CN213054826U

CN213054826U - Gantry three-axis manipulator

Info

Publication number: CN213054826U
Application number: CN202022051870.5U
Authority: CN
Inventors: 王虞麒; 张德召
Original assignee: Chengdu Xingyun Zhilian Technology Co ltd
Current assignee: Chengdu Xingyun Zhilian Technology Co ltd
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2021-04-27
Anticipated expiration: 2030-09-17

Abstract

The utility model provides a gantry three-axis manipulator, which comprises two X beams, a Y beam crossing the two X beams and a telescopic arm, a hydraulic rod and a hydraulic station arranged on the Y beam along the Z direction, wherein the bottom of the telescopic arm is provided with a sucker; the X-beam is provided with an X-direction slide rail and a first rack which are distributed along the X direction; the Y-beam is provided with a Y-direction sliding rail and a second rack which are distributed along the Y direction, two end parts of the Y-beam are respectively provided with two first driving devices, and the two first driving devices are used for synchronously running along the X-direction sliding rail and the first rack on two sides; and a second driving device which runs along the Y-direction slide rail and the second rack is arranged on the side wall of the telescopic arm. This application has realized the automatically regulated of sucking disc position and the automatic high efficiency of steel sheet snatchs, has solved the inconvenient problem of artifical transport of steel sheet effectively, has reduced workman intensity of labour, has improved the operating efficiency, and the operation is safer, has stopped the emergence of potential safety hazard.

Description

Gantry three-axis manipulator

Technical Field

The utility model relates to a steel sheet transportation technical field, more specifically say, relate to a longmen triaxial manipulator.

Background

Generally speaking, large steel plates generally need to be lifted and placed manually, the disassembly process is very inconvenient, and certain potential safety hazards exist.

Therefore, how to improve the transportation safety and transportation efficiency of the steel plate is a technical problem that needs to be solved urgently by the technical personnel in the field.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a longmen triaxial manipulator has solved the steel sheet effectively and has changed inconvenient and the steel sheet dismouting inefficiency technical problem.

The utility model provides a gantry three-axis manipulator, which comprises two X beams distributed in parallel along the X direction, a Y beam arranged across the two X beams, and a telescopic arm, a hydraulic rod and a hydraulic station which are arranged on the Y beam, wherein the bottom of the telescopic arm is provided with a sucker;

the X-beam is provided with an X-direction slide rail and a first rack which are distributed along the X direction;

the Y-beam is provided with Y-directional slide rails and second racks which are distributed along the Y direction, two end parts of the Y-beam are respectively provided with a first driving device, and the two first driving devices are used for synchronously operating along the X-directional slide rails and the first racks on two sides; and a second driving device which runs along the Y-direction sliding rail and the second rack is arranged on the side wall of the telescopic arm.

Preferably, the first driving device includes a first motor, a first connecting plate, a first slider and a first gear, the first connecting plate is fixedly mounted on the Y beam, the first motor is fixedly mounted on the top surface of the first connecting plate, the first gear is disposed at an output end of the first motor and is configured to run along the first rack, and the first slider is fixedly mounted at the bottom of the first connecting plate and is configured to run along the X-direction sliding rail.

Preferably, the second driving mechanism includes a second motor, a second connecting plate, a second slider and a second gear, the second connecting plate is fixedly mounted on the telescopic arm, the second motor is fixedly mounted on the top surface of the second connecting plate, the second gear is arranged at the output end of the second motor and used for running along the second rack, and the second slider is fixedly mounted at the bottom of the second connecting plate and used for running along the Y-direction sliding rail.

Preferably, two end parts of the X-direction sliding rail are respectively provided with a first limiting block.

Preferably, two end parts of the Y-direction sliding rail are respectively provided with a second limiting block.

Preferably, the hydraulic rod is fixedly connected to the outer side surface of the telescopic arm.

Preferably, the first motor and the second motor are both servo motors.

Preferably, the suction cup is an organ suction cup.

Compared with the prior art, the utility model provides a longmen triaxial manipulator, include along X to two X roof beams that distribute, span the Y roof beam of installing on two X roof beams and install at the flexible wall, hydraulic stem and the hydraulic pressure station of Y roof beam lateral wall, the bottom installation sucking disc of flexible wall, installation X is to slide rail and first rack on the X roof beam, and installation Y is to slide rail and second rack on the Y roof beam, and first drive arrangement is respectively installed at the both ends of Y roof beam, the lateral wall installation second drive arrangement of flexible arm. The first driving devices at the two ends of the Y beam synchronously drive the Y beam to move stably along the X beams at the two sides, so that the X-direction position of the sucker is adjusted; the telescopic arm is driven by the second driving device to adjust the position along the Y direction, and the telescopic arm drives the sucker Z to move upwards and downwards under the driving of the hydraulic rod and the hydraulic station, so that the steel plate can be grabbed. This application has realized that the automation of steel sheet is high-efficient snatchs, has solved the inconvenient problem of artifical transport of steel sheet effectively, has reduced workman intensity of labour, has improved the operating efficiency, and the operation is safer, has avoided the emergence of potential safety hazard.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural view of a gantry three-axis manipulator provided by the present invention;

FIG. 2 is a partial schematic view of FIG. 1;

FIG. 3 is a schematic view of another angle of FIG. 1;

fig. 4 is a side view of fig. 3.

The device comprises a 1-X beam, a 2-Y beam, a 3-telescopic arm, a 4-hydraulic rod, a 5-hydraulic station, a 6-sucker, a 7-X-direction sliding rail, a 8-first rack, a 9-Y-direction sliding rail, a 10-second rack, a 11-first motor, a 12-first connecting plate, a 13-first sliding block, a 14-first gear, a 15-second motor, a 16-second connecting plate, a 17-second sliding block, a 18-second limiting block and a 19-first limiting block.

Detailed Description

The core of the utility model is to provide a longmen triaxial manipulator has realized that the longmen bed gets the position in X, Y, Z axle adjustment sucking disc clamps, need not personnel and participates in, has improved the steel sheet and has dismantled efficiency.

It should be noted that the term "X" direction as used herein refers to the front-to-back direction in FIG. 1; the "Y" direction refers to the horizontal direction in fig. 1, and the "Z" direction refers to the up-down direction in fig. 1. All directional terms used herein are based on the common usage of those skilled in the art and the accompanying drawings of the specification, and their presence should not affect the scope of the present invention.

In order to make the technical field of the present invention better understand, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of a gantry three-axis robot provided in the present invention; FIG. 2 is a partial schematic view of FIG. 1; FIG. 3 is a schematic view of another angle of FIG. 1; fig. 4 is a side view of fig. 3.

The utility model provides a longmen triaxial manipulator, including two X roof beams 1, Y roof beam 2, flexible arm 3, hydraulic stem 4, hydraulic pressure station 5 and sucking disc 6, two 1 isometric just all along X to parallel distribution of X roof beam, the both ends of Y roof beam 2 span and install on two X roof beams 1, flexible arm 3 and hydraulic stem 4 are along Z to setting up, hydraulic pressure station 5 installs the side arm at flexible arm 3, be used for providing hydraulic power to hydraulic stem 4, so that hydraulic stem 4 moves, the expansion end fixed mounting of hydraulic stem 4 is on flexible arm 3, so that flexible arm 3 moves, drive the 6 actions of sucking disc of 3 bottoms of flexible arm from this, in order to realize that sucking disc 6 is adjusted to position about going on in Z.

The X-direction sliding rail 7 and the first rack 8 are fixedly mounted on the X-direction beam 1 through connecting pieces such as bolts, the X-direction sliding rail 7 and the first rack 8 are distributed along the extending direction (namely the X-direction) of the X-direction beam 1, the Y-direction sliding rail 9 and the second rack 10 which are distributed along the Y-direction are fixedly mounted on the Y-direction beam 2, first driving devices are respectively mounted at two end parts of the Y-direction beam 2, and under the synchronous driving of the two first driving devices, the Y-direction sliding rail 7 and the first rack 8 can synchronously move along the X-directions at two sides to adjust the X-direction position of the sucker 6. In addition, a second driving device is installed on the side wall of the telescopic arm 3, and when the second driving device is started, the second driving device can run along the Y-direction slide rail 9 and the second rack 10, so that the position of the suction cup 6 in the Y direction is adjusted.

The sucking disc 6 passes through the sucking disc fixed bolster to be installed in the bottom of flexible arm 3, and the sucking disc fixed bolster is the rectangular frame structure, can be "mesh" style of calligraphy structure, and each sucking disc 6 of L type corner fittings installation is passed through to the long limit of sucking disc fixed bolster to guarantee that 6 bottoms of sucking disc locate in the coplanar, after the adjustment of 6 positions of sucking disc, by the 3 actions of the flexible arm of hydraulic stem 4 drive, realize that the steel sheet snatchs. Preferably, the suction cup 6 is embodied as an organ suction cup 6, and the specific structure thereof is not limited herein.

The first target driving device comprises a first motor 11, a first connecting plate 12, a first sliding block 13 and a first gear 14, wherein the first connecting plate 12 is fixedly installed on the Y beam 2, the first motor 11 is fixedly installed on the top surface of the first connecting plate 12, the first gear 14 is arranged at the output end part of the first motor 11 and used for running along the first rack 8, and the first sliding block 13 is fixedly installed at the bottom of the first connecting plate 12 and used for running along the X-direction sliding rail 7. That is, in the X direction, the first motor 11 drives the first gear 14 to rotate, and the first gear 14 is engaged with the first rack 8, so as to realize the X direction movement.

Similarly, the second driving mechanism includes a second motor 15, a second connecting plate 16, a second slider 17 and a second gear, the second connecting plate 16 is fixedly mounted on the telescopic arm 3, the second motor 15 is fixedly mounted on the top surface of the second connecting plate 16, the second gear is arranged at the output end of the second motor 15 and is used for running along the second rack 10, and the second slider 17 is fixedly mounted at the bottom of the second connecting plate 16 and is used for running along the Y-direction slide rail 9. The motion limiting is completed by the Y-direction slide rail 9 and the second limiting block 18.

Preferably, both the first motor 11 and the second motor 15 may be servo motors.

For improving the safety of the operation of the Y beam 2, two end parts of the X-direction slide rail 7 can be respectively provided with a first limiting block 19 which is a rectangular block and is fixed on the X-direction slide rail 7 through a bolt, and the four first slide rails limit the movement stroke of the Y beam 2 and prevent the Y beam 2 from being separated from the first slide rails.

Similarly, the second limiting blocks 18 can be respectively installed at the two ends of the Y-direction slide rail 9 to limit the telescopic arm 3 to slide on the Y-direction slide rail 9 limited by the two second limiting blocks 18, so as to ensure the safety of the operation of the telescopic arm 3.

It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

It is right above the utility model provides a longmen triaxial manipulator has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. The gantry three-axis manipulator is characterized by comprising two X beams (1) which are distributed in parallel along the X direction, a Y beam (2) which is arranged across the two X beams (1), a telescopic arm (3) which is arranged on the Y beam (2), a hydraulic rod (4) and a hydraulic station (5), wherein a sucker (6) is arranged at the bottom of the telescopic arm (3);

the X-beam (1) is provided with an X-direction slide rail (7) and a first rack (8) which are distributed along the X direction;

the Y-direction sliding rails (9) and the second racks (10) distributed along the Y direction are mounted on the Y beam (2), first driving devices are mounted at two end portions of the Y beam (2) respectively, and the two first driving devices are used for synchronously running along the X-direction sliding rails (7) and the first racks (8) at two sides; and a second driving device which runs along the Y-direction sliding rail (9) and the second rack (10) is arranged on the side wall of the telescopic arm (3).

2. The gantry triple-axis robot of claim 1, wherein the first driving device comprises a first motor (11), a first connecting plate (12), a first sliding block (13) and a first gear (14), the first connecting plate (12) is fixedly installed on the Y-beam (2), the first motor (11) is fixedly installed on the top surface of the first connecting plate (12), the first gear (14) is arranged at the output end of the first motor (11) and used for running along the first rack (8), and the first sliding block (13) is fixedly installed at the bottom of the first connecting plate (12) and used for running along the X-direction slide rail (7).

3. A gantry triple-axis robot as claimed in claim 2, wherein the second driving mechanism comprises a second motor (15), a second connecting plate (16), a second slider (17) and a second gear, the second connecting plate (16) is fixedly mounted on the telescopic arm (3), the second motor (15) is fixedly mounted on the top surface of the second connecting plate (16), the second gear is arranged at the output end of the second motor (15) and is used for running along the second rack (10), and the second slider (17) is fixedly mounted at the bottom of the second connecting plate (16) and is used for running along the Y-direction slide rail (9).

4. A gantry triaxial manipulator according to any one of claims 1 to 3, wherein the two ends of the X-direction slide rail (7) are respectively provided with a first limiting block (19).

5. The gantry three-axis manipulator according to claim 4, wherein two ends of the Y-direction slide rail (9) are respectively provided with a second limiting block (18).

6. Gantry triple-axis manipulator according to claim 1, characterized in that said hydraulic rod (4) is fixed to the outer lateral surface of said telescopic arm (3).

7. Gantry triple-axis robot according to claim 3, characterized in that said first motor (11) and said second motor (15) are both servo motors.

8. Gantry triaxial manipulator according to claim 1, wherein the suction cups (6) are embodied as organ suction cups (6).