CN107984464A - Gantry-type mechanical arm - Google Patents
Gantry-type mechanical arm Download PDFInfo
- Publication number
- CN107984464A CN107984464A CN201711474727.3A CN201711474727A CN107984464A CN 107984464 A CN107984464 A CN 107984464A CN 201711474727 A CN201711474727 A CN 201711474727A CN 107984464 A CN107984464 A CN 107984464A
- Authority
- CN
- China
- Prior art keywords
- positioning
- drive system
- along
- movable plate
- gear
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of gantry-type mechanical arm, including bearing beam, movable plate, lifting seat, bearing plate, the first drive system, the second drive system and the 3rd drive system, bearing beam is laterally disposed long strip-board shape structure, it is by a mounting bracket location and installation on punching apparatus；Movable plate is slidably connected on bearing beam, and can move back and forth positioning along the length direction of bearing beam under the drive of the first drive system；Lifting seat is slidably connected on movable plate, and can carry out moving back and forth up and down positioning under the drive of the second drive system；Bearing plate is movably connected on the bottom side of lifting seat, and can move back and forth positioning perpendicular to the direction of bearing beam length direction in the drive lower edge of the 3rd drive system；The simple and compact for structure of the gantry-type mechanical arm, the degree of automation are high, perfect in shape and function, can in high precision, efficient transfer workpiece, both improve production efficiency, improve product quality, and saved production cost.
Description
Technical field
The present invention relates to manipulator technical field, specifically provides a kind of 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 thing
The automatic pilot of part or operation instrument.It can realize the mechanization of production and automation, energy instead of the heavy labor of people
Operated under hostile environment to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and atomic energy
Deng department.
At present, in stamped, mostly or based on the production of one-shot sheet process, cause production capacity is low, quality not
The problem of stabilization, high rejection rate, insufficient Industrial Efficiency, but also there is certain danger, it far can not meet automatic
The development trend of metaplasia production.In addition, existing manipulator is there is also structure is simple and crude or excessively complicated, the incomplete shortcoming of function,
The high-precision transporting to workpieces processing cannot be realized very well, and production capacity is low, quality is unstable and rejection rate there is also producing
The problem of high, seriously affected process automation and the development of manless production.
In view of this, it is special to propose the present invention.
The content of the invention
In order to overcome drawbacks described above, the present invention provides a kind of gantry-type mechanical arm, its is simple and compact for structure, automation journey
Degree is high, perfect in shape and function, can in high precision, efficient transfer workpiece.
The present invention in order to solve its technical problem used by technical solution be：A kind of gantry-type mechanical arm, including carrying
Crossbeam, movable plate, lifting seat, the bearing plate for accepting clamping jaw or vacuum cup, the first drive system, the second drive system and
3rd drive system, wherein, the bearing beam is laterally disposed long strip-board shape structure, it passes through a mounting bracket location and installation
On punching apparatus；The movable plate is slidably connected on the bearing beam, and can be in the band of first drive system
The length direction of bearing beam moves back and forth positioning described in dynamic lower edge；The lifting seat is slidably connected on the movable plate,
And it can carry out moving back and forth up and down positioning under the drive of second drive system；The bearing plate is movably connected on described
On the bottom side of lifting seat, and can the 3rd drive system drive lower edge perpendicular to the bearing beam length direction
Direction moves back and forth positioning.
As a further improvement on the present invention, the length direction of the bearing beam is defined as Y direction, correspondingly,
Above-below direction is also defined as Z-direction, the direction that will be perpendicular to the bearing beam length direction is defined as X-direction；
Each positioning is laid with the upper side of the bearing beam, downside and a side elevation along X-direction respectively
Have along Y direction extend the first slide, also on the movable plate positioning be provided with it is multiple respectively with it is a plurality of it is described first slide
Matched first sliding block of rail, the mobile register are slidably connected to a plurality of described with multiple first sliding blocks thereon
On one slide, and the movable plate can also move back and forth positioning under the drive of first drive system along Y direction,
Implementing structure is：First drive system includes the first gear motor, first gear and the first rack, wherein, institute
State the positioning of the first gear motor to be arranged on the movable plate, the first gear positioning is socketed on first gear motor
On power output shaft, first rack extend along Y direction and location and installation in the bearing beam along X-direction one
On side elevation, and first rack also engages connection with the first gear at the same time.
As a further improvement on the present invention, setting is positioned on the one side of the bearing beam in the movable plate
There is the second sliding block；
The lifting seat has a vertical column and a transverse direction and the pedestal being located by connecting on the column bottom side, institute
State column and the second slide extended along Z-direction is equipped with towards positioning on a side elevation of the movable plate, described second slides
Rail is engaged with second sliding block and is slidably connected so that the column can be slidably connected on the movable plate, and described
Column can also move back and forth positioning under the drive of second drive system along Z-direction；The bearing plate activity is even
It is connected on the pedestal, and positioning can be moved back and forth along X-direction under the drive of the 3rd drive system.
As a further improvement on the present invention, realize that the column can also be in the drive lower edge of second drive system
The structure that Z-direction moves back and forth positioning is：Second drive system includes the second gear motor, second gear and
Two racks, wherein, second gear motor, which also positions, to be arranged on the movable plate, and the second gear positioning is socketed on institute
On the power output shaft for stating the second gear motor, second rack extends along Z-direction and location and installation is in the column court
To on a side elevation of the movable plate, and second rack also engages connection with the second gear at the same time.
As a further improvement on the present invention, second drive system has further included lifting cylinder, the lifting cylinder
For location and installation on the movable plate, the piston rod of the lifting cylinder is downwardly directed, and the piston rod of the lifting cylinder is also
It is connected with the stud location.
As a further improvement on the present invention, realize that the structure that the bearing plate is movably connected on the pedestal is：
Positioning is equipped with the 3rd slide extended along X-direction on the bottom side of the pedestal；It is additionally provided with the first movement panel seat, described first
Mobile panel seat is slidably connected on the 3rd slide by sliding block, and the also positioning paving on the bottom side of the described first movement panel seat
Equipped with the 4th slide extended along X-direction, the bearing plate is slidably connected on the 4th slide by sliding block；
Realize that the bearing plate can move back and forth positioning under the drive of the 3rd drive system along X-direction
Structure is：Positioning, which is equipped with along the 5th of X-direction extension, on a side elevation of the described first movement panel seat along Y direction slides
Rail；3rd drive system includes the second movement panel seat, the 3rd gear motor, the 3rd gear, upper rack, lower rack, two
A synchronizing wheel and synchronous belt, wherein, the second movement panel seat is slidably connected on the 5th slide by sliding block, and at the same time
The second movement panel seat is also slidably connected by sliding block and the 3rd slide；The 3rd gear motor location and installation is in institute
State on the second movement panel seat, the 3rd gear positioning is socketed on the power output shaft of the 3rd gear motor, it is described on
Rack extends along X-direction and location and installation is on a side elevation of the pedestal along Y direction, and the lower rack is also along X-axis
Direction extends and location and installation is on the described first side elevation of the movement panel seat along Y direction, and the lower rack also with institute
It is in positioned opposite up and down to state upper rack, and also engages connection with the 3rd gear respectively；Two synchronizing wheels rotate respectively
Installed in the described first movement panel seat along at the both sides of X-direction, the synchronous belt is sheathed in two synchronizing wheels, and together
The top of Shi Suoshu synchronous belts is also fixedly connected with the described second movement panel seat, the lower part of the synchronous belt also with the bearing plate
It is fixedly connected.
The beneficial effects of the invention are as follows：1. the simple and compact for structure of the gantry-type mechanical arm, the degree of automation are high, function is complete
It is kind, can in high precision, efficient transfer workpiece, both improve production efficiency, improve product quality, and saved and be produced into
This.2. nationality is with the action of first, second and third drive system so that the gantry-type mechanical arm has retracted state and extended configuration, and
When under retracted state, the floor space of the gantry-type mechanical arm is small, and in the expanded state when, which then has
There is very big work area, and then meet production requirement well.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram that gantry-type mechanical arm of the present invention is under the first visual angle；
Fig. 2 is the dimensional structure diagram that gantry-type mechanical arm of the present invention is under the second visual angle；
Fig. 3 is the enlarged structure schematic diagram in A portions shown in Fig. 2；
Fig. 4 is the dimensional structure diagram that gantry-type mechanical arm of the present invention is under the 3rd visual angle；
Fig. 5 is the enlarged structure schematic diagram in B portions shown in Fig. 4；
Fig. 6 is the dimensional structure diagram that gantry-type mechanical arm of the present invention is under the 4th visual angle；
Fig. 7 is the enlarged structure schematic diagram in C portions shown in Fig. 6；
Fig. 8 is the main structure diagram of gantry-type mechanical arm of the present invention；
Fig. 9 is the overlooking the structure diagram of gantry-type mechanical arm of the present invention；
Figure 10 is the present invention looks up structural representation of gantry-type mechanical arm of the present invention；
Figure 11 is the side structure schematic view of gantry-type mechanical arm of the present invention；
Figure 12 is the enlarged structure schematic diagram in D portions shown in Figure 11；
Figure 13 is the structure diagram that the first drive system of the present invention is installed on the bearing beam；
Figure 14 is the structure diagram that lifting seat of the present invention is installed on the movable plate.
With reference to attached drawing, make the following instructions：
1 --- bearing beam 10 --- first slide
2 --- movable plate 3 --- lifting seats
30 --- column 31 --- pedestals
32 --- the second slide 33 --- the 3rd slides
4 --- bearing plate 5 --- mounting brackets
60 --- the first gear motor 61 --- first racks
70 --- the second gear motor 71 --- second racks
72 --- lifting cylinders 8 --- first move panel seat
80 --- the 4th slide 81 --- the 5th slides
90 --- the second movement panel seat 91 --- the 3rd gear motors
92 --- upper rack 93 --- lower racks
94 --- synchronizing wheel 95 --- synchronous belts
100 --- vacuum cup
Embodiment
Referring to figure to a preferred embodiment of the present invention will be described in detail.
Embodiment 1：
Refer to attached drawing 1, attached drawing 2, attached drawing 3, attached drawing 4, attached drawing 5, attached drawing 6, attached drawing 7, attached drawing 8, attached drawing 9, attached drawing 10, attached
It is respectively the stereochemical structure signal that gantry-type mechanical arm of the present invention is under four different visual angles shown in Figure 11 and attached drawing 12
Figure, partial enlargement structural representation, main structure diagram, overlooking the structure diagram, present invention looks up structural representation and side view knot
Structure schematic diagram.The gantry-type mechanical arm includes bearing beam 1, movable plate 2, lifting seat 3, inhales for accepting clamping jaw or vacuum
Bearing plate 4, the first drive system, the second drive system and the 3rd drive system of disk 100, wherein, the bearing beam 1 is horizontal stroke
To the long strip-board shape structure of placement, it is by 5 location and installation of a mounting bracket on punching apparatus；The movable plate 2 is slidably connected
In on the bearing beam 1, and the length direction for being capable of bearing beam 1 described in the drive lower edge in first drive system is made
Move back and forth positioning；The lifting seat 3 is slidably connected on the movable plate 2, and can be in the band of second drive system
Carry out moving back and forth up and down positioning under dynamic；The bearing plate 4 is movably connected on the bottom side of the lifting seat 3, and can be in institute
The drive lower edge for stating the 3rd drive system moves back and forth positioning perpendicular to the direction of 1 length direction of bearing beam.
In the present embodiment, it is preferred that the length direction of the bearing beam 1 is defined as Y direction, correspondingly, also
Above-below direction is defined as Z-direction, the direction that will be perpendicular to 1 length direction of bearing beam is defined as X-direction；
Refering to shown in attached drawing 13, respectively in the upper side of the bearing beam 1, downside and the side along X-direction
Each positioning is equipped with the first slide 10 extended along Y direction on facade, is positioned also on the movable plate 2 and is provided with multiple points
Not with a plurality of matched first sliding block of first slide 10,2 nationality of movable plate is with multiple first sliding blocks thereon
To be slidably connected on a plurality of first slide 10, and the movable plate 2 can also be in the drive of first drive system
Lower to move back and forth positioning along Y direction, specific implementation structure is：First drive system includes the first gear motor
60th, first gear and the first rack 61, wherein, first gear motor 60 positioning is arranged on the movable plate 2, and described the
The positioning of one gear is socketed on the power output shaft of first gear motor 60, first rack 61 extends along Y direction,
And location and installation is on a side elevation of the bearing beam 1 along X-direction, and at the same time first rack 61 also with described
The engagement connection of one gear.
In the present embodiment, it is preferred that position and set on one side of the movable plate 2 backwards to the bearing beam 1
There is the second sliding block；
The lifting seat 3 has vertical 30 and one transverse direction of column and the base being located by connecting on 30 bottom side of column
Seat 31, the column 30 are equipped with the second slide 32 extended along Z-direction towards positioning on a side elevation of the movable plate 2
(see shown in attached drawing 14), second slide 32 are engaged with second sliding block and are slidably connected so that the column 30
It can be slidably connected on the movable plate 2, and the column 30 can also be under the drive of second drive system along Z axis
Direction moves back and forth positioning；The bearing plate 4 is movably connected on the pedestal 31, and can be in the 3rd drive system
Drive under along X-direction move back and forth positioning.
It is further preferred that realize that the column 30 can also be under the drive of second drive system along Z-direction
The structure for moving back and forth positioning is：Refering to shown in attached drawing 9, attached drawing 11 and attached drawing 14, second drive system includes
Two gear motors 70, second gear and the second rack 71, wherein, second gear motor 70 also positions and is arranged at the movement
On plate 2, the second gear positioning is socketed on the power output shaft of second gear motor 70,71 edge of the second rack
Z-direction extends and location and installation is on a side elevation of the column 30 towards the movable plate 2, and at the same time described second
Rack 71 also engages connection with the second gear.
It is further preferred that second drive system has further included lifting cylinder 72, the positioning of lifting cylinder 72 peace
On the movable plate 2, the piston rod of the lifting cylinder 72 is downwardly directed, and the piston rod of the lifting cylinder 72 also with
The column 30 is located by connecting.When lifting seat 3 moves up and down, lifting cylinder plays the role of augmented thrust, balance.
It is further preferred that realize that the structure that the bearing plate 4 is movably connected on the pedestal 31 is：Refering to attached drawing 5,
Shown in attached drawing 7, attached drawing 10 and attached drawing 12, position to be equipped with along the 3rd of X-direction extension on the bottom side of the pedestal 31 and slide
Rail 33；The first movement panel seat 8 is additionally provided with, the first movement panel seat 8 is slidably connected on the 3rd slide 33 by sliding block,
And also positioning is equipped with the 4th slide 80 extended along X-direction, the bearing plate on the bottom side of the described first movement panel seat 8
4 are slidably connected on the 4th slide 80 by sliding block；
Realize that the bearing plate 4 can move back and forth positioning under the drive of the 3rd drive system along X-direction
Structure be：Refering to shown in attached drawing 3, attached drawing 5, attached drawing 7, attached drawing 10 and attached drawing 12, panel seat 8 is moved along Y-axis side described first
To a side elevation on positioning be equipped with along X-direction extend the 5th slide 81；3rd drive system includes second
Mobile panel seat 90, the 3rd gear motor 91, the 3rd gear, upper rack 92,93, two synchronizing wheels 94 of lower rack and synchronous belt 95,
Wherein, the second movement panel seat 90 is slidably connected on the 5th slide 81 by sliding block, and second movement at the same time
Panel seat 90 is also slidably connected by sliding block and the 3rd slide 33；3rd gear motor, 91 location and installation is described second
On mobile panel seat 90, the 3rd gear positioning is socketed on the power output shaft of the 3rd gear motor 91, the upper tooth
Bar 92 extends along X-direction and location and installation is on a side elevation of the pedestal 31 along Y direction, and the lower rack 93 is also
Extend along X-direction and location and installation is moved on a side elevation of the panel seat 8 along Y direction described first, and the lower rack
93 be in also upper and lower positioned opposite with the upper rack 92, and also engage connection with the 3rd gear respectively；Two synchronizations
Wheel 94 is rotatably installed in the first movement panel seat 8 along at the both sides of X-direction respectively, and the synchronous belt 95 is sheathed on two institutes
State in synchronizing wheel 94, and the top of the synchronous belt 95 is also fixedly connected with the described second movement panel seat 90 at the same time, the synchronization
Also it is fixedly connected with 95 lower part with the bearing plate 4.In addition, the 3rd drive system drives the bearing plate 4 along X-axis side
It is to the operation principle moved back and forth：The lifting seat 3 remains stationary as, and the 3rd gear motor 91 drives the 3rd tooth
Wheel rotation so that the upper rack 92 does relative horizontal movement with lower rack 93, but because the upper rack 92 remains stationary as, and then
So that the first movement panel seat 8 and second moves panel seat 90 and makees movement in the same direction, and the translational speed of the first movement panel seat 8
Be faster than it is described second movement panel seat 90 translational speed (it is described first movement panel seat 8 translational speed be it is described second movement
2 times of 90 translational speed of panel seat) so that under the drive of synchronizing wheel and synchronous belt, the bearing plate 4 is made to be moved with described second
The movement that 90 speed of movable plate seat is identical and direction is opposite.
In conclusion compared to the prior art, the simple and compact for structure of the gantry-type mechanical arm, the degree of automation are high, work(
Can it is perfect, can in high precision, efficient transfer workpiece, both improve production efficiency, improve product quality, and saved life
Produce cost.In addition, nationality is with the action of first, second and third drive system so that the gantry-type mechanical arm has retracted state and stretching, extension
State, and when under retracted state, the floor space of the gantry-type mechanical arm is small, and in the expanded state when, the planer-type machine
Tool hand then has very big work area, and then meets production requirement well.
The effect of present invention is only illustrated in the above embodiment, not for the limitation present invention, it is noted that for
For those skilled in the art, without departing from the technical principles of the invention, some change can also be made
Into and modification, these improvements and modifications also should be regarded as within the scope of the present invention.
Claims (6)
- A kind of 1. gantry-type mechanical arm, it is characterised in that：Including bearing beam (1), movable plate (2), lifting seat (3), for holding Bearing plate (4), the first drive system, the second drive system and the 3rd drive system of clamping jaw or vacuum cup are connect, wherein, it is described Bearing beam (1) is laterally disposed long strip-board shape structure, it is by a mounting bracket (5) location and installation on punching apparatus；Institute Movable plate (2) is stated to be slidably connected on the bearing beam (1), and can be described in the drive lower edge in first drive system The length direction of bearing beam (1) moves back and forth positioning；The lifting seat (3) is slidably connected on the movable plate (2), and It can carry out moving back and forth up and down positioning under the drive of second drive system；The bearing plate (4) is movably connected on institute On the bottom side for stating lifting seat (3), and it can be grown in the drive lower edge of the 3rd drive system perpendicular to the bearing beam (1) The direction in degree direction moves back and forth positioning.
- 2. gantry-type mechanical arm according to claim 1, it is characterised in that：By the length direction of the bearing beam (1) Y direction is defined as, correspondingly, above-below direction also is defined as Z-direction, will be perpendicular to the bearing beam (1) length side To direction be defined as X-direction；Each positioning is laid with the upper side of the bearing beam (1), downside and a side elevation along X-direction respectively Have along Y direction extend the first slide (10), also on the movable plate (2) positioning be provided with it is multiple respectively with it is a plurality of described Matched first sliding block of first slide (10), movable plate (2) nationality is with multiple first sliding blocks thereon come the company of slip It is connected on a plurality of first slide (10), and the movable plate (2) can also be under the drive of first drive system along Y Direction of principal axis moves back and forth positioning, and specific implementation structure is：First drive system includes the first gear motor (60), One gear and the first rack (61), wherein, the first gear motor (60) positioning is arranged on the movable plate (2), described First gear positioning is socketed on the power output shaft of first gear motor (60), and first rack (61) is along Y-axis side To extension and location and installation is on a side elevation of the bearing beam (1) along X-direction, and first rack at the same time (61) also connection is engaged with the first gear.
- 3. gantry-type mechanical arm according to claim 2, it is characterised in that：In the movable plate (2) backwards to the carrying Positioning is provided with the second sliding block on the one side of crossbeam (1)；The lifting seat (3) has a vertical column (30) and a transverse direction and is located by connecting on the column (30) bottom side Pedestal (31), the column (30) are equipped with the along Z-direction extension towards positioning on a side elevation of the movable plate (2) Two slides (32), second slide (32) is engaged with second sliding block to be slidably connected so that the column (30) can It is slidably connected on the movable plate (2), and the column (30) can also be under the drive of second drive system along Z axis Direction moves back and forth positioning；The bearing plate (4) is movably connected on the pedestal (31), and can be in the described 3rd driving Under the drive of system positioning is moved back and forth along X-direction.
- 4. gantry-type mechanical arm according to claim 3, it is characterised in that：Realize that the column (30) can also be described The structure for moving back and forth positioning under the drive of second drive system along Z-direction is：Second drive system includes Two gear motors (70), second gear and the second rack (71), wherein, second gear motor (70) also positions and is arranged at institute To state on movable plate (2), second gear positioning is socketed on the power output shaft of second gear motor (70), and described the Two racks (71) extend along Z-direction and a side elevation of the location and installation in the column (30) towards the movable plate (2) On, and second rack (71) also engages connection with the second gear at the same time.
- 5. gantry-type mechanical arm according to claim 4, it is characterised in that：Second drive system has further included lifting Cylinder (72), on the movable plate (2), the piston rod of the lifting cylinder (72) refers to lifting cylinder (72) location and installation To downward, and the piston rod of the lifting cylinder (72) is also located by connecting with the column (30).
- 6. gantry-type mechanical arm according to claim 3, it is characterised in that：Realize that the bearing plate (4) is movably connected on Structure on the pedestal (31) is：Positioning is equipped with along the 3rd of X-direction extension and slides on the bottom side of the pedestal (31) Rail (33)；The first movement panel seat (8) is additionally provided with, the first movement panel seat (8) is slidably connected to the described 3rd by sliding block and slides On rail (33), and also positioning is equipped with the 4th slide extended along X-direction on the bottom side of the described first movement panel seat (8) (80), the bearing plate (4) is slidably connected on the 4th slide (80) by sliding block；Realize that the bearing plate (4) can move back and forth positioning under the drive of the 3rd drive system along X-direction Structure is：Positioning is equipped with the along X-direction extension on described first movement panel seat (8) side elevation along Y direction Five slides (81)；3rd drive system include the second movement panel seat (90), the 3rd gear motor (91), the 3rd gear, Upper rack (92), lower rack (93), two synchronizing wheels (94) and synchronous belt (95), wherein, the second movement panel seat (90) is logical Sliding block is crossed to be slidably connected on the 5th slide (81), and at the same time it is described second movement panel seat (90) also by sliding block with it is described 3rd slide (33) is slidably connected；3rd gear motor (91) location and installation is on the described second movement panel seat (90), institute State the positioning of the 3rd gear to be socketed on the power output shaft of the 3rd gear motor (91), the upper rack (92) is along X-axis side To extension and location and installation is on a side elevation of the pedestal (31) along Y direction, and the lower rack (93) is also along X-axis side To extension and location and installation is on a side elevation of the described first movement panel seat (8) along Y direction, and the lower rack (93) It is in positioned opposite up and down also with the upper rack (92), and also engages connection with the 3rd gear respectively；Two synchronizations Wheel (94) is rotatably installed in the first movement panel seat (8) along at the both sides of X-direction respectively, and the synchronous belt (95) is sheathed on On two synchronizing wheels (94), and company is also fixed in the top of the synchronous belt (95) with the described second movement panel seat (90) at the same time Connect, the lower part of the synchronous belt (95) is also fixedly connected with the bearing plate (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711474727.3A CN107984464A (en) | 2017-12-29 | 2017-12-29 | Gantry-type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711474727.3A CN107984464A (en) | 2017-12-29 | 2017-12-29 | Gantry-type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107984464A true CN107984464A (en) | 2018-05-04 |
Family
ID=62042227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711474727.3A Pending CN107984464A (en) | 2017-12-29 | 2017-12-29 | Gantry-type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107984464A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004181513A (en) * | 2002-12-06 | 2004-07-02 | Towa Kk | Moving bolster device |
| JP2006175538A (en) * | 2004-12-21 | 2006-07-06 | Nsk Ltd | Biaxial actuator |
| US20090155039A1 (en) * | 2007-11-12 | 2009-06-18 | Dujardin Paul-Eric | Multi-axis robot for high-speed applications |
| CN102020113A (en) * | 2010-11-17 | 2011-04-20 | 重庆大学 | Handling and calibrating manipulator |
| CN203566406U (en) * | 2013-11-27 | 2014-04-30 | 广东和氏自动化技术有限公司 | Automatic truss type robot for deburring and polishing crank shaft |
| CN204308081U (en) * | 2014-11-27 | 2015-05-06 | 南京埃尔法电液技术有限公司 | A kind of multi-functional loading and unloading manipulator |
| CN106113005A (en) * | 2016-08-24 | 2016-11-16 | 苏州神运机器人有限公司 | Portal frame |
| CN107378924A (en) * | 2017-09-21 | 2017-11-24 | 青岛科捷机器人有限公司 | Planer-type scissor catching robot |
| CN207747045U (en) * | 2017-12-29 | 2018-08-21 | 昆山威创自动化科技有限公司 | Gantry-type mechanical arm |
-
2017
- 2017-12-29 CN CN201711474727.3A patent/CN107984464A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004181513A (en) * | 2002-12-06 | 2004-07-02 | Towa Kk | Moving bolster device |
| JP2006175538A (en) * | 2004-12-21 | 2006-07-06 | Nsk Ltd | Biaxial actuator |
| US20090155039A1 (en) * | 2007-11-12 | 2009-06-18 | Dujardin Paul-Eric | Multi-axis robot for high-speed applications |
| CN102020113A (en) * | 2010-11-17 | 2011-04-20 | 重庆大学 | Handling and calibrating manipulator |
| CN203566406U (en) * | 2013-11-27 | 2014-04-30 | 广东和氏自动化技术有限公司 | Automatic truss type robot for deburring and polishing crank shaft |
| CN204308081U (en) * | 2014-11-27 | 2015-05-06 | 南京埃尔法电液技术有限公司 | A kind of multi-functional loading and unloading manipulator |
| CN106113005A (en) * | 2016-08-24 | 2016-11-16 | 苏州神运机器人有限公司 | Portal frame |
| CN107378924A (en) * | 2017-09-21 | 2017-11-24 | 青岛科捷机器人有限公司 | Planer-type scissor catching robot |
| CN207747045U (en) * | 2017-12-29 | 2018-08-21 | 昆山威创自动化科技有限公司 | Gantry-type mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201346604Y (en) | Single-set, multi-station transfer manipulator | |
| CN102497953A (en) | Machine tool | |
| CN106624084A (en) | Gantry type double-head computer numerical control (CNC) milling machine for hub machining | |
| WO2023179022A1 (en) | Milling and boring machine having switchable tables and method for using same | |
| CN105328247A (en) | Hoisting milling machine device | |
| CN110000300A (en) | A kind of intelligent multifunctional stand alone type line manipulator | |
| CN104175312A (en) | Manipulator for producing precast concrete wallboard | |
| CN110817403B (en) | Open press machine connecting-line type automatic feeding and discharging system and application thereof | |
| CN108145026B (en) | Large three-dimensional manipulator | |
| CN107671335A (en) | Double independent driving gantry numerical control milling machines | |
| CN109013793B (en) | Sheet metal flanging production line | |
| CN207747045U (en) | Gantry-type mechanical arm | |
| CN206597930U (en) | A kind of wave filter perforating device | |
| CN109702820A (en) | A kind of automatic panel-turnover digital controlled material cutting machine | |
| CN201168840Y (en) | Gantry mobile linear cutting machine | |
| CN213005307U (en) | Three-shaft truss manipulator | |
| CN218487942U (en) | Guide rail positioning and conveying device | |
| CN202498298U (en) | Numerical control cantilever plasma cutting machine | |
| CN107984464A (en) | Gantry-type mechanical arm | |
| CN201529709U (en) | Novel six-axis numerical control stock stop used for numerical control plate bender | |
| CN208960712U (en) | A kind of metal plate flanging production line | |
| CN207746325U (en) | Large-scale three-D manipulator | |
| CN211464612U (en) | Servo swing arm system for workpiece stamping | |
| CN203592108U (en) | One-arm multi-machine automatic feeding mechanical arm | |
| CN209830072U (en) | Intelligent multifunctional independent connecting manipulator |
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 |