CN201036870Y - Gantry-type mechanical arm - Google Patents
Gantry-type mechanical arm Download PDFInfo
- Publication number
- CN201036870Y CN201036870Y CNU2007201490751U CN200720149075U CN201036870Y CN 201036870 Y CN201036870 Y CN 201036870Y CN U2007201490751 U CNU2007201490751 U CN U2007201490751U CN 200720149075 U CN200720149075 U CN 200720149075U CN 201036870 Y CN201036870 Y CN 201036870Y
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- Prior art keywords
- screw
- leading screw
- fork
- rack
- reclaiming
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- Expired - Lifetime
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Abstract
The utility model relates to a gantry type manipulator which comprises a cross beam, a truss, rolling wheels, two vertical drive units, a horizontal drive unit, a lead screw, a nut, a travelling gear, a fixed gear rack, a movable gear rack and a rectangular reclaiming fork, wherein, both the left end and the right end of the cross beam are provided with the rolling wheels; the two vertical drive units are respectively connected with the rolling wheels; the lower end of the movable gear rack is fixed with the center of the reclaiming fork. The technical proposal is that the truss is in transverse motion on the gantry type cross beam with the structure in the shape of the Chinese character 'gong', while the entire cross beam is in vertical motion along the guide rail arranged at the top of a column; meanwhile, the utility model is under even stress and has stable structural performance; the reclaiming fork does not need to rotate 180 degrees and feeding and reclaiming can be directly competed on a left loading support or a right loading support, thereby improving production efficiency and greatly reducing failure rate; moreover, because double gear rack transmission is adopted, ball screw travel is effectively reduced under unchanged lifting travel, thereby obtaining a more compact elevating mechanism, increased stiffness and acceleration in travelling speed.
Description
Technical field
The utility model relates to a kind of mechanical device of Equipment for Heating Processing, particularly relates to a kind of planer-type manipulator of realizing salt bath austempering workpiece transfer.
Background technology
At present, some machine components is bearing parts for example, in order to reduce heat treatment deformation, improves part impact resistance and fracture toughness, and the salt bath austempering is a kind of important process; At present, in order to realize multiple-grooved, in enormous quantities, continous way salt bath Bainitic hardening, as Fig. 1, the workpiece transfer manipulator of taking in the prior art, get material fork 8 by the gear on the lifting motor 12 be fixed on the transmission of getting the vertical tooth rack 9 on the material fork 8, can oscilaltion campaign (Z direction); Get material fork 8 and can do 180 ° of rotations in the horizontal plane direction by the gear on the turning motor 5 and the transmission of the ring gear on the pivoting support 10 again; Get material fork 8 and also can laterally make left and right sides rectilinear motion by gear on the transverse mobile motor 4 and the laterally transmission of tooth bar 6.By gear on the longitudinal mobile motor 3 and the transmission that is installed in the longitudinal rack 1 on the longitudinal rail 2, make whole truss 11 guide rail work front and back rectilinear motion longitudinally.Therefore, get material fork 8 and can also can on horizontal plane, do 180 ° rotation, with charging and discharging and the transfer work of finishing the workpiece in each bainite isothermobath 7 at X, Y, three direction moving linearlies of Z.
In the prior art, though the workpiece transfer manipulator of this version can be realized multiple-grooved, in enormous quantities, continous way salt bath Bainitic hardening, there is shortcoming:
When 1, the left and right material bearing shelf from the bainite isothermobath intersects charging and discharging in addition, get the material fork and must do on the horizontal plane direction can achieve the goal after 180 ° the rotation at every turn outside groove, fault rate is very high in its course of action, so production efficiency is restricted.
2, the version of its truss and longitudinal rail is cantilever beam structures, and stress is bad to be wanted, and requires self degree of rigidity higher, has strengthened manufacturing cost.
3, get material fork and get the rack for transmission that material is stuck with being fixed on by the gear on the lifting motor, this kind structure, the translational speed that rises and descend is slower, and job stability is relatively poor, has reduced operating efficiency.
The utility model content
In view of this, main purpose of the present utility model is to provide a kind of planer-type manipulator, pass through the technical program, manipulator moves forward and backward in orbit, makes to get the former end of material fork and promote and changed the middle part into and promote the moving up and down of manipulator, design by double rack, not only accelerate translational speed, reduced the stroke of ball-screw, and remedied the deficiencies in the prior art.
For achieving the above object, the technical solution of the utility model is achieved in that a kind of planer-type manipulator, it comprises crossbeam, truss, scroll wheel, vertical drive unit, lateral driver device, described crossbeam two ends are provided with scroll wheel, described two vertical drive units link to each other with the scroll wheel of the setting at the left and right two ends of crossbeam respectively, it also includes leading screw, screw, carrier wheel, stationary rack, mobile rack, gets the material fork, described screw spinning is on leading screw,, described leading screw is arranged on the truss, and carrier wheel is hinged on the screw; Described stationary rack and leading screw are fixedly installed on leading screw one side in the same way, mobile rack and leading screw are arranged on another side-draw material fork leading truck of leading screw in the same way, the carrier wheel that is hinged on the screw is meshed with stationary rack and mobile rack respectively, gets the material fork and is connected mutually with mobile rack.
The described material fork of getting is rectangle, and the lower end of mobile rack is connected mutually with the center of getting the material fork.
The utility model planer-type manipulator good effect is:
1, truss moves laterally on the I-shaped structure crossbeam of planer-type, and crossbeam integral body vertically moves along the column head rail again, and its stress is even, and structural behaviour is stable, and effect is good;
When 2, the left and right material bearing shelf from the bainite groove intersected charging and discharging, getting the material fork needn't Rotate 180 °, can directly directly charging and discharging on a left side or right material bearing shelf, improved production efficiency, and fault rate reduces greatly.
3, owing to be the double rack transmission, so under the constant situation of lifting travel, reduced the stroke of ball-screw effectively, make elevating mechanism compacter, rigidity is improved, the translational speed quickening.
Description of drawings
Fig. 1 is a prior art structural representation in the utility model;
Fig. 2 is an overall structure schematic diagram under the utility model application state.
Fig. 3 is the side view cutaway drawing of Fig. 2.
Fig. 4 is a manipulator cross-sectional schematic among Fig. 2.
Among the figure, 1 longitudinal rack, 2 longitudinal rails, 3 longitudinal mobile motors, 4 turning motors, 5 transverse mobile motors, 6 horizontal tooth bars, 7 bainite isothermobaths, 8 are got material fork, 9 vertical tooth racks, 10 pivoting supports, 11 truss, 12 lifting motors, 13 scroll wheels, 14 vertical drive units, 15 crossbeams, 16 truss, 17 mobile racks, 18 are got and expected to pitch leading truck, 19 carrier wheels, 20 leading screws, 21 stationary racks, 22 screws, 23 lateral driver devices, 24 lateral driver devices.
The specific embodiment
Below in conjunction with accompanying drawing this practicality newly is described further.
Shown in accompanying drawing 2-4, a kind of embodiment for the utility model planer-type manipulator, it comprises crossbeam 15, truss 16, scroll wheel 13, vertical drive unit 14, lateral driver device 24, described crossbeam 15 two ends are provided with scroll wheel 13, described two vertical drive units 14 respectively with crossbeam 15 left sides, the scroll wheel 13 of the setting at right two ends links to each other, it also includes leading screw 20, screw 22, carrier wheel 19, stationary rack 21, mobile rack 17, get material fork 23, described screw 22 spinnings are on leading screw 20, described leading screw 20 is arranged on the truss 16, and carrier wheel 19 is hinged on the screw 22; Described stationary rack 21 is fixedly installed on leading screw 20 1 sides in the same way with leading screw 20, mobile rack 9 is arranged on leading screw 20 another side-draw material fork leading trucks 18 in the same way with leading screw 20, the carrier wheel 19 that is hinged on the screw 22 is meshed with stationary rack 21 and mobile rack 9 respectively, gets material fork 8 and is connected mutually with mobile rack 9.
The described material fork 8 of getting is rectangle, and the lower end of mobile rack 9 is connected mutually with the center of getting material fork 8.
In the design of the present utility model, crossbeam 15 can also be designed to door type.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (2)
1. planer-type manipulator, it comprises crossbeam, truss, scroll wheel, vertical drive unit, lateral driver device, described crossbeam two ends are provided with scroll wheel, and described two vertical drive units link to each other with the scroll wheel of the setting at the left and right two ends of crossbeam respectively, it is characterized in that: it also includes leading screw, screw, carrier wheel, stationary rack, mobile rack, gets the material fork, described screw spinning is on leading screw, and described leading screw is arranged on the truss, and carrier wheel is hinged on the screw; Described stationary rack and leading screw are fixedly installed on leading screw one side in the same way, mobile rack and leading screw are arranged on getting on the material fork leading truck of leading screw opposite side in the same way, the carrier wheel that is hinged on the screw is meshed with stationary rack and mobile rack respectively, gets the material fork and is connected mutually with mobile rack.
2. planer-type manipulator according to claim 1 is characterized in that: the described material fork of getting is rectangle, and the lower end of mobile rack is connected mutually with the center of getting the material fork.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201490751U CN201036870Y (en) | 2007-05-10 | 2007-05-10 | Gantry-type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201490751U CN201036870Y (en) | 2007-05-10 | 2007-05-10 | Gantry-type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201036870Y true CN201036870Y (en) | 2008-03-19 |
Family
ID=39209379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201490751U Expired - Lifetime CN201036870Y (en) | 2007-05-10 | 2007-05-10 | Gantry-type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201036870Y (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103447354A (en) * | 2013-09-18 | 2013-12-18 | 天津绿博特环保设备制造股份公司 | Steel drum shaping system |
| CN103522128A (en) * | 2013-10-08 | 2014-01-22 | 大同齿轮(昆山)有限公司 | Gantry machine tool |
| WO2014094339A1 (en) * | 2012-12-21 | 2014-06-26 | 大连理工大学 | Gantry-type hull section marking machine |
| CN103991075A (en) * | 2014-04-14 | 2014-08-20 | 江苏通达动力科技股份有限公司 | Silicon steel sheet grabbing and transferring device by utilization of crossed transposition mechanical arms |
| CN104626096A (en) * | 2015-02-15 | 2015-05-20 | 苏州鸿普精密模具有限公司 | Servo feeding and shifting manipulator for automobile condenser chemical cleaning machines |
| CN105151392A (en) * | 2015-09-25 | 2015-12-16 | 洛阳市建园模具制造有限公司 | Packaging and feeding machine special for plastic wire profiles for building materials |
| CN105305160A (en) * | 2015-08-31 | 2016-02-03 | 李王朝 | Truss-type flexible automatic assembly system |
| CN106744346A (en) * | 2016-11-28 | 2017-05-31 | 上海卫星装备研究所 | A kind of nut type screw mandrel elevating translational system |
| CN108296373A (en) * | 2018-02-05 | 2018-07-20 | 上海发那科机器人有限公司 | A kind of loading and unloading system of plate |
| CN110092188A (en) * | 2019-05-10 | 2019-08-06 | 杭州三拓科技有限公司 | Gantry frame type dyestuff material equipment |
| CN110405734A (en) * | 2019-08-01 | 2019-11-05 | 中山叁迪智能设备有限公司 | A kind of multi-robot integrated system marking door of elevator truss robot |
-
2007
- 2007-05-10 CN CNU2007201490751U patent/CN201036870Y/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014094339A1 (en) * | 2012-12-21 | 2014-06-26 | 大连理工大学 | Gantry-type hull section marking machine |
| CN103447354B (en) * | 2013-09-18 | 2016-02-10 | 天津绿博特环保设备制造股份公司 | Steel drum orthopedic systems |
| CN103447354A (en) * | 2013-09-18 | 2013-12-18 | 天津绿博特环保设备制造股份公司 | Steel drum shaping system |
| CN103522128A (en) * | 2013-10-08 | 2014-01-22 | 大同齿轮(昆山)有限公司 | Gantry machine tool |
| CN103991075A (en) * | 2014-04-14 | 2014-08-20 | 江苏通达动力科技股份有限公司 | Silicon steel sheet grabbing and transferring device by utilization of crossed transposition mechanical arms |
| CN103991075B (en) * | 2014-04-14 | 2017-01-04 | 江苏通达动力科技股份有限公司 | A kind of coordinated transposition mechanical hand takes sheet transfer device |
| CN104626096A (en) * | 2015-02-15 | 2015-05-20 | 苏州鸿普精密模具有限公司 | Servo feeding and shifting manipulator for automobile condenser chemical cleaning machines |
| CN105305160A (en) * | 2015-08-31 | 2016-02-03 | 李王朝 | Truss-type flexible automatic assembly system |
| CN105305160B (en) * | 2015-08-31 | 2017-11-03 | 李王朝 | A kind of truss-like flexible automation assembly system |
| CN105151392A (en) * | 2015-09-25 | 2015-12-16 | 洛阳市建园模具制造有限公司 | Packaging and feeding machine special for plastic wire profiles for building materials |
| CN106744346A (en) * | 2016-11-28 | 2017-05-31 | 上海卫星装备研究所 | A kind of nut type screw mandrel elevating translational system |
| CN108296373A (en) * | 2018-02-05 | 2018-07-20 | 上海发那科机器人有限公司 | A kind of loading and unloading system of plate |
| CN110092188A (en) * | 2019-05-10 | 2019-08-06 | 杭州三拓科技有限公司 | Gantry frame type dyestuff material equipment |
| CN110405734A (en) * | 2019-08-01 | 2019-11-05 | 中山叁迪智能设备有限公司 | A kind of multi-robot integrated system marking door of elevator truss robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20080319 |