CN107984463A - Gantry-type mechanical arm - Google Patents
Gantry-type mechanical arm Download PDFInfo
- Publication number
- CN107984463A CN107984463A CN201711073900.9A CN201711073900A CN107984463A CN 107984463 A CN107984463 A CN 107984463A CN 201711073900 A CN201711073900 A CN 201711073900A CN 107984463 A CN107984463 A CN 107984463A
- Authority
- CN
- China
- Prior art keywords
- mobile base
- sliding slot
- wall
- gantry
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses gantry-type mechanical arm, including firm banking, the firm banking is rectangular-shape structure and is provided with two altogether, fixed column is both provided with above two firm bankings, horizontal columns are fixedly connected with the top of two fixed columns, the top center of the horizontal columns is equipped with sliding slot along its length, the outer wall parcel of the horizontal columns is equipped with Mobile base, the Mobile base is equipped with the rectangular-shape hollow structure of opening for both ends, the top inner wall of the Mobile base is equipped with pulley, and the bottom of pulley is movably set in sliding slot.In the present invention; user makes two cleaning brush Intermittent Contact sliding slot bottoms; cleaning brush is avoided to consume excessively; along with fan clears up the dust and impurity of sliding slot bottom; product can also be protected when two clamping plates fix product movement, structure of the present invention is novel, solves the problems, such as inside conventional manipulator sliding slot that impurity is difficult to clear up, security is not high in product movement way; it is highly practical, it is easy to spread.
Description
Technical field
The present invention relates to robot device technical field, more particularly to gantry-type mechanical arm.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
The advantages of having people and robotics concurrently each.Manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to be operated to realize the mechanization of production and automation under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.General manipulator dress
Carry that to put all be the movement that manipulator is realized by slide, and manipulator is inside the stationarity and slide in moving process
Cleanliness factor has a very large relationship, when, there are when substantial amounts of dust and impurity, causing manipulator in moving process in slide
Hindered, not only waste of energy also results in product and is shaken in moving process, we design gantry-type mechanical arm for this,
To solve the above problems.
The content of the invention
The purpose of the present invention is to solve shortcoming existing in the prior art, and the gantry-type mechanical arm proposed.
To achieve these goals, present invention employs following technical solution：
Gantry-type mechanical arm, including firm banking, the firm banking is rectangular-shape structure and is provided with two altogether, two institutes
State and fixed column is both provided with above firm banking, horizontal columns, the level are fixedly connected with the top of two fixed columns
The top center of column is equipped with sliding slot along its length, and the outer wall parcel of the horizontal columns is equipped with Mobile base, and the Mobile base is
Both ends are equipped with the rectangular-shape hollow structure of opening, and the top inner wall of the Mobile base is equipped with pulley, and the bottom of pulley is lived
Dynamic to be arranged in sliding slot, the side in the top width direction of the Mobile base is equipped with support base, and the top width side of Mobile base
To opposite side be equipped with motor, roller is connected between the motor and support base, the outer wall of the roller is equipped with poke rod,
The both sides in the roller width direction are fixed with telescopic rod, and two telescopic rods extend at the top of Mobile base
In sliding slot, be connected to the first lifting disk and the second lifting disk, first lifting disk at the top of two telescopic rods
Bottom and the top exterior walls of Mobile base be connected with the first elastomeric spring, the top exterior walls of second lifting disk and Mobile base connect
Extension spring is connected to, the outer wall that first elastomeric spring and extension spring are socketed on telescopic rod is set, the Mobile base
Side outer wall is equipped with retracting cylinder, is equipped with lifting column in the retracting cylinder, the bottom of the lifting column is connected to fixed plate, described
Fixed plate is equipped with slide along its length for rectangular-shape structure and bottom, and the slide is equipped with clamping plate, the fixation
The surface of plate is equipped with safety box, and the safety box is equipped with the rectangular-shape hollow structure of opening, and safety box and liter for top
The outer wall for dropping column fixes welding, is equipped with cavity in four risers of the safety box, the top of the cavity is equipped with the second bullet
Property spring, and the bottom of the second elastomeric spring is connected with expansion plate, and the expansion plate exposure is set in cavity.
Preferably, the bottom of the telescopic rod is equipped with cleaning brush.
Preferably, the bottom both ends of the Mobile base are equipped with fan, and the both sides that two fans are located at pulley are set
Put.
Preferably, the bottom of the safety box is set higher than the bottom of clamping plate.
Preferably, the opposite side outer wall of two clamping plates is equipped with non-slip mat.
Preferably, the side of the pulley is equipped with driving motor.
Compared with prior art, the beneficial effects of the invention are as follows：In the present invention, user drives poke rod to turn by roller
It is dynamic, the first lifting disk and the second lifting disk of lifting are pushed, two cleaning brush Intermittent Contact sliding slot bottoms can be made, avoid cleaning
Brush consumes excessively, along with fan clears up the dust and impurity of sliding slot bottom, make Mobile base in moving process more
Steadily, using the design of expansion plate and the second elastomeric spring, product can be protected when two clamping plates fix product movement,
Midway is avoided to collide, flexible using expansion plate is easy to clamp product during clamping plate decline, and structure of the present invention is novel, solves
It is the problem of impurity is difficult to clear up inside conventional manipulator sliding slot, security is not high in product movement way, highly practical, it is easy to push away
Extensively.
Brief description of the drawings
Fig. 1 is the overall structure diagram of gantry-type mechanical arm proposed by the present invention；
Fig. 2 is that the Mobile base of gantry-type mechanical arm proposed by the present invention connects profile with horizontal columns；
Fig. 3 is the Mobile base and horizontal columns coupling part texture edge figure of gantry-type mechanical arm proposed by the present invention.
In figure：1 firm banking, 2 fixed columns, 3 horizontal columns, 4 sliding slots, 5 Mobile bases, 6 pulleys, 7 support bases, 8 motors, 9 rollings
It is cylinder, 10 poke rods, 11 telescopic rods, 12 first lifting disks, 13 second lifting disks, 14 first elastomeric springs, 15 extension springs, 16 clear
Clean brush, 17 retracting cylinders, 18 lifting columns, 19 fixed plates, 20 slides, 21 clamping plates, 22 safety boxs, 23 cavitys, 24 second elastic bullets
Spring, 25 expansion plates, 26 fans.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
With reference to Fig. 1-3, gantry-type mechanical arm, including firm banking 1, firm banking 1 are rectangular-shape structure and common setting
There are two, the top of two firm bankings 1 is both provided with fixed column 2, and the top of two fixed columns 2 is fixedly connected with horizontal columns 3,
The top center of horizontal columns 3 is equipped with sliding slot 4 along its length, and the outer wall parcel of horizontal columns 3 is equipped with Mobile base 5, and Mobile base 5 is
Both ends are equipped with the rectangular-shape hollow structure of opening, and the top inner wall of Mobile base 5 is equipped with pulley 6, and the bottom activity of pulley 6
It is arranged in sliding slot 4, the side in the top width direction of Mobile base 5 is equipped with support base 7, and the top width direction of Mobile base 5
Opposite side be equipped with motor 8, roller 9 is connected between motor 8 and support base 7, the outer wall of roller 9 is equipped with poke rod 10, rolling
The both sides of 9 widths of cylinder are fixed with telescopic rod 11, and two telescopic rods 11 extend to sliding slot through the top of Mobile base 5
In 4, the tops of two telescopic rods 11 be connected to the first lifting disk 12 and the second lifting disk 13, the bottom of the first lifting disk 12
The top exterior walls of portion and Mobile base 5 are connected with the first elastomeric spring 14, and the second lifting disk 13 is connected with the top exterior walls of Mobile base 5
There is extension spring 15, the outer wall that the first elastomeric spring 14 and extension spring 15 are socketed on telescopic rod 11 is set, and the one of Mobile base 5
Side outer wall is equipped with retracting cylinder 17, and lifting column 18 is equipped with retracting cylinder 17, and the bottom of lifting column 18 is connected to fixed plate 19, fixed
Plate 19 is equipped with slide 20 along its length for rectangular-shape structure and bottom, and slide 20 is equipped with clamping plate 21, fixed plate 19
Surface be equipped with safety box 22, safety box 22 is equipped with the rectangular-shape hollow structure of opening for top, and safety box 22 and rises
The outer wall for dropping column 18 fixes welding, is equipped with cavity 23 in four risers of safety box 22, the top of cavity 23 is equipped with the second bullet
Property spring 24, and the bottom of the second elastomeric spring 24 is connected with expansion plate 25,25 exposure of expansion plate is set in cavity 23, telescopic rod
11 bottom is equipped with cleaning brush 16, and the bottom both ends of Mobile base 5 are equipped with fan 26, and two fans 26 are located at the two of pulley 6
Side is set, and the bottom of safety box 22 is set higher than the bottom of clamping plate 21, and the opposite side outer wall of two clamping plates 21 is equipped with
Non-slip mat, the side of pulley 6 are equipped with driving motor.
In the present invention, user opens motor 8, and motor 8 drives roller 9 and poke rod 10 to rotate, and utilizes 10 turns of poke rod
The first lifting disk 12 is pushed when dynamic, makes its decline, poke rod 10 then rotates, and the elasticity using the first elastomeric spring 14 makes first
Lifting disk 12 resets, and the bottom that poke rod 10 turns to the second lifting disk 13 makes its lifting, and poke rod 10 then rotates, and recycles
The tension force effect of extension spring 15 makes its reset, using retractility of the expansion plate 25 in cavity 23, drops to safety box 22
During ground, expansion plate 25 is risen by ground supports power, and clamping plate 21 is clamped when rising after product, and expansion plate 25 is due to the second elasticity
The elasticity of spring 24 is automatic to decline four side of protection product, and the present invention is highly practical, easy to spread.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. gantry-type mechanical arm, including firm banking（1）, it is characterised in that the firm banking（1）For rectangular-shape structure and
Two are provided with altogether, two firm bankings（1）Top be both provided with fixed column（2）, two fixed columns（2）Top
Portion is fixedly connected with horizontal columns（3）, the horizontal columns（3）Top center be equipped with sliding slot along its length（4）, the level
Column（3）Outer wall parcel be equipped with Mobile base（5）, the Mobile base（5）The rectangular-shape hollow structure of opening, institute are equipped with for both ends
State Mobile base（5）Top inner wall be equipped with pulley（6）, and pulley（6）Bottom be movably set in sliding slot（4）It is interior, the shifting
Dynamic seat（5）The side in top width direction be equipped with support base（7）, and Mobile base（5）The opposite side in top width direction set
There is motor（8）, the motor（8）And support base（7）Between be connected with roller（9）, the roller（9）Outer wall be equipped with stir
Bar（10）, the roller（9）The both sides of width are fixed with telescopic rod（11）, two telescopic rods（11）Run through
Mobile base（5）Top extend to sliding slot（4）It is interior, two telescopic rods（11）Top be connected to the first lifting disk
（12）With the second lifting disk（13）, first lifting disk（12）Bottom and Mobile base（5）Top exterior walls be connected with first
Elastomeric spring（14）, second lifting disk（13）And Mobile base（5）Top exterior walls be connected with extension spring（15）, described
One elastomeric spring（14）And extension spring（15）It is socketed on telescopic rod（11）Outer wall set, the Mobile base（5）Side
Outer wall is equipped with retracting cylinder（17）, the retracting cylinder（17）It is interior to be equipped with lifting column（18）, the lifting column（18）Bottom connection
In fixed plate（19）, the fixed plate（19）Slide is equipped with along its length for rectangular-shape structure and bottom（20）, it is described
Slide（20）It is equipped with clamping plate（21）, the fixed plate（19）Surface be equipped with safety box（22）, the safety box（22）
The rectangular-shape hollow structure of opening, and safety box are equipped with for top（22）And lifting column（18）Outer wall fix welding, it is described
Safety box（22）Four risers in be equipped with cavity（23）, the cavity（23）Top be equipped with the second elastomeric spring（24）,
And second elastomeric spring（24）Bottom be connected with expansion plate（25）, the expansion plate（25）Exposure is in cavity（23）Set.
2. gantry-type mechanical arm according to claim 1, it is characterised in that the telescopic rod（11）Bottom be equipped with cleaning
Brush（16）.
3. gantry-type mechanical arm according to claim 1, it is characterised in that the Mobile base（5）Bottom both ends be all provided with
There is fan（26）, and two fans（26）Positioned at pulley（6）Both sides set.
4. gantry-type mechanical arm according to claim 1, it is characterised in that the safety box（22）Bottom higher than clamp
Plate（21）Bottom set.
5. gantry-type mechanical arm according to claim 1, it is characterised in that two clamping plates（21）Opposite side
Outer wall is equipped with non-slip mat.
6. gantry-type mechanical arm according to claim 1, it is characterised in that the pulley（6）Side be equipped with driving electricity
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711073900.9A CN107984463A (en) | 2017-11-05 | 2017-11-05 | Gantry-type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711073900.9A CN107984463A (en) | 2017-11-05 | 2017-11-05 | Gantry-type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107984463A true CN107984463A (en) | 2018-05-04 |
Family
ID=62030576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711073900.9A Pending CN107984463A (en) | 2017-11-05 | 2017-11-05 | Gantry-type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107984463A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514604A (en) * | 2018-12-28 | 2019-03-26 | 德是正(苏州)智能科技有限公司 | A kind of gantry-type mechanical arm anti-collision protection device |
| CN113334420A (en) * | 2021-05-18 | 2021-09-03 | 广州市顺通达物流供应链有限公司 | Manipulator intelligent robot presss from both sides and gets device with collection dirt function |
| CN117697931A (en) * | 2024-02-06 | 2024-03-15 | 江苏宝戈建筑材料有限公司 | Calcium silicate insulation material production forming device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01173106A (en) * | 1987-12-28 | 1989-07-07 | Kobe Steel Ltd | Control method for welding robot |
| WO2011144796A1 (en) * | 2010-05-19 | 2011-11-24 | Zenrobotics Oy | Robot hand mechanism |
| CN204054069U (en) * | 2014-09-04 | 2014-12-31 | 武汉汉利物料搬运机械有限公司 | Safe protective case special type fixture |
| CN204450571U (en) * | 2015-02-12 | 2015-07-08 | 董小明 | Mechanical hand |
| CN106426236A (en) * | 2016-12-12 | 2017-02-22 | 南陵宝恒野生葛种植专业合作社 | Mechanical arm clamping device |
| CN107175668A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of belt conveyer intelligent inspection robot |
| CN206537929U (en) * | 2017-03-01 | 2017-10-03 | 重庆嘉泰罗光电科技有限公司 | A kind of notebook backboard feeding device |
-
2017
- 2017-11-05 CN CN201711073900.9A patent/CN107984463A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01173106A (en) * | 1987-12-28 | 1989-07-07 | Kobe Steel Ltd | Control method for welding robot |
| WO2011144796A1 (en) * | 2010-05-19 | 2011-11-24 | Zenrobotics Oy | Robot hand mechanism |
| CN204054069U (en) * | 2014-09-04 | 2014-12-31 | 武汉汉利物料搬运机械有限公司 | Safe protective case special type fixture |
| CN204450571U (en) * | 2015-02-12 | 2015-07-08 | 董小明 | Mechanical hand |
| CN106426236A (en) * | 2016-12-12 | 2017-02-22 | 南陵宝恒野生葛种植专业合作社 | Mechanical arm clamping device |
| CN206537929U (en) * | 2017-03-01 | 2017-10-03 | 重庆嘉泰罗光电科技有限公司 | A kind of notebook backboard feeding device |
| CN107175668A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of belt conveyer intelligent inspection robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514604A (en) * | 2018-12-28 | 2019-03-26 | 德是正(苏州)智能科技有限公司 | A kind of gantry-type mechanical arm anti-collision protection device |
| CN109514604B (en) * | 2018-12-28 | 2023-09-19 | 德是正(苏州)智能科技有限公司 | Portal manipulator anti-collision protection device |
| CN113334420A (en) * | 2021-05-18 | 2021-09-03 | 广州市顺通达物流供应链有限公司 | Manipulator intelligent robot presss from both sides and gets device with collection dirt function |
| CN117697931A (en) * | 2024-02-06 | 2024-03-15 | 江苏宝戈建筑材料有限公司 | Calcium silicate insulation material production forming device |
| CN117697931B (en) * | 2024-02-06 | 2024-04-26 | 江苏宝戈建筑材料有限公司 | Calcium silicate insulation material production forming device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180504 |
|
| RJ01 | Rejection of invention patent application after publication |