CN207240202U - Planer-type scissor catching robot - Google Patents
Planer-type scissor catching robot Download PDFInfo
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- CN207240202U CN207240202U CN201721215154.8U CN201721215154U CN207240202U CN 207240202 U CN207240202 U CN 207240202U CN 201721215154 U CN201721215154 U CN 201721215154U CN 207240202 U CN207240202 U CN 207240202U
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Abstract
It the utility model is related to gantry manipulator, more particularly to planer-type scissor catching robot.It includes gantry vertical frame, moving beam and moving sliding base, gantry vertical frame is equipped with the both sides vertical frame type structure of top beam body for top, the moving beam is rack-mounted in the beam body of top, gantry vertical frame rear end is equipped with fixed roof beam structure, the X-axis leather belt driving mechanism being connected with moving beam both ends is installed, the moving beam realizes that the X-direction in the beam body of top moves along a straight line by X-axis leather belt driving mechanism on the fixed roof beam structure；Y-axis leather belt driving mechanism is installed on the moving beam.The utility model has the advantage of the leather belt driving mechanism by three axis in the vertical frame of gantry, realizes the three axis linear motion of high efficiency smooth, so that arm end is placed in specified crawl position, action is fast, registration is reliable.
Description
Technical field
It the utility model is related to gantry manipulator, more particularly to planer-type scissor catching robot.
Background technology
With the development of science and technology, the application of electricity in people's daily life is more and more extensive, make electric energy meter by extensive general
And use, electric energy meter is managed for convenience, during electric energy meter storage, electric energy meter is typically first put into papery week
In turnning box, then week vanning is placed on compact shelving goods yard and is stored, the present this usual substantial amounts in compact shelving goods yard,
By existing manual mode of operation, treatment effeciency is low, goes out that storage reflection speed is slow, is difficult to storing process to papery turnover box
Effectively manage and monitor, it has not been convenient to digital management, it is difficult to meet efficient high-volume outbound requirement.It is badly in need of now a kind of
Intelligent and high-efficiency and the planer-type scissor catching robot that can quickly go out storage to the papery turnover box on compact shelving goods yard.
Utility model content
Problem to be solved in the utility model is how to overcome the deficiencies of the prior art and provide planer-type scissor crawl machinery
Hand.
The technical solution that the utility model uses to achieve the above object is：Planer-type scissor catching robot, including dragon
Door vertical frame, moving beam and moving sliding base, gantry vertical frame is equipped with the both sides vertical frame type structure of top beam body for top, described
Moving beam is rack-mounted in the beam body of top, and gantry vertical frame rear end is equipped with fixed roof beam structure, be provided with the fixed roof beam structure with
The X-axis leather belt driving mechanism of moving beam both ends connection, the moving beam are realized in roof beam by X-axis leather belt driving mechanism
X-direction linear motion on body；Y-axis leather belt driving mechanism is installed, the moving sliding base passes through straight on the moving beam
Line railroad is installed on moving beam, and the moving sliding base realizes the Y on moving beam by Y-axis leather belt driving mechanism
Direction of principal axis moves along a straight line；The moving sliding base top is equipped with Z axis leather belt driving mechanism, and the moving sliding base lower part is connected with flexible
Scissors mechanism, the flexible scissors mechanism lower part are connected with bottom loaded frame apparatus, and the bottom loaded frame apparatus passes through Z axis skin
Tape drive mechanism simultaneously realizes that Z-direction moves along a straight line under flexible scissors mechanism guiding role.
Further, the top beam body is equipped with wheel track device, and the moving beam both ends are equipped with crossbeam idler wheel mechanism, institute
Stating crossbeam idler wheel mechanism can be rolled on wheel track device.
Further, the X-axis leather belt driving mechanism includes first reducing motors device, major axis belt gear, driving
Major axis, the first driving pulley and the first drive belt, the first reducing motors device is fixedly mounted on fixed roof beam structure, described
For first reducing motors device by major axis belt gear with driving long axis connection, the driving major axis both ends are fixed on gantry
Vertical frame both sides, driving major axis both ends are equipped with the first driving pulley, and first drive belt is installed on both sides by support wheel
Drive in the beam body of top and by the first driving pulley, be installed with and moving beam on the first drive belt of both sides band body
The driving connecting plate that end is fixedly connected.
Further, the Y-axis leather belt driving mechanism includes second reducing motors device, the second driving pulley and the second driving
Belt, the second reducing motors device are fixedly mounted on moving beam end, and second driving pulley is located at the second deceleration
Electric machine output terminal, the second drive belt are installed on moving beam by support wheel and are driven by the second driving pulley,
Second drive belt is with being also installed with the driving connecting plate that is fixedly connected with moving sliding base on body.
Further, the Z axis leather belt driving mechanism includes the 3rd deceleration motor device, the 3rd driving pulley, the 3rd driving
Belt, mlultiple-groove sheave, left lifting belt strip, right lifting belt strip and deflecting guide wheel device, the moving sliding base are block form
Structure, the 3rd deceleration motor device and mlultiple-groove sheave are adjacent to be fixedly mounted on moving sliding base top, the moving sliding base
The left and right sides is equipped with deflecting guide wheel device, and the 3rd deceleration motor device is equipped with the 3rd driving pulley and multiple-grooved skin by its end
Belt wheel connects, and one end of left lifting belt strip and right lifting belt strip is respectively fixed around the different races mounted in mlultiple-groove sheave
In, the other end of left lifting belt strip and right lifting belt strip around the deflecting guide wheel device on moving sliding base respectively with bottom
Load and be fixedly connected at left and right sides of frame apparatus.
Further, it is additionally provided with photoelectrical position detecting apparatus on the bottom loaded frame apparatus.
Further, the bottom loaded frame apparatus is side mouth formula structure, the bottom loaded frame apparatus inner lower
Pellet fork device is stretched equipped with double.
Further, the left lifting belt strip installs around direction phase with right lifting belt strip on the groove position of mlultiple-groove sheave
Instead.
The utility model has the advantage of the leather belt driving mechanism co-operating by three axis, high efficiency smooth is realized
Three axis straight line compound motions, so that arm end is placed in specified crawl position, action is fast, registration is reliable, and its
In Z axis leather belt driving mechanism apply flexible scissors mechanism, make by it is left lifting belt strip and it is left lifting belt strip carried
The bottom loaded frame apparatus of drawing can smoothly carry out vertical motion, prevent from rocking in motion process, can effectively shorten double stretch
The action time of pallet fork, the reliability standard of equipment is improved, greatly improve ammeter turnover box goes out warehouse-in efficiency.This
Utility model can be fitted close productive temp, be realized out and be put in storage by light and handy flexibly adjustable belt driven type grasping jig
Process automation, greatly reduces manpower and realizes man-computer cooperation, securely and reliably, cost is low.
Brief description of the drawings
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the enlarged drawing of location A in Fig. 1；
Fig. 3 is the enlarged drawing of B location in Fig. 1；
Fig. 4 is the mounting structure side view between Z axis leather belt driving mechanism 31 and crossbeam slide 2；
Fig. 5 is the arrangement relation schematic diagram of each belt in Z axis leather belt driving mechanism 31.
Embodiment
Shown in Fig. 1~5, planer-type scissor catching robot, including gantry vertical frame 1, moving beam 2 and moving sliding base 3, institute
The both sides vertical frame type structure that gantry vertical frame 1 is equipped with top beam body 11 for top is stated, the moving beam 2 is rack-mounted in top beam body 11
On, 1 rear end of gantry vertical frame is equipped with fixed roof beam structure 12, is provided with the fixed roof beam structure 12 and is connected with 2 both ends of moving beam
X-axis leather belt driving mechanism 13, the moving beam 2 realizes the X-axis in top beam body 11 by X-axis leather belt driving mechanism 13
Direction moves along a straight line；Y-axis leather belt driving mechanism 21 is installed, the moving sliding base 3 passes through line slide rail on the moving beam 2
Device is installed on moving beam 2, and the moving sliding base 3 realizes the Y on moving beam 2 by Y-axis leather belt driving mechanism 21
Direction of principal axis moves along a straight line；3 top of moving sliding base is equipped with Z axis leather belt driving mechanism 31, and 3 lower part of moving sliding base is connected with
Flexible scissors mechanism 32, flexible 32 lower part of scissors mechanism are connected with bottom loaded frame apparatus 33, the bottom loaded frame dress
Put 33 and realize that Z-direction moves along a straight line by Z axis leather belt driving mechanism 31 and under flexible 32 guiding role of scissors mechanism.It is described
Under the self controllable systemic effect processed of X-axis leather belt driving mechanism 13, Y-axis leather belt driving mechanism 21 and Z axis leather belt driving mechanism 31 solely
Vertical movement.
The top beam body 11 is equipped with wheel track device 111, and 2 both ends of moving beam are equipped with crossbeam idler wheel mechanism 22,
The crossbeam idler wheel mechanism 22 can be rolled on wheel track device 111.The X-axis leather belt driving mechanism 13 includes first and slows down
Electric machine 131, major axis belt gear 132, driving major axis 133, the first driving pulley 134 and the first drive belt 135,
The first reducing motors device 131 is fixedly mounted on fixed roof beam structure 12, and the first reducing motors device 131 passes through major axis
Belt gear 132 is connected with driving major axis 133, and 133 both ends of the driving major axis are fixed on 1 both sides of gantry vertical frame, drive
133 both ends of major axis are equipped with the first driving pulley 134, and first drive belt 135 is installed on two side roof parts by support wheel
Driven in beam body 11 and by the first driving pulley 134, the first drive belt of both sides 135 be installed with body with it is mobile
The driving connecting plate that 2 end of crossbeam is fixedly connected.During actual act, first drive belt 135 is installed in both sides
Top beam body 11 on, mounting means can be installed by auxiliary support wheel, and both sides the first drive belt 135 is by same
A piece driving major axis 133 is driven, and realizes synchronous revolving, and since the first drive belt 135 is by driving connecting plate and movement
Crossbeam 2 connects, so that drive of first drive belt 135 to moving beam 2 can be realized, realizes longitudinal X-direction straight line fortune
It is dynamic.
The Y-axis leather belt driving mechanism 21 includes second reducing motors device 211, the second driving pulley 212 and second drives
Dynamic belt 213, second reducing motors device 211 are fixedly mounted on 2 end of moving beam, and second driving pulley 212 is located at
211 output terminal of second reducing motors device, the second drive belt 213 are installed on moving beam 2 and by the by support wheel
Two driving pulleys 212 drive, and the second drive belt 213 is with being also installed with the driving that is fixedly connected with moving sliding base 3 on body
Connecting plate.Similar with the X-direction linear motion of longitudinal direction, horizontal Y-axis linear motion is to drive to move by the second drive belt 213
What dynamic slide 3 was realized, the second drive belt 213 can also be installed on along 2 length direction of moving beam by auxiliary support wheel and be moved
On dynamic crossbeam 2, while the second drive belt 213 is fixedly linked with moving sliding base 3, so that the second drive belt 213 moves
3 transverse movement of moving sliding base can be driven, realizes horizontal Y direction linear motion.
The Z axis leather belt driving mechanism 31 includes the 3rd deceleration motor device 311, the 3rd driving pulley the 312, the 3rd drives
Belt 313, mlultiple-groove sheave 314, left lifting belt strip 315, right lifting belt strip 316 and deflecting guide wheel device 317, the shifting
Dynamic slide 3 is block form structure, the 3rd deceleration motor device 311 and mlultiple-groove sheave 314 is adjacent is fixedly mounted on movement
3 top of slide, the left and right sides of moving sliding base 3 are equipped with deflecting guide wheel device 317, and the 3rd deceleration motor device 311 passes through
Its end is connected equipped with the 3rd driving pulley 312 with mlultiple-groove sheave 314, left lifting belt strip 315 and right lifting belt strip 316
One end respectively fix around in the different races of mlultiple-groove sheave 314, left lifting belt strip 315 and right lifting belt strip
316 other end is around the left and right sides with bottom loaded frame apparatus 33 respectively of the deflecting guide wheel device 317 on moving sliding base 3
It is fixedly connected.Transfer carries out the output power of the 3rd deceleration motor device 311 by middle mlultiple-groove sheave 314, one
Divide by the fixed left lifting belt strip 315 being wound on the corresponding groove position of mlultiple-groove sheave 314 into action edge transmission, another logical
The fixed right lifting belt strip 316 being wound on the remaining groove position of mlultiple-groove sheave 314 is crossed into action edge transmission, in bottom loaded frame
During device 33 rises, mlultiple-groove sheave 314 operates and makes left lifting belt strip 315 and right lifting belt strip 316 at the same time
Curled up on to mlultiple-groove sheave 314, be pulled up bottom loaded frame apparatus 33, simultaneous retractable scissors mechanism 32 is shunk, and is kept away
Exempt to rock in 33 uphill process of bottom loaded frame apparatus.When bottom loaded frame apparatus 33 declines, mainly filled by bottom
Carry the gravity realization of frame apparatus 33 and flexible scissors mechanism 32 itself, the left lifting belt strip driven by mlultiple-groove sheave 314
315 and right lifting belt strip 316 ease out at the same time, bottom loaded frame apparatus 33 moves down, it is achieved thereby that vertical Z axis straight line is transported
It is dynamic.
Photoelectrical position detecting apparatus is additionally provided with the bottom loaded frame apparatus 33.The bottom loaded frame apparatus 33 is side
Portion's open type structure, 33 inner lower of bottom loaded frame apparatus stretch pellet fork device 331 equipped with double.The left lifting belt strip
315 with right lifting belt strip 316 on the groove position of mlultiple-groove sheave 314 to install around direction opposite.In actual installation process,
Mlultiple-groove sheave 314 can set five groove positions, and medial launder position is connected with the 3rd drive belt 313 to realize that power inputs, in being located at
Between groove position both sides two symmetrical channels positions install around it is left lifting belt strip 315, outermost two symmetrical channels positions reversely install around
Right lifting belt strip 316, such mounting means ensure that transmission requires.
During actual motion, this equipment is installed in ammeter coarctation cabinet warehouse, by control system X-axis belt can be controlled to drive
Motivation structure 13, Y-axis leather belt driving mechanism 21 and Z axis leather belt driving mechanism 31 act successively, so that 3 bottom of moving sliding base passes through
The bottom loaded frame apparatus 33 that flexible scissors mechanism 32 connects is located at the papery turnover box specified, then bottom loaded frame apparatus
Photoelectrical position detecting apparatus on 33 can detect the turnover box position in front, and then double pellet fork devices 331 of stretching are overhanging, by coarctation cabinet
The turnover box of middle designated position be placed in it is double stretch on the pallet fork of pellet fork device 331, it is double to stretch after pellet fork device 331 shrinks, turnover can be made
Case is placed in bottom loaded frame apparatus 33, and the grasping movement of such turnover box is completed, and control system controls X-axis belt to drive again
Mechanism 13, Y-axis leather belt driving mechanism 21 and Z axis leather belt driving mechanism 31 act successively, so that by bottom loaded frame apparatus 33 just
The corresponding position of the nearly conveyer belt delivery system for navigating to coarctation cabinet warehouse, double pellet fork devices 331 of stretching act, and make bottom loaded
Turnover box in frame apparatus 33 is placed in conveyer belt delivery system, can realize that turnover box is entirely conveyed through by conveyer belt delivery system
Journey.Similarly, when the turnover box in conveyer belt delivery system on designated position to be stored in the specified deposit position of coarctation cabinet, X
Axis leather belt driving mechanism 13, Y-axis leather belt driving mechanism 21 and Z axis leather belt driving mechanism 31 also can be under control system effects, will
Turnover box is placed in the specified deposit position of coarctation cabinet, goes out storage process so as to fulfill the turnover box of automation.Certainly say for above-mentioned
Understand a kind of application mode of the technical program, those skilled in the art can combine itself industry experience and the related prior art simultaneously
Realize other function courses as needed with reference to present embodiment.
The utility model is based on meeting that the vanning of ammeter week goes out the automation demanding of storage in coarctation cabinet of storing in a warehouse, with section
Less manpower, reduction labor strength are condition, make every effort to operating personnel's easily operation and maintenance, equipment is had good warp
Ji property, security, operability, and there is higher reliability by way of belt driving, the light and handy spirit of grasping jig design
Work is adjustable, is fitted close productive temp, realizes out storage process automation, greatly reduce manpower and realize man-computer cooperation, safety
Reliably, cost is low.
For above-described embodiment simply to illustrate that the technical concepts and features of the utility model, the purpose is to be to allow this area
Interior those of ordinary skill can understand the content of the utility model and implement according to this, can not limit the utility model with this
Protection domain.Every equivalent change or modification according to made by the essence of the utility model content, should all cover in this reality
With in new protection domain.
Claims (8)
1. planer-type scissor catching robot, including gantry vertical frame, moving beam and moving sliding base, it is characterised in that：The dragon
Door vertical frame is equipped with the both sides vertical frame type structure of top beam body for top, and the moving beam is rack-mounted in the beam body of top, the dragon
Door vertical frame rear end is equipped with fixed roof beam structure, and the X-axis belt drive being connected with moving beam both ends is provided with the fixed roof beam structure
Structure, the moving beam realize that the X-direction in the beam body of top moves along a straight line by X-axis leather belt driving mechanism；The movement
Y-axis leather belt driving mechanism is installed, the moving sliding base is installed on moving beam by line slide rail device, described on crossbeam
Moving sliding base realizes that the Y direction on moving beam moves along a straight line by Y-axis leather belt driving mechanism；The moving sliding base top
Equipped with Z axis leather belt driving mechanism, the moving sliding base lower part is connected with flexible scissors mechanism, and the flexible scissors mechanism lower part connects
Bottom loaded frame apparatus is connected to, the bottom loaded frame apparatus is oriented to by Z axis leather belt driving mechanism and in flexible scissors mechanism
Realize that Z-direction moves along a straight line under effect.
2. planer-type scissor catching robot according to claim 1, it is characterised in that：The top beam body is equipped with wheel
Rail device, the moving beam both ends are equipped with crossbeam idler wheel mechanism, and the crossbeam idler wheel mechanism can be rolled on wheel track device
It is dynamic.
3. planer-type scissor catching robot according to claim 1, it is characterised in that：The X-axis leather belt driving mechanism
Including first reducing motors device, major axis belt gear, driving major axis, the first driving pulley and the first drive belt, institute
State first reducing motors device to be fixedly mounted on fixed roof beam structure, the first reducing motors device passes through major axis belt drive
Structure is with driving long axis connection, and the driving major axis both ends are fixed on gantry vertical frame both sides, and driving major axis both ends are equipped with the first drive
Movable belt pulley, first drive belt are installed at the top of both sides in beam body by support wheel and are driven by the first driving pulley,
The first drive belt of both sides is with being installed with the driving connecting plate that is fixedly connected with moving beam end on body.
4. planer-type scissor catching robot according to claim 1, it is characterised in that：The Y-axis leather belt driving mechanism
Including second reducing motors device, the second driving pulley and the second drive belt, the second reducing motors device is fixedly mounted
In moving beam end, second driving pulley is located at second reducing motors device output terminal, and the second drive belt passes through branch
Support wheel is installed on moving beam and is driven by the second driving pulley, is also installed with and moves on the second drive belt band body
The driving connecting plate that dynamic slide is fixedly connected.
5. planer-type scissor catching robot according to claim 1, it is characterised in that：The Z axis leather belt driving mechanism
Including the 3rd deceleration motor device, the 3rd driving pulley, the 3rd drive belt, mlultiple-groove sheave, left lifting belt strip, right lifting
Belt strip and deflecting guide wheel device, the moving sliding base are block form structure, the 3rd deceleration motor device and multiple-grooved belt
Take turns it is adjacent be fixedly mounted on moving sliding base top, deflecting guide wheel device is equipped with left and right sides of the moving sliding base, the 3rd slows down
Electric machine is connected by its end equipped with the 3rd driving pulley with mlultiple-groove sheave, left lifting belt strip and right lifting belt strip
One end respectively fix around in the different races of mlultiple-groove sheave, left lifting belt strip and right lifting belt strip it is another
End is fixedly connected with left and right sides of bottom loaded frame apparatus respectively around the deflecting guide wheel device on moving sliding base.
6. planer-type scissor catching robot according to claim 1 or 5, it is characterised in that：The bottom loaded frame dress
Put and be additionally provided with photoelectrical position detecting apparatus.
7. planer-type scissor catching robot according to claim 1 or 5, it is characterised in that：The bottom loaded frame dress
Side mouth formula structure is set to, the bottom loaded frame apparatus inner lower stretches pellet fork device equipped with double.
8. planer-type scissor catching robot according to claim 5, it is characterised in that：The left lifting belt strip and the right side
Lift belt strip on the groove position of mlultiple-groove sheave to install around direction opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721215154.8U CN207240202U (en) | 2017-09-21 | 2017-09-21 | Planer-type scissor catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721215154.8U CN207240202U (en) | 2017-09-21 | 2017-09-21 | Planer-type scissor catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207240202U true CN207240202U (en) | 2018-04-17 |
Family
ID=61886312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721215154.8U Active CN207240202U (en) | 2017-09-21 | 2017-09-21 | Planer-type scissor catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207240202U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378924A (en) * | 2017-09-21 | 2017-11-24 | 青岛科捷机器人有限公司 | Planer-type scissor catching robot |
-
2017
- 2017-09-21 CN CN201721215154.8U patent/CN207240202U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378924A (en) * | 2017-09-21 | 2017-11-24 | 青岛科捷机器人有限公司 | Planer-type scissor catching robot |
| CN107378924B (en) * | 2017-09-21 | 2023-08-29 | 青岛科捷机器人有限公司 | Gantry type scissor grabbing manipulator |
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