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CN-121973166-A - Heavy mud stick transport truss manipulator

CN121973166ACN 121973166 ACN121973166 ACN 121973166ACN-121973166-A

Abstract

The invention discloses a heavy mud rod carrying truss manipulator, belongs to the technical field of heavy material automatic carrying equipment, and is suitable for automatic grabbing, carrying and accurate stacking of soft mud rod cylindrical bars. The manipulator comprises an X-axis fixed frame body, a Y-axis movable frame body, a Z-axis lifting assembly, an R-axis rotating assembly, a clamping gripper assembly and an electromagnetic band-type brake assembly, wherein all shafting adopts a gear-rack transmission structure to realize space accurate movement of multi-axis linkage, and the electromagnetic band-type brake assembly detects the rotating speed through an encoder and realizes Z-axis anti-falling braking by matching with gear-rack meshing, so that potential safety hazards are eliminated. Each driving, detecting and braking part is electrically connected with an external control system, so that full-automatic operation is realized, the problems of poor adaptability, easy damage, inaccurate positioning and no anti-falling protection of the traditional mud rod are solved, and the carrying efficiency and the operation safety are greatly improved.

Inventors

  • CHENG XINFENG
  • LIU GUOJUN
  • ZHANG XUEMIN

Assignees

  • 特鲁门(北京)科技有限公司

Dates

Publication Date
20260505
Application Date
20260316

Claims (10)

  1. 1. The heavy mud rod carrying truss manipulator is characterized by comprising an X-axis fixing frame body, a Y-axis movable frame body, a Z-axis lifting assembly, an R-axis rotating assembly, a clamping gripper assembly and an electromagnetic band-type brake assembly; The X-axis fixed frame body is vertically fixed on the ground, the Y-axis movable frame body is in horizontal sliding fit with the X-axis fixed frame body, the Z-axis lifting assembly is in horizontal sliding fit with the Y-axis movable frame body, the sliding direction of the Z-axis lifting assembly is vertical to the Y-axis movable frame body, the R-axis rotating assembly is fixed at the bottom end of the Z-axis lifting assembly, and the clamping gripper assembly is fixedly connected with the rotating end of the R-axis rotating assembly; The electromagnetic band-type brake assembly is fixed on the Z-axis lifting assembly and is meshed with the lifting execution end of the Z-axis lifting assembly to realize Z-axis anti-falling braking, the X-axis fixing frame body, the Y-axis movable frame body and the Z-axis lifting assembly are all provided with a driving structure with a gear and rack transmission, the electromagnetic band-type brake assembly comprises a driving shaft (30), an encoder (31), an electromagnetic band-type brake (32), a bearing (33), a band-type brake gear (34) and a bearing chamber (35), the bearing chamber (35) is sleeved and installed on the outer surface of the driving shaft (30), the electromagnetic band-type brake (32) is fixedly connected to the outer side of the bearing chamber (35), the driving shaft (30) is arranged in the bearing chamber (35) in a penetrating mode and is in rotary fit with the bearing chamber (35) through the bearing (33), one end of the driving shaft (30) is fixedly connected with a braking flange of the electromagnetic band-type brake (32), the other end of the encoder (31) is connected with the band-type brake gear (34) through a small shaft and one end of the driving shaft (30) far away from the band-type brake gear (34), and the electromagnetic band-type brake gear (34) is meshed with the lifting assembly.
  2. 2. The heavy mud rod carrying truss manipulator according to claim 1 is characterized in that the X-axis fixing frame body comprises a plurality of upright posts (1), X-axis cross beams (2), end cross beams (4) and X-axis motor speed reduction drives (5), bottom surface bottom plates are fixedly connected to the bottoms of the upright posts (1), the bottom surface bottom plates are fixed to the ground through chemical bolts, two ends of each X-axis cross beam (2) are fixedly connected with the top ends of the upright posts (1) through screws respectively, two ends of each end cross beam (4) are fixedly connected with the X-axis cross beams (2) to form a frame type fixing structure, guide rail mounting plates are fixedly connected to the upper surfaces of the X-axis cross beams (2), racks are fixedly connected to the side surfaces of the X-axis cross beams, the X-axis motor speed reduction drives (5) are mounted on the bottom surfaces of the Y-axis movable frame body, and driving gears meshed with the racks on the side surfaces of the X-axis cross beams (2) are in transmission connection.
  3. 3. The heavy mud bar carrying truss manipulator of claim 2, wherein the Y-axis movable frame body is a Y-axis movable beam (6), guide rail sliding blocks are fixedly connected to the bottom surface of the Y-axis movable beam (6), the guide rail sliding blocks are matched with guide rails of guide rail mounting plates on the upper surface of the X-axis movable beam (2), the Y-axis movable beam (6) is horizontally matched with the X-axis movable beam (2) in a sliding mode, the guide rail mounting plates are fixedly connected to the upper surface of the Y-axis movable beam (6), racks are fixedly connected to the side surfaces of the Y-axis movable beam, an X-axis drag chain (3) for accommodating cables is fixedly connected to the outer side of the X-axis movable beam (2), limiting seats are fixedly connected to two ends of the X-axis movable beam (2), and limiting rubber pads are fixedly connected to the limiting seats.
  4. 4. The heavy mud bar carrying truss manipulator according to claim 3, wherein the Z-axis lifting assembly comprises a Z-axis mounting plate (7), a Z-axis guiding assembly (8), a Z-axis beam (11) and a Z-axis motor reduction drive (12), the Z-axis mounting plate (7) is a fixed end of the Z-axis lifting assembly, a guide rail sliding block is fixedly connected to the bottom surface of the Z-axis mounting plate, the guide rail sliding block is matched with a guide rail of a guide rail mounting plate on the upper surface of the Y-movable cross beam (6) to realize horizontal sliding fit of the Z-axis mounting plate (7) and the Y-movable cross beam (6), the Z-axis beam (11) is a lifting execution end of the Z-axis lifting assembly, a guide rail and a rack (29) are fixedly connected to the side surface of the Z-axis beam, and a brake gear (34) of the electromagnetic brake assembly is meshed with the rack (29).
  5. 5. The heavy mud rod carrying truss manipulator according to claim 4, wherein a Z-axis fixing seat is fixedly connected to one side, facing a Z-axis beam (11), of the Z-axis mounting plate (7), the Z-axis guiding assembly (8) is fixedly connected with the Z-axis fixing seat, guide rail sliding blocks matched with guide rails on the side faces of the Z-axis beam (11) are fixedly connected to the Z-axis guiding assembly (8), vertical sliding fit of the Z-axis beam (11) and the Z-axis guiding assembly (8) is achieved, a Z-axis motor reduction drive (12) is fixedly connected to the side faces of the Z-axis guiding assembly (8), a connecting gear (36) meshed with a rack (29) on the side face of the Z-axis beam (11) is connected to the output end of the Z-axis motor reduction drive (12), and a bearing chamber (35) of the electromagnetic brake assembly is fixedly connected to one side, far away from the Z-axis motor reduction drive (12), of the Z-axis guiding assembly (8).
  6. 6. The heavy mud rod carrying truss manipulator disclosed by claim 4 is characterized in that a Y-axis motor speed reduction drive (9) is fixedly connected to the Z-axis mounting plate (7), a drive gear meshed with a side rack of the Y-axis movable cross beam (6) is in transmission connection with the output end of the Y-axis motor speed reduction drive, a Y-axis drag chain (10) for receiving cables is fixedly connected to the outer side of the Y-axis movable cross beam (6), limit seats are fixedly connected to the two ends of the Y-axis movable cross beam (6), limit rubber pads are fixedly connected to the limit seats, a Z-axis drag chain (13) for receiving cables is fixedly connected to the outer side of the Z-axis beam (11), and limit rubber pads are fixedly connected to the upper end and the lower end of the Z-axis beam (11).
  7. 7. The heavy mud bar carrying truss manipulator according to claim 1, wherein the R-axis rotating assembly comprises an R-axis motor reduction drive (14) and a rotating bearing (15), the rotating bearing (15) is an external tooth type rotating bearing, a fixed end of the rotating bearing is fixedly connected with the bottom surface of a Z-axis beam (11) of the Z-axis lifting assembly through a mounting plate, the R-axis motor reduction drive (14) is fixedly connected with the bottom surface of the Z-axis beam (11), an output end of the rotating bearing is in transmission connection with a driving gear, and the driving gear is meshed with an external tooth ring of the rotating bearing (15).
  8. 8. The heavy mud rod carrying truss manipulator according to claim 7, wherein the clamping gripper assembly comprises a gripper frame body (16), ball screw supporting seats (17), left-right screw rods, screw nuts (18), screw nut mounting seats (20), a gripper clamping driving motor speed reducer (21), a sliding block mounting plate (22), a movable plate (23) and clamping claws (24), the top end of the gripper frame body (16) is connected with the rotating end of a slewing bearing (15), the two ball screw supporting seats (17) are symmetrically and fixedly connected to the bottom surface of the gripper frame body (16), and two ends of the left-right screw rods are respectively in running fit with the two ball screw supporting seats (17); The gripper clamp driving motor speed reducer (21) is fixedly connected to the end face of the gripper frame body (16), the output end of the gripper clamp driving motor speed reducer is in transmission connection with one end of a left-right screw rod through a coupler (19), two screw nuts (18) are respectively sleeved on the left-hand section and the right-hand section of the left-right screw rod and are in threaded fit with the screw rod, the outer side of each screw nut (18) is fixedly connected with a screw rod nut mounting seat (20), two sides of the gripper frame body (16) are fixedly connected with guide rail sliding blocks, the sliding block mounting plates (22) are fixedly connected with the guide rail sliding blocks, and the sliding block mounting plates (22) are fixedly connected with the screw rod nut mounting seats (20) through movable plates (23); The clamping claw (24) is fixedly connected with one end, far away from the gripper frame body (16), of the movable plate (23), a sponge plate is attached to the inner surface, in contact with the mud rod product (25), of the clamping claw (24), limiting seats are fixedly connected to two ends of two sides of the gripper frame body (16), limiting rubber pads are fixedly connected to the limiting seats, and the sliding stroke of the movable plate (23) is limited.
  9. 9. The heavy type mud bar carrying truss manipulator of claim 8, wherein a diffuse reflection photoelectric switch (26) and a laser range finder (27) are fixedly connected to the gripper frame body (16), a detection end of the diffuse reflection photoelectric switch (26) faces towards a mud bar product (25) and is used for detecting the actual position and the placement angle of the mud bar product (25), and a detection end of the laser range finder (27) faces towards a placement station and is used for detecting the space coordinates of a reference plane and a reference point of the placement station.
  10. 10. The heavy mud bar carrying truss manipulator of claim 9, wherein the X-axis motor speed reduction drive (5), the Y-axis motor speed reduction drive (9), the Z-axis motor speed reduction drive (12), the R-axis motor speed reduction drive (14) and the gripper clamping drive motor speed reducer (21) are electrically connected with an external control system, and the diffuse reflection photoelectric switch (26), the laser range finder (27), the encoder (31) and the electromagnetic band-type brake (32) are electrically connected with the external control system, so that automatic linkage and intelligent control of equipment are realized.

Description

Heavy mud stick transport truss manipulator Technical Field The invention relates to the technical field of heavy material automatic conveying equipment, in particular to a heavy mud rod conveying truss manipulator which is particularly suitable for automatic grabbing, conveying and accurate stacking operation of soft mud rod cylindrical bars. Background The mud rod is used as an important basic blank in industrial production, the material is soft, the structure is easy to deform, and the mixed production requirements of multiple specifications and multiple batches exist in the production process, so that the stability, the accuracy and the protection of the carrying process are strictly required. At present, in the domestic market, the mud rod carrying operation is mainly performed in a semi-automatic operation mode of a manual auxiliary mechanical arm, and few scenes adopt simple carrying equipment, but special design is not performed aiming at the characteristics and the mixed production requirements of the soft mud rod, so that the automatic and efficient operation requirements of a modern production line are difficult to match. The existing mud bar conveying technology exposes a plurality of defects in practical application, and becomes a key problem for restricting production efficiency improvement and product quality stabilization: firstly, the adaptability of a grabbing mechanism of the equipment is poor, most of the equipment is of a fixed-interval clamping structure, the clamping size cannot be flexibly adjusted, mud rod products with different diameters and lengths are difficult to be compatible, the clamp is required to be manually replaced when the equipment is in face of the mixed production requirement, the operation is complex, and the production efficiency is greatly reduced; secondly, aiming at the defect of protection design of the soft mud rod, most of clamping parts are in rigid contact structures, and the damage such as dent, indentation and the like on the surface of the mud rod is easily caused by manual operation force control deviation or rigid clamping of equipment, even blank deformation is caused, and the product qualification rate of subsequent processing is directly affected; Thirdly, the lifting shaft system of part of simple carrying equipment lacks a safety protection structure, and the shaft system is easy to fall down when abnormal conditions such as sudden power failure occur, so that not only can damage the mud rod blank, but also the equipment structure is possibly damaged, and larger production potential safety hazards exist. Aiming at the defects of the prior art, the invention develops a heavy mud rod carrying truss manipulator, solves the problems of poor suitability, easily damaged products, inaccurate positioning, safety protection loss and the like in the conventional mud rod carrying process by a multi-shaft linkage gear-rack transmission structure, a self-adaptive adjustable flexible clamping mechanism, a photoelectric and laser cooperative accurate positioning system and a power-off anti-falling electromagnetic band-type brake structure, and realizes automation, intellectualization, precision and safety of mud rod carrying operation. Disclosure of Invention The invention provides a heavy type mud bar conveying truss manipulator which aims at solving the technical problems of poor suitability, easiness in damaging products, inaccurate positioning and safety protection deficiency in the conventional mud bar conveying process. The mechanical arm for carrying the heavy mud rod comprises an X-axis fixing frame body, a Y-axis movable frame body, a Z-axis lifting assembly, an R-axis rotary assembly, a clamping gripper assembly and an electromagnetic band-type brake assembly, wherein the X-axis fixing frame body is vertically fixed on the ground to provide basic support for equipment, the Y-axis movable frame body is horizontally matched with the X-axis fixing frame body in a sliding manner, the Z-axis lifting assembly is horizontally matched with the Y-axis movable frame body in a sliding manner, the sliding direction of the Z-axis lifting assembly is vertical to the Y-axis movable frame body, two-dimensional movement of the equipment in a horizontal plane is realized, the R-axis rotary assembly is fixed at the bottom end of the Z-axis lifting assembly, the clamping gripper assembly is fixedly connected with the rotating end of the R-axis rotary assembly, 360-degree horizontal rotary adjustment of the gripper is realized, the electromagnetic band-type brake assembly is fixed on the Z-axis lifting assembly and is meshed with the lifting execution end of the Z-axis lifting assembly, the X-axis fixing frame body, the Y-axis movable frame body and the Z-axis lifting assembly are all provided with a driving structure for driving the gear rack transmission, and the accurate balance weight and stability of each movement are ensured, and the requirements for carrying the mu