires in batch cracking is large, and how to ensure the safety in the cracking process is an urgent technical problem to be solved in the process of designing equipment.

SUMMERY OF THE UTILITY MODEL

For solving the not enough of prior art existence, the utility model provides a heavy explosion-proof longmen truss robot for carrying the tire to carry out the schizolysis in the schizolysis stove that simple structure is reliable, the security is high, with low costs.

The technical scheme of the utility model is that:

a heavy explosion-proof gantry truss robot comprises a gripper mechanism and a lifting mechanism connected with the gripper mechanism; the gripper mechanism comprises a gripper support, a gripper and a gripper driving mechanism, the gripper driving mechanism is fixed on the gripper support, and the output end of the gripper driving mechanism is connected with the gripper to drive the gripper to reciprocate on the gripper support; the lifting mechanism comprises a Y-axis cross beam, a servo motor, a worm gear speed reducer, a nitrogen balance rod assembly and a Z-axis vertical beam, the Z-axis vertical beam is perpendicular to and fixedly connected with the gripper support, and the worm gear speed reducer and the nitrogen balance rod assembly are arranged on the Y-axis cross beam and drive the Z-axis vertical beam to move up and down on the Y-axis cross beam.

Furthermore, the gripper support is rectangular, the gripper driving mechanisms are arranged on the gripper support in a plurality of matrix symmetrical arrangement, and the grippers are arranged on the gripper support in a plurality of corresponding to the gripper driving mechanisms.

Furthermore, the tongs driving mechanism is set as a high-temperature-resistant driving cylinder, a tongs guide rail is arranged on the tongs support, and the output end of the high-temperature-resistant driving cylinder is connected with the tongs to drive the tongs to horizontally move on the tongs guide rail.

Furthermore, a gripper guide rail brake is arranged on the gripper guide rail.

Further, the servo motor is set to be a band-type brake servo motor, and the output end of the band-type brake servo motor is connected with the worm and gear speed reducer.

Furthermore, the nitrogen gas balancing pole subassembly includes nitrogen gas jar and the balancing pole section of thick bamboo of being connected with the nitrogen gas jar, the output and the vertical roof beam fixed connection of Z axle of balancing pole section of thick bamboo.

Furthermore, the Z-axis vertical beam is provided with a Z-axis vertical beam guide rail, and a Z-axis vertical beam guide rail brake is arranged on the Z-axis vertical beam guide rail.

Furthermore, the Z-axis vertical beam guide rail is set to be a roller guide rail.

The X-axis transverse traveling sliding plate is vertically and fixedly connected with the Y-axis cross beam, and the transverse traveling driving mechanism drives the X-axis transverse traveling sliding plate to move on the cross frame and further drives the Z-axis vertical beam to move transversely; the longitudinal traveling mechanism comprises a sliding frame and a longitudinal traveling driving mechanism, the sliding frame is connected with the Z-axis vertical beam, and the longitudinal traveling driving mechanism drives the sliding frame to move on the Y-axis cross beam and further drives the Z-axis vertical beam to move longitudinally.

Further, still include the schizolysis cage, the schizolysis cage sets up to open-top, and the cross-section is the decagon structure of symmetry setting.

Furthermore, a hook corresponding to the hand grab is arranged on the cracking cage.

The utility model discloses the beneficial effect who reaches does:

1. the utility model provides a heavy explosion-proof longmen truss robot, the preferred high temperature resistant actuating cylinder that drives of tongs actuating mechanism. The cracking cage is continuously in a high-temperature and low-temperature environment, so that the hook of the cracking cage deforms abnormally seriously, and the requirement on the hand grip is greatly enhanced. The air cylinder belongs to a compressible pure mechanical mechanism, so that the problem of deformation of the cracking cage is solved, and the explosion-proof requirement can be better met. And the gripper guide rail brake is arranged, so that the gripper can be firmly locked under the condition of gas and power failure in the process of hooking the cracking cage by the gripper, the cracking cage is effectively prevented from falling, and the operation safety is ensured.

2. The utility model provides a heavy explosion-proof longmen truss robot adopts the turbine worm speed reducer, and the turbine worm has self-locking function, has guaranteed the safety of operation in-process.

3. The utility model provides a heavy explosion-proof longmen truss robot, explosion-proof servo motor most power is less on the present market, and the partly high-power explosion-proof servo motor is monopolized by few foreign manufacturers, and the price is odd high, takes band-type brake servo motor itself to have the braking action, has higher security to a certain extent. The nitrogen balance bar assembly provides a reaction force during use, and plays a role in protection. In addition, the output force of the servo motor can be greatly reduced in the using process, so that the power of the motor is reduced. The model of the motor can be correspondingly reduced, the price can be greatly reduced, and the cost is reduced. In addition, the nitrogen balance rod assembly is adopted, external power equipment is not needed, energy is saved, and the stability of the equipment during vertical starting and stopping is improved.

4. The utility model provides a heavy explosion-proof longmen truss robot sets up Z axle and erects roof beam guide rail stopper, can provide an effectual safety guarantee to vertical direction. And the roller guide rail is adopted, so that the bearing is good, and the integral safety performance of the equipment can be further ensured.

To sum up, the utility model provides a heavy explosion-proof longmen truss robot has selected area band-type brake servo motor, worm gear speed reducer, nitrogen gas balance bar subassembly, guide rail brake at vertical direction, and under the condition of outage, the motor can be embraced, does the utility model provides a first layer protection. The nitrogen gas balance bar subassembly, as long as there is nitrogen gas tank the inside, will provide an ascending power always, also play the guard action, do the utility model provides a second floor protection. Turbine worm speed reducer self-locking function does the utility model discloses a third layer protection. Finally, tongs guide rail brake and Z axle erect roof beam guide rail brake, under the condition of cutting off the power supply of cutting off the gas, guide rail brake can lock, do the utility model provides a fourth layer protection.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic side view of the present invention.

Fig. 3 is a perspective view of the present invention with the lifting mechanism removed.

Fig. 4 is a top view of the present invention with the lifting mechanism removed.

Fig. 5 is a front view of the present invention with the lifting mechanism removed.

Fig. 6 is a schematic structural view of the belt longitudinal running mechanism and the transverse running mechanism of the present invention.

Fig. 7 is an enlarged view of a portion a in fig. 6.

Wherein, 1, cracking cage; 2. a gripper bracket; 3. a Z-axis vertical beam; 4. a Y-axis beam; 5. a worm gear reducer; 6. a balance rod barrel; 7. a nitrogen tank; 8. a gripper guide rail brake; 9. a high temperature resistant driving cylinder; 10. a gripper; 11. hooking; 12. a band-type brake servo motor; 13. a cross frame; 14. an X-axis transverse walking sliding plate; 15. a carriage.

Detailed Description

To facilitate understanding of the present invention for those skilled in the art, embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in fig. 1-7, a heavy explosion-proof gantry truss robot comprises a lifting mechanism, a gripper mechanism and a cracking cage 1 from top to bottom. The lifting mechanism is fixedly connected with the gripper mechanism and drives the gripper mechanism to move, and the gripper mechanism is detachably connected with the cracking cage 1.

Specifically, the hand grab mechanism comprises a hand grab support 2, a hand grab guide rail brake 8, a high temperature resistant driving cylinder 9 and a hand grab 10. The gripper support 2 is of a rectangular structure, the gripper guide rails, the gripper guide rail brake 8, the high-temperature-resistant driving cylinders 9 and the grippers 10 are arranged into four groups, and the four groups are symmetrically arranged at four corners of the gripper support 2 respectively.

The gripper guide rail is fixed on the gripper support 2, and the gripper guide rail brake 8 is arranged on the gripper guide rail. The high-temperature-resistant driving cylinder 9 is fixed on the gripper support 2, and the output end of the high-temperature-resistant driving cylinder 9 is connected with the gripper 10. The high-temperature resistant driving cylinder 9 is a Japanese SMC high-temperature resistant cylinder CA2T63-50Z-XB 6. In a specific use process, the high-temperature-resistant driving air cylinder 9 drives the hand grip 10 to horizontally move on the hand grip guide rail. The cylinder is adopted for pushing, the cylinder has compressibility and can be stopped passively after contacting with the hook in the stroke, and the stop position, namely the safety position, can be lifted. Meanwhile, due to the high temperature during the cracking process, the common sensor cannot be used. The air cylinder is adopted to push the air cylinder, a sensor is not needed, the structure is simple, the price is low, the cost performance is high, and the operation is stable. In the operation process, the position of the tire placed in the cracking cage 1 is uncertain, so that the gravity center is possibly unstable, if the tire is suddenly cut off in the operation process, the whole cracking cage is likely to fall off, and after the gripper guide rail brake 8 is arranged, the tire can be locked after the tire is cut off, the tire is not allowed to move, and therefore safety is guaranteed.

The lifting mechanism comprises a Y-axis cross beam 4, a band-type brake servo motor 12, a turbine worm speed reducer 5, a nitrogen balance rod assembly, a Z-axis vertical beam 3, a Z-axis vertical beam guide rail brake and a roller guide rail. The roller guide rail is fixed on the Z-axis vertical beam. After the cracking cage 1 contains the tire, in the vertical direction, the stress is very big, and the weight that cracking cage 1 adds the tire is about 3 tons, and the weight of the vertical roof beam 3 of Z axle has about 5 tons in addition, so adopted the gyro wheel guide rail, the bearing is good, further guarantees the holistic security performance of equipment. The Z-axis vertical beam guide rail brake is arranged on the roller guide rail, and the Z-axis vertical beam guide rail brake provides further safety guarantee for the whole equipment under the condition of gas and power failure.

The Y-axis cross beams 4 are arranged in parallel to form two, and the Z-axis vertical beam 3 is arranged between the two Y-axis cross beams 4. The output end of the servo motor 12 with the band-type brake is connected with the worm and gear speed reducer 5. The worm gear and worm speed reducers 5 are arranged into 2 groups and are respectively arranged on the Y-axis cross beam 4. The Z-axis vertical beam 3 is driven to move up and down through a gear rack.

The nitrogen gas balancing pole subassembly includes nitrogen gas jar 7 and the balancing pole section of thick bamboo 6 of being connected with nitrogen gas jar 7, the output and the vertical beam 3 fixed connection of Z axle of balancing pole section of thick bamboo 6. The main function of the nitrogen balance rod assembly is to provide a reaction force and reduce the output force of the motor, so that the power of the motor is reduced, the model number of the motor can be greatly reduced, and the price can be greatly reduced. The nitrogen balance rod assembly solves the problem well because the power of an explosion-proof motor is not very large in an explosion-proof environment. By adopting the nitrogen balancing bar assembly, the weight of the effective load can be balanced to 3000kg to the maximum extent, the power of the motor is greatly reduced, and compared with the traditional method, the energy consumption is saved by 60%.

The horizontal running mechanism comprises a cross frame 13, and a cross frame guide rail is arranged on the cross frame 13. The X-axis transverse walking sliding plate 14 is vertically and fixedly connected with the Y-axis cross beam 4, and the transverse walking driving mechanism drives the X-axis transverse walking sliding plate 14 to horizontally move on the cross frame guide rail, so that the Z-axis vertical beam 3 is further driven to transversely move. The transverse walking driving mechanism comprises a servo motor without a band-type brake and a worm and gear speed reducer connected with the servo motor without the band-type brake.

The longitudinal traveling mechanism comprises a sliding frame 15 and a longitudinal traveling driving mechanism, the sliding frame 15 is connected with the Z-axis vertical beam 3, and the longitudinal traveling driving mechanism drives the sliding frame 15 to move on the Y-axis cross beam 4 and further drives the Z-axis vertical beam 3 to move longitudinally. The longitudinal walking driving mechanism comprises a servo motor without a band-type brake and a worm and gear speed reducer connected with the servo motor without the band-type brake.

The cracking cage 1 is formed by welding steel pipes and is provided with an opening at the top, and the cross section of the cracking cage is of a decagonal structure which is symmetrically arranged. The cracking cage 1 is provided with a hook 11 corresponding to the gripper.

The above-mentioned embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a heavy explosion-proof longmen truss robot which characterized in that: comprises a gripper mechanism and a lifting mechanism connected with the gripper mechanism; the gripper mechanism comprises a gripper support, a gripper and a gripper driving mechanism, the gripper driving mechanism is fixed on the gripper support, and the output end of the gripper driving mechanism is connected with the gripper to drive the gripper to reciprocate on the gripper support; the lifting mechanism comprises a Y-axis cross beam, a servo motor, a worm gear speed reducer, a nitrogen balance rod assembly and a Z-axis vertical beam, the Z-axis vertical beam is perpendicular to and fixedly connected with the gripper support, and the servo motor, the worm gear speed reducer and the nitrogen balance rod assembly are arranged on the Y-axis cross beam and drive the Z-axis vertical beam to move up and down on the Y-axis cross beam.

2. The heavy duty explosion proof gantry truss robot of claim 1, wherein: the gripper support is rectangular, the gripper driving mechanisms are arranged on the gripper support in a plurality of matrix symmetrical mode, and the grippers are arranged on the gripper support in a plurality of corresponding gripper driving mechanisms.

3. The heavy duty explosion proof gantry truss robot of claim 1 or 2, wherein: the gripper driving mechanism is arranged to be a high-temperature-resistant driving cylinder, a gripper guide rail is arranged on the gripper support, and the output end of the high-temperature-resistant driving cylinder is connected with the gripper to drive the gripper to horizontally move on the gripper guide rail.

4. The heavy duty explosion proof gantry truss robot of claim 3, wherein: and a gripper guide rail brake is arranged on the gripper guide rail.

5. The heavy duty explosion proof gantry truss robot of claim 1, wherein: the servo motor is set to be a band-type brake servo motor, and the output end of the band-type brake servo motor is connected with the worm and gear speed reducer.

6. The heavy duty explosion proof gantry truss robot of claim 1, wherein: the nitrogen balancing pole subassembly includes nitrogen gas jar and the balancing pole section of thick bamboo of being connected with the nitrogen gas jar, the output and the vertical roof beam fixed connection of Z axle of balancing pole section of thick bamboo.

7. The heavy duty explosion proof gantry truss robot of claim 1, wherein: the Z-axis vertical beam is provided with a Z-axis vertical beam guide rail, and a Z-axis vertical beam guide rail brake is arranged on the Z-axis vertical beam guide rail.

8. The heavy duty explosion proof gantry truss robot of claim 7, wherein: the Z-axis vertical beam guide rail is a roller guide rail.

9. The heavy duty explosion proof gantry truss robot of claim 1, wherein: the X-axis transverse traveling sliding plate is vertically and fixedly connected with the Y-axis cross beam, and the transverse traveling driving mechanism drives the X-axis transverse traveling sliding plate to move on the cross frame and further drives the Z-axis vertical beam to move transversely; the longitudinal traveling mechanism comprises a sliding frame and a longitudinal traveling driving mechanism, the sliding frame is connected with the Z-axis vertical beam, and the longitudinal traveling driving mechanism drives the sliding frame to move on the Y-axis cross beam and further drives the Z-axis vertical beam to move longitudinally.

10. The heavy duty explosion proof gantry truss robot of claim 1, wherein: still include the schizolysis cage, the schizolysis cage sets up to open-top, and the cross-section is the decagon structure of symmetry setting, be provided with the couple corresponding with the tongs on the schizolysis cage.