CN107009361A - Gantry robot - Google Patents
Gantry robot Download PDFInfo
- Publication number
- CN107009361A CN107009361A CN201710364102.5A CN201710364102A CN107009361A CN 107009361 A CN107009361 A CN 107009361A CN 201710364102 A CN201710364102 A CN 201710364102A CN 107009361 A CN107009361 A CN 107009361A
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- China
- Prior art keywords
- roller
- slide
- wheel
- handgrip
- orbital plane
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- 230000003028 elevating effect Effects 0.000 claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 238000004804 winding 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- 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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- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of gantry robot, belong to electromechanical automatic field, including left and right parallel interval set two longerons, the transverse beam assembly assembly between two longerons, can left and right transverse shifting it is horizontal walk slide, elevating mechanism, active section general assembly and handgrip, the transverse beam assembly assembly includes spaced two roller mount in left and right, the transverse beam assembly between two roller mounts and drive device, and roller mount is provided with back-up roller wheel；Transverse beam assembly be provided with driven by the drive device and can left and right transverse shifting it is horizontal walk slide, it is horizontal walk slide include slide frame, slide frame is provided with lifting motor and the lifting belt wheel that is driven by lifting motor, and lifting belt wheel is provided with elevator belt；The elevating mechanism includes the crane driven by elevator belt.The present invention be it is a kind of improve operating efficiency, reduce hand labor intensity gantry robot.
Description
Technical field
The invention belongs to electromechanical automatic field, more particularly to a kind of gantry robot.
Background technology
Palletizing technology is an emerging technology of material flows automation technical field, and so-called stacking exactly presses a part material
According to the pile battlement of certain pattern, the logistics activity such as carrying, handling, transport, storage to realize material.Traditional tire code
Pile carrying automaticity is low, and hand labor intensity is big.
The content of the invention
It is an object of the invention to provide a kind of gantry robot to improve automaticity.
To achieve the above object, the present invention is adopted the following technical scheme that：Gantry robot, including left and right parallel interval are set
Two longerons, the transverse beam assembly assembly between two longerons, can left and right transverse shifting it is horizontal walk slide, elevating mechanism,
Pillar, long rails face of the longeron provided with front and rear extension, the crossbeam group are provided with the downside of active section general assembly and handgrip, the longeron
Part assembly includes spaced two roller mount in left and right, the transverse beam assembly between two roller mounts and drive device, roller mount
Provided with back-up roller wheel, the long rails face of the back-up roller wheel of left side roller seat along left-hand stringer is rolled, the support of right roller seat
Long rails face of the roller along right-hand stringer is rolled；The transverse beam assembly provided with main orbit face and secondary orbital plane, main orbit face and
Secondary orbital plane is left and right extension, and secondary orbital plane is vertical or favours the setting of main orbit face；Transverse beam assembly is provided with by described
Drive device drive and can left and right transverse shifting it is horizontal walk slide, it is horizontal walk slide include slide frame, slide frame be provided with can be along master
Orbital plane left and right directions roll dominate to back-up roller wheel, can along secondary orbital plane left and right directions roll secondary guide support roller,
Lifting motor and the lifting belt wheel driven by lifting motor, lifting belt wheel are provided with elevator belt；The elevating mechanism is included by carrying
Rise the crane that band drives, the crane is provided with a synchronous pulley A, one bypass synchronous pulley A timing belt A two ends
Respectively connection handgrip fixed seat, it is horizontal walk slide；
Active section general assembly includes the handgrip fixed seat for being used to connect handgrip,
The handgrip include be fixedly connected with handgrip fixed seat motor cabinet, be arranged on motor cabinet handgrip motor, by
Handgrip motor drive ball screw framework, by ball screw framework screw drive and inner support frame moving up and down,
The outer support frame that is fixedly connected with motor cabinet and around outer support frame successively spaced several main holding frames, inner support frame
Be with outer support frame it is vertically arranged, main holding frame include vertically arranged outer strut, be articulated with outer strut radially inner side and
Between the upper and lower every two connecting rods and a support bar, connecting rod is hinged with inner support frame and both hinge axes are extended laterally, even
The radial inner end of bar is driven and can moved up and down by inner support frame, and support bar one end is articulated with main holding frame in the connecting rod of downside
Portion, the other end and outer tube are articulated and connected.
Slide directive wheel is additionally provided with slide frame, crane correspondence slide directive wheel is dominated to orbital plane provided with vertical,
The slide directive wheel can be along dominating to orbital plane scroll-up/down.
Handgrip fixed seat is provided with active section directive wheel, and crane correspondence active section directive wheel is provided with vertical secondary guide rail
Face, active section directive wheel can be along secondary guide rail face scroll-up/down.
Transverse beam assembly include crossbeam and be respectively arranged on the upside of crossbeam, two track girders of downside, track girder be square steel or
Square tube, the top surface of upside track girder is the main orbit face, and the trailing flank of two track girders is the secondary orbital plane, described leading
Extend to the wheel shaft anterior-posterior horizontal of back-up roller wheel and be located at the upside in main orbit face, the secondary guide support roller is at least provided with one
Group, one group of secondary guide support roller comprises at least two secondary guide support rollers up and down, and the wheel shaft of secondary guide support roller is vertical
Extension, upside pair guide support roller is located at the rear side of the secondary orbital plane of upside track girder, and downside pair guide support roller is located at
The rear side of the secondary orbital plane of lower side rail beam.
The outer support frame is the outer tube being vertically arranged, and each main holding frame of outer tube correspondence is respectively provided with two vias,
Via is vertically extending；Inner support frame is inserts the interior bar of outer tube, and interior bar is fixedly connected with the screw in ball screw framework,
Two connecting rods in two contiguous blocks, main holding frame are set to be respectively interposed corresponding two via on outer tube in interior bar at interval in the upper and lower
And be hinged respectively with two contiguous blocks.
Gantry robot of the present invention, longeron equivalent to X-axis, crossbeam equivalent to Y-axis, elevating mechanism equivalent to Z axis,
Whole transverse beam assembly assembly can be movable along longeron, it is horizontal walk slide again can be along crossbeam or so horizontal stroke under the drive of belt driver
To movement, elevating mechanism can be moved up and down under the drive of elevator belt so that elevating mechanism and active section general assembly can be in X
Moved forward and backward on direction of principal axis, left and right transverse shifting, is moved up and down in the Z-axis direction in the Y-axis direction, passes through active section general assembly
The handgrip that its handgrip fixed seat is fixedly connected can also realize that 3 axles are moved.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of transverse beam assembly assembly；
Fig. 3 be it is horizontal walk slide structural representation；
Fig. 4 is Fig. 3 left view；
Fig. 5 is Fig. 3 right view；
Fig. 6 it is horizontal walk slide stereogram；
Fig. 7 is the stereogram of elevating mechanism；
Fig. 8 is the stereogram of active section general assembly；
Fig. 9 is the installation diagram of active section general assembly and handgrip；
Figure 10 is Fig. 9 left view；
Figure 11 be it is horizontal walk slide, elevating mechanism and active section general assembly installation diagram；
Figure 12 is synchronous pulley A and timing belt A structural representation；
Figure 13 is the structural representation of protective fence；
Figure 14 is the arrangement schematic diagram of protective fence；
Figure 15 is the structural representation of handgrip；
Figure 16 is Figure 14 top view；
Figure 17 is the stereogram of handgrip；
In figure：Handgrip motor 1, shaft coupling 2, motor cabinet 3, leading screw 4, screw 5, via 6, connecting rod 7, outer strut 8, support bar
9th, contiguous block 10, outer support frame 11, inner support frame 12, tire 13, limit inferior sensing chip 14, zero point sensing chip 15, proximity switch
16th, pillar 30, longeron 31, drag chain support 32, long rails face 33, roller mount 34, track girder 35, main orbit face 35A, secondary track
Face 35B, crossbeam 36, elevating mechanism 37, active section general assembly 38, it is horizontal walk slide 39, anticollison block installing plate 40, anticollison block 41, wheel cover
42nd, anticollison block A43, back-up roller wheel 44, synchronous translator 45, synchronous belt transmission device 46, lifting belt wheel 47, transverse beam assembly assembly
48th, slide frame 49, slide directive wheel 50, secondary guide support roller 51, dominate to back-up roller wheel 52, lifting motor 53, elevator belt
54th, connecting plate 55, I-steel 56, crane 57, synchronous pulley A58, timing belt A59, timing belt contiguous block 60, active section are oriented to
Wheel 61, flap seat shield 62, handgrip fixed seat 63, handgrip 64, protective fence 65.
Embodiment
As the gantry robot shown in Fig. 1-Figure 17, including left and right parallel interval set two longerons 31, located at two
Transverse beam assembly assembly 48 between longeron 31, can left and right transverse shifting it is horizontal walk slide 39, elevating mechanism 37, active section general assembly 38
With handgrip 64.
The downside of longeron 31 is provided with pillar 30, and the anterior-posterior horizontal of longeron 31 extension, the downside of every longeron 31 is vertical along it
Fixed several pillars 30 in compartment of terrain successively forwards, backwards, the longeron 31 is provided with the long rails face 33 that anterior-posterior horizontal extends, longeron
31 long rails face 33 is its top surface and is horizontal plane, and the front end upside of longeron 31 and rear upper side are equipped with anticollison block
Anticollison block 41 is set in installing plate 40, the plate face towards the side of longeron 31 of anticollison block installing plate 40, and the material of anticollison block 41 is
Polyurethane.The upper left side of left-hand stringer 31 and the upper right side of right-hand stringer 31 are equipped with the drag chain support parallel with longeron 31
32, drag chain support 32 is provided with drag chain.
The transverse beam assembly assembly 48 includes spaced two roller mount 34 in left and right, the horizontal stroke between two roller mounts 34
Beam assembly and drive device, drive device are the synchronous belt transmission device 46 that left and right transverse horizontal is set.
Roller electricity of the roller mount 34 provided with least two back-up roller wheels 44, the one of back-up roller wheel 44 of drive
Machine, cover on the wheel cover 42 of the upside of all back-up roller wheels 44 in the roller mount 34 and be respectively provided at two anticollisions of the front and rear sides of wheel cover 42
Block A43, roller motor is servomotor, and the output shaft of roller motor docks the wheel shaft of one of back-up roller wheel 44, back-up roller
The wheel shaft of wheel 44 extends for left and right horizontal, and the back-up roller wheel 44 of left side roller seat 34 is located at the long rails face 33 of left-hand stringer 31
Upside simultaneously contacts and rolled along the long rails face 33 of left-hand stringer 31, and the back-up roller wheel 44 of right roller seat 34 is located at the right side
The upside of long rails face 33 of side girder 31 simultaneously contacts and rolled along the long rails face 33 of right-hand stringer 31.
The transverse beam assembly is provided with main orbit face 35A and pair orbital plane 35B, main orbit face 35A and pair orbital plane 35B is
Left and right horizontal extends, and secondary orbital plane is vertical or favours the setting of main orbit face, and transverse beam assembly includes crossbeam 36 and is respectively separated
Two track girders 35 located at the upside of crossbeam 36, downside, during track girder 35 is square steel or square tube, the present embodiment, track girder 35
For square tube, secondary orbital plane is set perpendicular to main orbit face, and the top surface of upside track girder 35 is the main orbit face, and main orbit face is
Horizontal plane, the trailing flank of two track girders 35 is the secondary orbital plane, and secondary orbital plane is perpendicular.
The synchronous belt transmission device 46 includes the synchronous pulley of left and right two and the synchronization being separately positioned in two roller mounts 34
Band, timing belt is to bypass the closed loop body that two synchronous pulleys and ending connect, and timing belt left and right horizontal is set and parallel located at upside
The front side of track girder 35, timing belt includes two straight length portions being respectively positioned between two synchronous pulleys, and two straight length portions are left
The right side is horizontal-extending and is arranged at intervals up and down；One of roller mount 34 is provided with synchronous translator 45, and synchronous translator 45 passes through
Decelerator drives the wheel shaft of one of synchronous pulley.
The rear side of crossbeam 36 is provided with the drag chain support 32 parallel with crossbeam 36, and the drag chain support 32 parallel with crossbeam 36 is provided with
Drag chain.
Transverse beam assembly be provided with by drive device (synchronous belt transmission device 46) drive and can left and right transverse shifting it is horizontal walk
Slide 39, it is horizontal walk slide 39 include slide frame 49, slide frame 49 is fixedly connected with the timing belt of synchronous belt transmission device 46, slide
Frame 49 is specifically fixedly connected with one of straight length portion of timing belt by screw or bolt, and slide frame 49 is provided with can
Dominated along what main orbit face left and right directions was rolled to back-up roller wheel 52, the secondary guide support that can be rolled along secondary orbital plane left and right directions
Winding is provided with elevator belt 54 on roller 51, lifting motor 53 and the lifting belt wheel 47 driven by lifting motor 53, lifting belt wheel 47,
Slide directive wheel 50 is additionally provided with slide frame 49, slide frame 49 includes the rectangular frame being vertically arranged, and slide directive wheel 50 is located at
The front side of slide frame 49, is dominated to back-up roller wheel 52 and secondary guide support roller 51 located at the rear side of slide frame 49, main guide support
At least left and right of roller 52 is positioned apart from two, and described dominate extends to the wheel shaft anterior-posterior horizontal of back-up roller wheel 52 and be located at backbone
The upside in road face and it can be rolled along main orbit face or so, the secondary guide support roller 51 is at least provided with one group, and one group secondary to be oriented to
Back-up roller wheel 51 comprises at least two secondary guide support rollers 51 up and down, and the wheel shaft of secondary guide support roller 51 extends vertically, on
Side pair guide support roller 51 is located at the rear side of the secondary orbital plane of upside track girder 35 and rolled along the secondary orbital plane or so, downside
Secondary guide support roller 51 is located at the rear side of the secondary orbital plane of lower side rail beam 35 and rolled along the secondary orbital plane or so, specifically
Ground, secondary guide support roller 51 or so is positioned apart from two groups, and one group of secondary a pair of the pairs of guide support roller 51 comprising upside is led
To back-up roller wheel 51 and an interval located at the secondary guide support roller 51 of the secondary downside of guide support roller 51 of this pair, the upside
A pair of secondary guide support rollers 51 located at the rear side of the secondary orbital plane of upside track girder 35, interval is located at the secondary guide support of this pair
Rear side of the secondary guide support roller 51 of the downside of roller 51 located at the secondary orbital plane of lower side rail beam 35；In the front side of slide frame 49
Left and right is positioned apart from slide directive wheel 50 described in two groups, and every group of slide directive wheel 50 includes spaced two cunnings up and down
Seat directive wheel 50；It is horizontal walk slide 39 provided with vertical drag chain support 32, drag chain is set on the vertical drag chain support 32.It is sliding
Mounting 49 is provided with timing belt contiguous block 60.
The elevating mechanism 37 includes the crane 57 that lifting is driven by elevator belt 54, and crane 57 is located at before slide frame 49
Side, crane 57 include between left and right every two I-steel 56 and two connecting plates 55 that are both connected between two I-steel 56 constitute
, two connecting plates are between the upper and lower every the end of elevator belt 54 hangs and is fixedly connected with the (elevator belt of crane 57 by screw or bolt
54 ends are connected on one of connecting plate), I-steel 56 is vertically arranged and carries two U-type grooves, 57 pairs of crane
Slide directive wheel 50 is answered to be dominated provided with vertical to orbital plane, the slide directive wheel 50 can be rolled along dominating to above and below orbital plane
It is dynamic, specifically, it is horizontal walk slide 39 on the two groups of slide directive wheels 50 in left and right be respectively protruding into two notches of two I-steel 56 towards rising
Drop in the U-type groove outside frame 57, slide directive wheel 50 contacts with one of trough wall surface of corresponding U-type groove and can be along along the trough wall surface
Lower to roll, one of trough wall surface of the U-type groove contacted with slide directive wheel 50 is dominated to orbital plane to be described, main guide rail
Face extends vertically；The top of crane 57 is additionally provided with a synchronous pulley A58.
Active section general assembly 38 includes the handgrip fixed seat 63 for being used to connect handgrip 64, and the compartment of terrain of handgrip fixed seat 63 or so is set
Put two groups of active section directive wheels 61, every group of active section directive wheel 61 include between the upper and lower every two active section directive wheels 61, rise
The corresponding active section directive wheel 61 of frame 57 drops provided with vertical secondary guide rail face, and active section directive wheel 61 can be along secondary guide rail face
Scroll-up/down, specifically, two groups of left and right active section directive wheel 61 is respectively protruding into the notch of two I-steel 56 of left and right towards crane
In U-type groove in 57, active section directive wheel 61 contacts with one of trough wall surface of corresponding U-type groove and can be along above and below the trough wall surface
Roll, one of trough wall surface of the U-type groove contacted with active section directive wheel 61 is the secondary guide rail face, secondary guide rail
Face extends vertically；Handgrip fixed seat 63 also is provided with timing belt contiguous block 60, and the front side of handgrip fixed seat 63 is provided with flap seat shield 62.
One bypass synchronous pulley A58 timing belt A59 two ends connect respectively handgrip fixed seat 63, it is horizontal walk slide 39,
And timing belt A59 two ends are respectively fixedly connected with the timing belt contiguous block 60 of handgrip fixed seat 63, the timing belt of slide frame 49
Contiguous block 60, timing belt A59 two ends are below synchronous pulley A.
More preferably, protective fence 65 is provided between longitudinally adjacent two column, between two columns of the front end of two longeron 31 with
And also it is equipped with protective fence 65 between two columns of the rear end of two longeron 31.
The structure of handgrip 64 is as follows：Including be fixedly connected with handgrip fixed seat 63 motor cabinet 3, be arranged on motor cabinet 3
Handgrip motor 1, the ball screw framework driven by handgrip motor 1, by the screw 5 in ball screw framework drive and can on move down
Dynamic inner support frame 12, the outer support frame 11 being fixedly connected with motor cabinet 3 and circumferentially it is spaced successively around outer support frame 11
The several main holding frames being uniformly arranged.
Motor cabinet 3 is installed in the front side of handgrip fixed seat 63 by bolt or welding, and flap seat shield 62 covers on handgrip electricity
The upside of machine 1.
The ball screw framework includes the leading screw 4 being vertically arranged and is assemblied on leading screw 4 and can be moved up and down along leading screw 4
Screw 5, the output shaft of handgrip motor 1 extends downwardly from, and the output shaft of handgrip motor 1 docks the silk on the downside of it by shaft coupling 2
Thick stick 4, handgrip motor 1 is servomotor, and when handgrip motor 1 drives the rotation of leading screw 4, screw 5 is moved up and down along leading screw 4.
Inner support frame 12 and outer support frame 11 are vertically arranged, and the outer support frame 11 is the outer tube being vertically arranged,
Inner support frame 12 is the inner tube in insertion outer tube, and inner tube is to be vertically arranged.Inner tube is fixedly connected on the downside of screw 5, preferably
In at the top of the bottom of leading screw 4 insertion inner tube in ground, ball screw framework, it is set in the bottom outer ring of leading screw 4 inner tube head clearance,
Outer tube, inner tube and leading screw three are coaxially disposed, and inner tube interval is set in the outer ring of leading screw 4 and can moved up and down.
Motor cabinet 3 is installed on the upside of outer tube, and outer tube is that bolt connection or flange are connected with motor cabinet, the ball
Screw mechanism is also stretched into outer tube.
The each main holding frame of outer tube correspondence be respectively provided with above and below two vias 6, via 6 extends vertically, and via 6 is set outside
Connected on the tube wall of sleeve pipe with the tube cavity of outer tube；Two via 6 corresponding with any main holding frame is setting up and down and respectively
Two connecting rods up and down with the main holding frame are corresponding, and main holding frame is circumferentially set uniformly at intervals around outer holding frame in the present embodiment
Four are put, outer tube four main folders of correspondence hold frame and set four pairs of vias 6, inner tube is fixed with the screw 5 in ball screw framework to be connected
Connect, two contiguous blocks 10 are set at interval in the upper and lower on inner pipe.
Main holding frame structure is as follows：Including be vertically arranged outer strut 8, be articulated with the radially inner side of outer strut 8 and up and down
Spaced and parallel two connecting rods 7 and a support bar 9, the outer strut 8 is vertically arranged, and the radial outer end of connecting rod 7 passes through level
Bearing pin A is hinged with outer strut 8, and connecting rod 7 is hinged with inner support frame 12 by jointed shaft and both hinge axes transverse horizontals are prolonged
Stretch, the radial inner end of connecting rod 7 is driven by inner support frame 12 and can moved up and down, upper and lower two connecting rod 7 in main holding frame respectively with
Upper and lower two contiguous block 10 is hinged, the pin joint of upside connecting rod 7 and upside contiguous block 10 be correspondingly positioned in the via 6 of upside or on
The pin joint of the inner side of side via 6 or the outside of upside via 6, downside connecting rod 7 and downside contiguous block 10 is correspondingly positioned at downside via 6
In the interior or inner side of downside via 6 or the outside of downside via 6, the present embodiment, jointed shaft is horizontally disposed bearing pin B, upside
Contiguous block correspondence upside connecting rod is connected provided with the extension stretched out outside corresponding upside via 6, upside connecting rod by jointed shaft with upside
The extension for connecing block is hinged, and the pin joint (or jointed shaft) between upside connecting rod and upside contiguous block is located at corresponding upside via
Outside, downside contiguous block correspondence downside connecting rod is provided with the extension stretched out outside corresponding downside via 6, downside connecting rod by jointed shaft with
The extension of downside contiguous block is hinged, the pin joint (or jointed shaft) between downside connecting rod and downside contiguous block be located at it is corresponding under
Outside the via of side, middle part, the other end and the outer tube that the one end of support bar 9 is articulated with downside connecting rod 7 in main holding frame are articulated and connected, and
And the top of support bar 9 (radial outer end) is articulated with the middle part of downside connecting rod 7, bottom (radial inner end) in main holding frame by bearing pin C
It is articulated with by bearing pin D in the outside wall surface with outer tube, the pin joint of support bar 9 and outer tube is less than downside contiguous block 10, pin
Axle A, bearing pin B, bearing pin C and bearing pin D are parallel to each other.Certainly, two connecting rods 7 up and down in main holding frame can also be respectively interposed overcoat
Corresponding two via 6 and it is hinged respectively with two contiguous blocks 10 up and down by two jointed shafts on pipe, now, upside connecting rod connects with upside
The pin joint for connecing block is located on the inside of corresponding upside via, and downside connecting rod is located at corresponding downside via to the pin joint of downside contiguous block
Inner side.
The upside connecting rod of all main holding frames of upside contiguous block correspondence is respectively provided with corresponding extension, upside contiguous block
Extension stretch out that each upside via is outer and the upside rod hinge connection with each main holding frame respectively correspondingly, similarly,
The downside connecting rod of all main holding frames of downside contiguous block correspondence is respectively provided with corresponding extension, the extension of downside contiguous block
Stretch out that each downside via is outer and the downside rod hinge connection with each main holding frame respectively correspondingly.
The screw 5 or upside contiguous block 10 are provided with limit inferior sensing chip 14 and zero point sensing chip 15, outer support frame
11 top be provided with proximity switch 16, proximity switch 16, limit inferior sensing chip 14, zero point sensing chip 15 and handgrip motor 1 with
Controller is electrically connected.Do not shown in controller figure.
Gantry robot of the present invention, longeron 31 is equivalent to X-axis, and crossbeam 36 is equivalent to Y-axis, and elevating mechanism 37 is suitable
In Z axis, whole transverse beam assembly assembly 48 can be movable along longeron 31, it is horizontal walk slide 39 again can edge under the drive of drive device
The transverse shifting of crossbeam 36 or so, elevating mechanism 37 can be moved up and down under the drive of elevator belt 54 so that elevating mechanism 37 and
Active section general assembly 38 can be moved forward and backward in the X-axis direction, in the Y-axis direction left and right transverse shifting, in the Z-axis direction above and below
Mobile, the handgrip 64 for making active section general assembly 38 be fixedly connected by its handgrip fixed seat 63 can also realize that 3 axles are moved, work
When, the connection handgrip 64 of handgrip fixed seat 63, handgrip 64 is used to clamp tire 13, and carries out stacking to tire 13, and handgrip is worked
Journey is as follows：Screw 5 drives interior holding frame to move up and down, two connecting rods 7, outer strut 8 and the formation of inner support frame 12 one of main holding frame
Individual parallelogram linkage, under the constraint of support bar 9, outer strut 8 can shrink or to radial outside to radially inner side
Expansion, outer strut 8 is vertically arranged and can run through multiple tires 13 from top to bottom, all outer struts 8 to radial outside expansion and with
Along contacting and being tensioned in all tire 13, multiple tires 13 can be clamped by tensile force, then coordinate robot body, with handgrip
General assembly moves to precalculated position, completes to the stacking of tire 13.
Claims (6)
1. gantry robot, it is characterised in that：Including left and right parallel interval set two longerons (31), located at two longerons
(31) transverse beam assembly assembly (48), elevating mechanism (37), active section general assembly (38) and handgrip (64) between, the longeron (31)
Downside is provided with pillar (30), long rails face (33) of the longeron (31) provided with front and rear extension, transverse beam assembly assembly (48) bag
Include drive device, spaced two roller mount (34) in left and right and the transverse beam assembly between two roller mounts (34), roller mount
(34) back-up roller wheel (44), long rails face of the back-up roller wheel (44) along left-hand stringer (31) of left side roller seat (34) are provided with
(33) roll, long rails face (33) of the back-up roller wheel (44) along right-hand stringer (31) of right roller seat (34) is rolled；It is described
Transverse beam assembly is provided with main orbit face (35A) and secondary orbital plane (35B), and main orbit face (35A) and secondary orbital plane (35B) are left and right
Extension, secondary orbital plane (35B) is vertical or favours main orbit face (35A) setting；Transverse beam assembly is provided with to be filled by the driving
Put drive and can left and right transverse shifting it is horizontal walk slide (39), it is horizontal walk slide (39) include slide frame (49), on slide frame (49)
Dominated provided with what can be rolled along main orbit face left and right directions to back-up roller wheel (52), the pair that can be rolled along secondary orbital plane left and right directions
Guide support roller (51), lifting motor (53) and the lifting belt wheel (47) driven by lifting motor (53), lifting belt wheel (47)
It is provided with elevator belt (54)；The elevating mechanism (37) includes the crane (57) driven by elevator belt (54), the crane
(57) provided with synchronous pulley A (58), timing belt A (59) two ends for bypassing synchronous pulley A (58) connect grab respectively
Hand fixed seat (63), it is horizontal walk slide (39)；
Active section general assembly (38) includes the handgrip fixed seat (63) for being used to connect handgrip (64),
The handgrip (64) include be fixedly connected with handgrip fixed seat (63) motor cabinet (3), be arranged on grabbing on motor cabinet (3)
Torch machine (1), by handgrip motor (1) drive ball screw framework, by ball screw framework screw (5) drive and can on
The inner support frame (12) of lower movement, the outer support frame (11) being fixedly connected with motor cabinet (3) and around outer support frame (11) according to
Several main holding frames that minor tick is set, inner support frame (12) and outer support frame (11) are vertically arranged, and main holding frame includes
Vertically arranged outer strut (8), be articulated with outer strut (8) radially inner side and between the upper and lower every two connecting rods (7) and a branch
Strut (9), connecting rod (7) is hinged with inner support frame (12) and both hinge axes are extended laterally, the radial inner end of connecting rod (7) by
Inner support frame (12) is driven and can moved up and down, and support bar (9) one end is articulated with main holding frame in one of connecting rod (7)
Portion, the other end and outer support frame (11) are articulated and connected.
2. gantry robot as claimed in claim 1, it is characterised in that：Slide frame is additionally provided with slide directive wheel on (49)
(50), crane (57) correspondence slide directive wheel (50) is dominated to orbital plane provided with vertical, and the slide directive wheel (50) can
Dominate to orbital plane scroll-up/down on edge.
3. gantry robot as claimed in claim 1, it is characterised in that：Handgrip fixed seat (63) is provided with active section directive wheel
(61), crane (57) correspondence active section directive wheel (61) is provided with vertical secondary guide rail face, and active section directive wheel (61) can
Along secondary guide rail face scroll-up/down.
4. gantry robot as claimed in claim 1, it is characterised in that：Transverse beam assembly includes crossbeam (36) and is respectively arranged on horizontal stroke
Beam (36) upside, two track girders (35) of downside, track girder (35) are square steel or square tube, the top surface of upside track girder (35)
For the main orbit face, the trailing flank of two track girders (35) is the secondary orbital plane, described to dominate to back-up roller wheel (52)
Wheel shaft anterior-posterior horizontal extends and is located at the upside in main orbit face, and the secondary guide support roller (51) is at least provided with one group, one group
Secondary guide support roller (51) comprises at least two secondary guide support rollers (51), the wheel shaft of secondary guide support roller (51) up and down
Vertically extending, upside pair guide support roller (51) is located at the rear side of the secondary orbital plane of upside track girder (35), downside pair guiding
Rear side of the back-up roller wheel (51) located at the secondary orbital plane of lower side rail beam (35).
5. gantry robot as claimed in claim 1, it is characterised in that：The drive device is synchronous belt transmission device
(46)。
6. gantry robot as claimed in claim 1, it is characterised in that：The outer support frame (11) is the overcoat being vertically arranged
Pipe, each main holding frame of outer tube correspondence is respectively provided with two vias (6), and via (6) is vertically extending；Inner support frame (12) is insertion
The interior bar of outer tube, interior bar is fixedly connected with the screw (5) in ball screw framework, sets two companies at interval in the upper and lower in interior bar
Two connecting rods (7) in block (10), main holding frame are connect to be respectively interposed on outer tube corresponding two via (6) and be connected with two respectively
Block (10) is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710364102.5A CN107009361A (en) | 2017-05-22 | 2017-05-22 | Gantry robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710364102.5A CN107009361A (en) | 2017-05-22 | 2017-05-22 | Gantry robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107009361A true CN107009361A (en) | 2017-08-04 |
Family
ID=59449848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710364102.5A Pending CN107009361A (en) | 2017-05-22 | 2017-05-22 | Gantry robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107009361A (en) |
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|---|---|---|---|---|
| CN106239488A (en) * | 2016-06-15 | 2016-12-21 | 周开文 | A kind of Digit Control Machine Tool machinery hands and positioner |
| CN108044610A (en) * | 2017-12-24 | 2018-05-18 | 中山市得高行知识产权中心（有限合伙） | A kind of rotor automation processing thread-clamping device |
| CN108087022A (en) * | 2017-12-08 | 2018-05-29 | 中国电子科技集团公司第五十研究所 | Shield tunnel detection device |
| CN108356792A (en) * | 2018-03-26 | 2018-08-03 | 安徽城市智慧停车科技有限公司 | Seven axis vision robots |
| CN108527341A (en) * | 2018-06-28 | 2018-09-14 | 宁波米诺机床有限公司 | A kind of mechanical grip device |
| CN108706433A (en) * | 2018-06-15 | 2018-10-26 | 武汉理工大学 | Symmetrical displacement type doube bridge crane |
| CN109798704A (en) * | 2017-11-17 | 2019-05-24 | 茂进物流科技（苏州）有限公司 | Ice bank and ice storage system |
| CN110683349A (en) * | 2019-12-10 | 2020-01-14 | 湖南生物机电职业技术学院 | Self-discharging manipulator |
| CN110683485A (en) * | 2019-09-25 | 2020-01-14 | 中广核工程有限公司 | Radioactive waste goods-bag door type stacking machine |
| CN111712448A (en) * | 2017-11-08 | 2020-09-25 | 佩斯梅尔有限公司 | Arrangement and method for handling tyres and overhead warehouse |
| WO2021093611A1 (en) * | 2019-11-15 | 2021-05-20 | 中车大同电力机车有限公司 | Electric locomotive wheel drive unit assembly manipulator |
| CN116119377A (en) * | 2023-04-19 | 2023-05-16 | 山西天宝集团有限公司 | Automatic stacking device and method for wind power flange transportation |
| CN117773565A (en) * | 2024-02-23 | 2024-03-29 | 河南威猛振动设备股份有限公司 | Vibration motor end cover assembly quality |
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| CN106239488A (en) * | 2016-06-15 | 2016-12-21 | 周开文 | A kind of Digit Control Machine Tool machinery hands and positioner |
| CN106239488B (en) * | 2016-06-15 | 2020-04-28 | 周开文 | Digit control machine tool manipulator and positioner |
| CN111712448A (en) * | 2017-11-08 | 2020-09-25 | 佩斯梅尔有限公司 | Arrangement and method for handling tyres and overhead warehouse |
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| CN108087022A (en) * | 2017-12-08 | 2018-05-29 | 中国电子科技集团公司第五十研究所 | Shield tunnel detection device |
| CN108087022B (en) * | 2017-12-08 | 2024-04-26 | 中国电子科技集团公司第五十一研究所 | Shield tunnel detection device |
| CN108044610A (en) * | 2017-12-24 | 2018-05-18 | 中山市得高行知识产权中心（有限合伙） | A kind of rotor automation processing thread-clamping device |
| CN108356792A (en) * | 2018-03-26 | 2018-08-03 | 安徽城市智慧停车科技有限公司 | Seven axis vision robots |
| CN108356792B (en) * | 2018-03-26 | 2023-12-26 | 安徽城市智慧停车科技有限公司 | Seven-axis vision robot |
| CN108706433A (en) * | 2018-06-15 | 2018-10-26 | 武汉理工大学 | Symmetrical displacement type doube bridge crane |
| CN108706433B (en) * | 2018-06-15 | 2019-09-10 | 武汉理工大学 | Symmetrical displacement type doube bridge crane |
| CN108527341B (en) * | 2018-06-28 | 2021-12-31 | 宁波米诺机床有限公司 | Mechanical clamping device |
| CN108527341A (en) * | 2018-06-28 | 2018-09-14 | 宁波米诺机床有限公司 | A kind of mechanical grip device |
| CN110683485A (en) * | 2019-09-25 | 2020-01-14 | 中广核工程有限公司 | Radioactive waste goods-bag door type stacking machine |
| WO2021093611A1 (en) * | 2019-11-15 | 2021-05-20 | 中车大同电力机车有限公司 | Electric locomotive wheel drive unit assembly manipulator |
| CN110683349A (en) * | 2019-12-10 | 2020-01-14 | 湖南生物机电职业技术学院 | Self-discharging manipulator |
| CN116119377A (en) * | 2023-04-19 | 2023-05-16 | 山西天宝集团有限公司 | Automatic stacking device and method for wind power flange transportation |
| CN116119377B (en) * | 2023-04-19 | 2023-06-20 | 山西天宝集团有限公司 | Automatic stacking device and method for wind power flange transportation |
| CN117773565A (en) * | 2024-02-23 | 2024-03-29 | 河南威猛振动设备股份有限公司 | Vibration motor end cover assembly quality |
| CN117773565B (en) * | 2024-02-23 | 2024-05-14 | 河南威猛振动设备股份有限公司 | Vibration motor end cover assembly quality |
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Address after: 211299 9 happiness Road, Lishui Economic Development Zone, Nanjing, Jiangsu Applicant after: JIANGSU LONSON INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 210019 Room 608, 101 Building, Zijin Xicheng Center, Jianye District, Nanjing City, Jiangsu Province Applicant before: NANJING LONSON AUTOMATION EQUIPMENT TECHNOLOGY CO.,LTD. |
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Application publication date: 20170804 |
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