CN109318219A - A kind of gantry lift industrial robot - Google Patents
A kind of gantry lift industrial robot Download PDFInfo
- Publication number
- CN109318219A CN109318219A CN201811379317.5A CN201811379317A CN109318219A CN 109318219 A CN109318219 A CN 109318219A CN 201811379317 A CN201811379317 A CN 201811379317A CN 109318219 A CN109318219 A CN 109318219A
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- China
- Prior art keywords
- gear
- industrial robot
- lifting motor
- motor case
- column
- 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
- 230000003028 elevating effect Effects 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 abstract description 2
- 241000237858 Gastropoda Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013486 operation strategy 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
- B25J9/02—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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotic technology fields, specifically a kind of gantry lift industrial robot, it is characterized in that: including left column and right column, lifting motor case is equipped between left column and right column, servo motor two is installed in lifting motor case, the output shaft of servo motor two is connected with gear three, lifting motor case is equipped with elevating lever, the side wall of elevating lever is equipped with the teeth being used cooperatively with gear three, the top of lifting motor case is equipped with screw rod, screw rod is equipped with swivel nut used in conjunction with, connector is fixedly connected between swivel nut and lifting motor case, right column is equipped with the driving mechanism for driving lifting motor case to move left and right.Gantry lift industrial robot can drive lifting motor case to move left and right, by the cooperation of servo motor two, gear three and teeth, the effect of lifter rod lifting may be implemented, gantry lift industrial robot structure is simple, instead of manpower, mitigate the human cost of enterprise.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of gantry lift industrial robot.
Background technique
Gantry lift industrial robot, refer to programming that can be realized automatic control, repeatable, it is multivariant,
Freedom of motion builds up space right-angle relationship, multiduty operation machine.Also known as large-scale Cartesian robot, also referred to as truss
Robot, the behavior of work are mainly by completing to carry out along the linear movement in X, Y, Z axis.
The operation strategies of industrial robot are more and more extensive, in effort the people in many traditional industry fields
Human work is replaced using robot.And human cost is higher and higher, further stimulates manufacturing industry to machine Man's Demands.Mirror
In this, the present invention proposes a kind of gantry lift industrial robot.
Summary of the invention
The purpose of the present invention is to provide a kind of gantry lift industrial robots, to solve to propose in above-mentioned background technique
The problem of.
To achieve the above object, the invention provides the following technical scheme:
A kind of gantry lift industrial robot, including left column and right column, set between the left column and right column
There is lifting motor case, lifting motor case is hollow structure inside, is equipped with servo motor two, servo motor two in lifting motor case
Output shaft be connected with gear three, lifting motor case is equipped with elevating lever, and the side wall of elevating lever is equipped with to be made with the cooperation of gear three
Teeth can be rotated with moving gear three by servo motor two, can be driven using the engagement of gear three and teeth
Lifter rod lifting；The top of lifting motor case is equipped with screw rod, and screw rod is equipped with swivel nut used in conjunction with, swivel nut and lifting electricity
Connector is fixedly connected between cabinet, screw rod can be moved left and right with movable snail sleeve along screw rod when rotating, and realize lifting motor
The purpose that case moves left and right, right column are equipped with the driving mechanism for driving lifting motor case to move left and right.
As a further solution of the present invention: the driving mechanism includes gear two and shaft, the right end of shaft and screw rod
It is coaxially connected, the bearing being used cooperatively with shaft is embedded on right column, the right end of shaft passes through bearing and connect with gear two.
As further scheme of the invention: the left end bearing of the screw rod is connected with bearing block, and bearing block is mounted on
On the side wall of left column, the setting of bearing block and bearing can be convenient the rotation of screw rod and shaft.
As the present invention further scheme: the driving mechanism further includes servo motor one, servo motor one it is defeated
Shaft is connected with gear one, and gear one is engaged with gear two, is rotated by servo motor one with moving gear one, utilizes one He of gear
The engagement of gear two, and then drive shaft and screw rod rotation.
As the present invention further scheme: the top of the screw rod is equipped with sliding rail, the left and right ends of sliding rail respectively with
Left column is connected with the side wall of right column, and sliding rail is equipped with sliding sleeve used in conjunction with, and sliding sleeve can slide on the slide rail, sliding
The bottom face of set is connected with link block, and link block connects swivel nut far from one end of sliding sleeve, and the setting of sliding sleeve and sliding rail is in lifting electricity
Guiding role is played when cabinet moves left and right.
As further scheme of the invention: the bottom face of the left column and right column is fixedly connected with support bottom
Seat, support base can be fixed by welding on left column and right column.
As the present invention further scheme: the support base is equipped with fixing bolt, can be with by fixing bolt
By the gantry, lift industrial robot is fixed.
Compared with prior art, the beneficial effects of the present invention are:
Gantry lift industrial robot passes through servo motor one, gear one, gear two, shaft, screw rod, swivel nut, company
The cooperation of block, sliding sleeve and sliding rail is connect, lifting motor case can be driven to move left and right, passes through servo motor two, gear three and teeth
Cooperation, the effect of lifter rod lifting may be implemented, gantry lift industrial robot structure is simple, instead of manpower, mitigates
The human cost of enterprise.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of gantry lift industrial robot embodiment 1.
Fig. 2 is the left view structural representation of lifting motor case in gantry lift industrial robot embodiment 1.
Fig. 3 is the structural schematic diagram of gantry lift industrial robot embodiment 2.
In figure: 1- left column, 2- support base, 3- right column, 4- servo motor one, 5- gear one, 6- gear two, 7- turn
Axis, 8- screw rod, 9- sliding rail, 10- sliding sleeve, 11- bearing block, 12- link block, 13- swivel nut, 14- lifting motor case, 15- elevating lever,
16- bearing, 17- connector, 18- servo motor two, 19- gear three, 20- teeth, 21- fixing bolt.
Specific embodiment
The technical solution of the patent is explained in further detail With reference to embodiment.
Embodiment 1
Please refer to Fig. 1-3, a kind of gantry lift industrial robot, including left column 1 and right column 3, the left column 1
Lifting motor case 14 is equipped between right column 3, lifting motor case 14 is hollow structure inside, is equipped in lifting motor case 14
Servo motor 2 18, the output shaft of servo motor 2 18 are connected with gear 3 19, and lifting motor case 14 is equipped with elevating lever 15, rise
The side wall of drop bar 15 is equipped with the teeth 20 being used cooperatively with gear 3 19, can be with moving gear 3 19 by servo motor 2 18
Rotation can drive elevating lever 15 to go up and down using the engagement of gear 3 19 and teeth 20；The top of lifting motor case 14 is set
There is screw rod 8, screw rod 8 is equipped with swivel nut 13 used in conjunction with, the company of being fixedly connected between swivel nut 13 and lifting motor case 14
Fitting 17, screw rod 8 can be moved left and right with movable snail sleeve 13 along screw rod 8 when rotating, and realize what lifting motor case 14 moved left and right
Purpose, right column 3 are equipped with the driving mechanism for driving lifting motor case 14 to move left and right.
The driving mechanism includes gear 26 and shaft 7, and shaft 7 and the right end of screw rod 8 are coaxially connected, embedding on right column 3
Equipped with the bearing 16 being used cooperatively with shaft 7, the right end of shaft 7 passes through bearing 16 and connect with gear 26, the left end of screw rod 8
Bearing is connected with bearing block 11, and bearing block 11 is mounted on the side wall of left column 1, and the setting of bearing block 11 and bearing 16 can be square
Just the rotation of screw rod 8 and shaft 7.
The driving mechanism further includes servo motor 1, and the output shaft of servo motor 1 is connected with gear 1, gear one
5 engage with gear 26, are rotated by one 4 band moving gear 1 of servo motor, using the engagement of gear 1 and gear 26, in turn
Shaft 7 and screw rod 8 is driven to rotate.
The top of the screw rod 8 is equipped with sliding rail 9, the left and right ends of sliding rail 9 side wall with left column 1 and right column 3 respectively
Connection, sliding rail 9 are equipped with sliding sleeve 10 used in conjunction with, and sliding sleeve 10 can slide on sliding rail 9, and the bottom face of sliding sleeve 10 connects
It is connected to link block 12, link block 12 connects swivel nut 13 far from one end of sliding sleeve 10, and the setting of sliding sleeve 10 and sliding rail 9 is in lifting motor
Case 14 plays guiding role when moving left and right.
The bottom face of the left column 1 and right column 3 is fixedly connected with support base 2, and support base 2 can pass through welding
It is fixed on left column 1 and right column 3.
The working principle of the present embodiment is: in use, rotating by one 4 band moving gear 1 of servo motor, utilizing gear one
5 and gear 26 engagement, and then drive shaft 7 and screw rod 8 to rotate, then pass through screw rod 8, swivel nut 13, link block 12, sliding sleeve 10
With the cooperation of sliding rail 9, to move left and right with movable snail sleeve 13 along screw rod 8, swivel nut 13 drives lifting motor by connector 17
Case 14 moves left and right, and achievees the purpose that lifting motor case 14 moves left and right；It is rotated by 2 18 band moving gear 3 19 of servo motor,
Elevating lever 15 is driven to go up and down using the engagement of gear 3 19 and teeth 20.
Embodiment 2
Referring to Fig. 3, compared with Example 1, the support base 2 is equipped with fixing bolt 21, pass through fixing bolt 21
Gantry lift industrial robot can be fixed.
Better embodiment of the invention is explained in detail above, but the present invention is not limited to above-mentioned embodiment party
Formula within the knowledge of one of ordinary skill in the art can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (7)
1. a kind of gantry lift industrial robot, including left column (1) and right column (3), which is characterized in that the left column
(1) lifting motor case (14) are equipped between right column (3), lifting motor case (14) is hollow structure inside, lifting motor case
(14) servo motor two (18) is installed in, the output shaft of servo motor two (18) is connected with gear three (19), lifting motor case
(14) elevating lever (15) are equipped with, the side wall of elevating lever (15) is equipped with the teeth (20) being used cooperatively with gear three (19), rises
Drop motor housing (14) top be equipped with screw rod (8), screw rod (8) be equipped with swivel nut used in conjunction with (13), swivel nut (13) with
It is fixedly connected between lifting motor case (14) connector (17), right column (3) is equipped with for driving lifting motor case (14)
The driving mechanism moved left and right.
2. lift industrial robot in gantry according to claim 1, which is characterized in that the driving mechanism includes gear
Two (6) and shaft (7), shaft (7) and the right end of screw rod (8) are coaxially connected, are embedded on right column (3) and cooperate with shaft (7)
The bearing (16) used, the right end of shaft (7) pass through bearing (16) and connect with gear two (6).
3. lift industrial robot in gantry according to claim 2, which is characterized in that the left end shaft of the screw rod (8)
It holds and is connected with bearing block (11), bearing block (11) is mounted on the side wall of left column (1).
4. lift industrial robot in gantry according to claim 3, which is characterized in that the driving mechanism further includes watching
Motor one (4) is taken, the output shaft of servo motor one (4) is connected with gear one (5), and gear one (5) is engaged with gear two (6).
5. lift industrial robot in gantry according to claim 4, which is characterized in that set above the screw rod (8)
Have sliding rail (9), the left and right ends of sliding rail (9) are connect with the side wall of left column (1) and right column (3) respectively, and sliding rail (9) is equipped with
Sliding sleeve (10) used in conjunction with, the bottom face of sliding sleeve (10) are connected with link block (12), and link block (12) is far from sliding sleeve
(10) one end connects swivel nut (13).
6. -5 any gantry lift industrial robot according to claim 1, which is characterized in that the left column (1)
Support base (2) are fixedly connected with the bottom face of right column (3).
7. lift industrial robot in gantry according to claim 6, which is characterized in that set on the support base (2)
There are fixing bolt (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811379317.5A CN109318219A (en) | 2018-11-19 | 2018-11-19 | A kind of gantry lift industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811379317.5A CN109318219A (en) | 2018-11-19 | 2018-11-19 | A kind of gantry lift industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109318219A true CN109318219A (en) | 2019-02-12 |
Family
ID=65258724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811379317.5A Pending CN109318219A (en) | 2018-11-19 | 2018-11-19 | A kind of gantry lift industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109318219A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328477A (en) * | 2019-07-29 | 2019-10-15 | 南京涵铭置智能科技有限公司 | A kind of spot welding robot and welding method for industrial welding |
| CN113211411A (en) * | 2021-04-28 | 2021-08-06 | 吕凤莹 | Manipulator-assisted mobile positioning device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01306376A (en) * | 1988-05-31 | 1989-12-11 | Mitsubishi Motors Corp | Automatic mounting device for car fittings |
| JPH0531640A (en) * | 1991-07-24 | 1993-02-09 | Amada Co Ltd | Plate processing device |
| CN204549429U (en) * | 2015-03-19 | 2015-08-12 | 杭州富生电器股份有限公司 | Rule feed mechanism |
| CN105834751A (en) * | 2016-06-08 | 2016-08-10 | 聚和（天津）自动化设备有限公司 | Machine tool for machining long and thin rod and machining method |
| CN106954916A (en) * | 2017-05-18 | 2017-07-18 | 湖州娇斯登鞋业有限公司 | A kind of shoemaking vamp sticking sole device |
| CN209078742U (en) * | 2018-11-19 | 2019-07-09 | 广东技术师范学院 | A kind of gantry lift industrial robot |
-
2018
- 2018-11-19 CN CN201811379317.5A patent/CN109318219A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01306376A (en) * | 1988-05-31 | 1989-12-11 | Mitsubishi Motors Corp | Automatic mounting device for car fittings |
| JPH0531640A (en) * | 1991-07-24 | 1993-02-09 | Amada Co Ltd | Plate processing device |
| CN204549429U (en) * | 2015-03-19 | 2015-08-12 | 杭州富生电器股份有限公司 | Rule feed mechanism |
| CN105834751A (en) * | 2016-06-08 | 2016-08-10 | 聚和（天津）自动化设备有限公司 | Machine tool for machining long and thin rod and machining method |
| CN106954916A (en) * | 2017-05-18 | 2017-07-18 | 湖州娇斯登鞋业有限公司 | A kind of shoemaking vamp sticking sole device |
| CN209078742U (en) * | 2018-11-19 | 2019-07-09 | 广东技术师范学院 | A kind of gantry lift industrial robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328477A (en) * | 2019-07-29 | 2019-10-15 | 南京涵铭置智能科技有限公司 | A kind of spot welding robot and welding method for industrial welding |
| CN113211411A (en) * | 2021-04-28 | 2021-08-06 | 吕凤莹 | Manipulator-assisted mobile positioning device |
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