CN212601818U - Gantry type mobile carrying robot - Google Patents

Abstract

The utility model belongs to the technical field of automatic material handling equipment, and particularly discloses a gantry type mobile handling robot, which comprises a driving unit, a gantry bracket, a disc clamping unit and a disc lifting unit; the driving unit comprises a chassis, a driving wheel and a supporting wheel; the gantry support comprises a cross beam and a longitudinal beam; the gantry support is fixed at the top of the chassis through a longitudinal beam; the disc clamping unit comprises a screw rod nut, a servo motor and a guide rail; the screw rod nut is arranged in the cross beam, the power input end of the screw rod nut is connected with the servo motor through the synchronous belt, and the power output end of the screw rod nut is fixedly connected with the lifting unit mounting plate through the nut; the guide rail is fixed below the cross beam and is in sliding connection with the nut; the disc lifting unit comprises a lifting arm, a gear rack mechanism and a lifting motor; the lifting motor is arranged at the bottom of the lifting unit mounting plate, and the lifting arm is connected with the lifting motor through a gear rack mechanism; the utility model discloses compact structure and handling efficiency are high.

Description

Gantry type mobile carrying robot

Technical Field

The utility model relates to an automatic material haulage equipment technical field specifically is a planer-type removes transfer robot.

Background

The transfer robot has the advantages of high automation degree, flexible application, safety, reliability, high efficiency, convenience in maintenance and the like. In application environments such as warehouse factories, a large amount of manpower is saved, the labor intensity of workers is reduced, artificial errors or damage to machines is reduced, the safety performance is high, and meanwhile, great contribution is made to the carrying efficiency of the factories.

For the wire and cable industry, the transportation of the cable drum mainly depends on the transportation of forklift equipment, and although the structure of the forklift equipment is simple and convenient to use, the required channel is wide, and the field utilization rate is low; during loading and unloading, the parallel of the pallet fork and the axis direction of the plate needs to be ensured, so that the positioning and the alignment become more difficult in the narrow operation space, and the loading and unloading efficiency is reduced; because the fork is longer and is a cantilever, when the fork lifts the cable drum, the central hole of the drum can be inclined in the horizontal direction, so that friction is generated when the central hole is in butt joint with a rotating shaft of equipment, the fatigue wear of the drum and the equipment is accelerated, and the disc loading efficiency is reduced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a planer-type removes transfer robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a gantry type mobile transfer robot comprises a driving unit, a gantry support, a disc clamping unit and a disc lifting unit; the driving unit comprises a chassis, a driving wheel and a supporting wheel; the gantry support comprises a cross beam and longitudinal beams arranged on the left side and the right side below the cross beam; the gantry support is fixed at the top of the chassis through a longitudinal beam; the disc clamping unit comprises a screw rod nut, a servo motor and a guide rail; the screw rod nut is arranged in the cross beam, the power input end of the screw rod nut is connected with the servo motor through a synchronous belt, and the power output end of the screw rod nut is fixedly connected with the lifting unit mounting plate through a nut; the guide rail is fixed below the cross beam and is in sliding connection with the nut; the disc lifting unit comprises a lifting arm, a gear rack mechanism and a lifting motor; the lifting motor is fixedly arranged at the bottom of the lifting unit mounting plate, and the lifting arm is connected with the lifting motor through a gear rack mechanism.

Preferably, the number of the driving wheels is two, the number of the supporting wheels is four, the supporting wheels are symmetrically arranged on two sides of the chassis, and the driving wheels can be actuated to drive the robot to integrally move.

Preferably, two screw rod nuts are arranged and are respectively driven by two servo motors; two the one end that lead screw nut is close to servo motor and servo motor's output all are equipped with synchronous pulley, and the hold-in range twines on synchronous pulley.

Preferably, the rack and pinion mechanism comprises a gear and a rack; the rack is fixedly installed on the lifting arm, the gear is meshed with the rack and is fixedly connected with the output end of the lifting motor at the center of the gear.

Preferably, a clamping plate for clamping the disc is fixedly connected to one side, far away from the longitudinal beam, of the bottom end of the lifting arm.

Compared with the prior art, the beneficial effects of the utility model are that:

the gantry type mobile transfer robot provided by the utility model has a more compact structural design, and can reduce the operation space range to the maximum extent; the plate clamping unit and the lifting unit are arranged on the top of the integral structure, when the plate is conveyed, the gravity center of the plate and the gravity center of the integral structure are arranged in the same plane, so that the cable plate can be always in a horizontal state in the conveying process, and the friction and abrasion of the plate hole and process equipment during butt joint are reduced. The plate clamping unit adopts clamping and clasping type clamping to clamp the plate, the requirement on the placing angle of the plate is lower when the plate is clamped, after the plate is clamped, the plate axis and the plate clamping unit are parallel, the precision required when the plate is placed is greatly reduced, the strict positioning requirement when the plate is taken is reduced, and the carrying efficiency is improved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a partial internal structure of the present invention;

FIG. 3 is a schematic view of a partial structure of the present invention;

fig. 4 is a schematic front view of fig. 3.

In the figure: 1. a drive unit; 11. a chassis; 12. a drive wheel; 13. a support wheel; 2. a disc clamping unit; 21. a feed screw nut; 22. a servo motor; 23. a synchronous belt; 24. a lifting unit mounting plate; 25. a nut; 26. a guide rail; 3. a lifting unit; 31. a lifting arm; 32. a rack and pinion mechanism; 321. a gear; 322. a rack; 33. a lifting motor; 4. a cross beam; 5. a stringer; 6. and (4) clamping the plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1-4, the present invention provides a technical solution: a gantry type mobile transfer robot comprises a driving unit 1, a gantry support, a disc clamping unit 2 and a disc lifting unit 3; the drive unit 1 comprises a chassis 11, a drive wheel 12 and a support wheel 13; the gantry support comprises a cross beam 4 and longitudinal beams 5 arranged on the left side and the right side below the cross beam 4; the gantry support is fixed on the top of the chassis 11 through the longitudinal beam 5; the disc clamping unit 2 comprises a screw nut 21, a servo motor 22 and a guide rail 26; the screw rod nut 21 is arranged in the cross beam 14, the power input end of the screw rod nut 21 is connected with the servo motor 22 through a synchronous belt 23, and the power output end is fixedly connected with a lifting unit mounting plate 24 through a nut 25; the guide rail 26 is fixed below the cross beam 4 and is connected with the nut 25 in a sliding way; the disc lifting unit 3 comprises a lifting arm 31, a gear rack mechanism 32 and a lifting motor 33; the lifting motor 33 is fixedly arranged at the bottom of the lifting unit mounting plate 24, and the lifting arm 31 is connected with the lifting motor 33 through a gear rack mechanism 32; the disc clamping unit 2 is used for controlling the lifting arm 31 to clamp and move left and right, and the disc lifting unit 3 is used for controlling the lifting of the lifting arm 31.

Further, the number of the driving wheels 12 is two, the number of the supporting wheels 13 is four, the supporting wheels are symmetrically arranged on two sides of the chassis 11, and the driving wheels 12 can be actuated to drive the robot to move integrally.

Furthermore, two lead screw nuts 21 are arranged and are respectively driven by two servo motors 22; two lead screw nut 21 is close to servo motor 22's one end and servo motor 22's output all is equipped with synchronous pulley, and hold-in range 23 twines on synchronous pulley.

Further, the rack and pinion mechanism 32 includes a gear 321 and a rack 322; the rack 322 is fixedly arranged on the lifting arm 31, the gear 321 is meshed with the rack 322, and the center of the gear 321 is fixedly connected with the output end of the lifting motor 33; when the disc clamping device is lifted, the lifting motor 33 is started, the output end of the lifting motor 33 drives the gear 321 to rotate, the gear 321 drives the rack 322 meshed with the gear to move up and down, and the rack 322 drives the lifting arm 31 to move up and down, so that the clamped disc can be driven to move up and down.

Furthermore, a clamping plate 6 for clamping the disc is fixedly connected to one side of the bottom end of the lifting arm 31, which is far away from the longitudinal beam 5.

The working principle is as follows: when the disc clamping device is used, the robot moves to a disc storage position through the driving unit 1, and the two disc clamping units 2 drive the lifting arm 31 to move inwards at the same time to clamp discs; then, the lifting unit 3 drives the lifting arm 31 to lift to the required height of the cable equipment, and the driving unit 1 drives the disc to move the working position of the cable equipment and to carry out disc loading; then two lifting arms 31 are opened and descended, the robot moves to a rest point, clamping, carrying and disc feeding work of the disc are completed, operation is simple, and carrying efficiency is high.

It is worth noting that: whole device realizes controlling it through total control button, because the equipment that control button matches is equipment commonly used, belongs to current mature technique, no longer gives unnecessary details its electric connection relation and specific circuit structure again.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. A gantry type mobile transfer robot is characterized by comprising a driving unit (1), a gantry support, a disc clamping unit (2) and a disc lifting unit (3); the drive unit (1) comprises a chassis (11), a drive wheel (12) and a support wheel (13); the gantry support comprises a cross beam (4) and longitudinal beams (5) arranged on the left side and the right side below the cross beam (4); the gantry support is fixed on the top of the chassis (11) through a longitudinal beam (5); the disc clamping unit (2) comprises a screw nut (21), a servo motor (22) and a guide rail (26); the screw rod nut (21) is arranged in the cross beam (4), the power input end of the screw rod nut (21) is connected with the servo motor (22) through a synchronous belt (23), and the power output end is fixedly connected with a lifting unit mounting plate (24) through a nut (25); the guide rail (26) is fixed below the cross beam (4) and is in sliding connection with the nut (25); the disc lifting unit (3) comprises a lifting arm (31), a gear rack mechanism (32) and a lifting motor (33); the lifting motor (33) is fixedly arranged at the bottom of the lifting unit mounting plate (24), and the lifting arm (31) is connected with the lifting motor (33) through a gear rack mechanism (32).

2. The gantry mobile transfer robot of claim 1, wherein: the robot is characterized in that the number of the driving wheels (12) is two, the number of the supporting wheels (13) is four, the supporting wheels are symmetrically arranged on two sides of the chassis (11), and the robot can be driven to integrally move through the operation of the driving wheels (12).

3. The gantry mobile transfer robot of claim 1, wherein: screw-nut (21) are equipped with two, and are driven respectively by two servo motor (22), two screw-nut (21) are close to the one end of servo motor (22) and the output of servo motor (22) and all are equipped with synchronous pulley, and hold-in range (23) winding is on synchronous pulley.

4. The gantry mobile transfer robot of claim 1, wherein: the gear rack mechanism (32) comprises a gear (321) and a rack (322); the rack (322) is fixedly arranged on the lifting arm (31), the gear (321) is meshed with the rack (322), and the center of the gear (321) is fixedly connected with the output end of the lifting motor (33).

5. The gantry mobile transfer robot of claim 1, wherein: and a clamping plate (6) is fixedly connected to one side of the bottom end of the lifting arm (31) far away from the longitudinal beam (5).

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