CN215755120U - Gantry type material taking structure - Google Patents
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- CN215755120U CN215755120U CN202121966144.4U CN202121966144U CN215755120U CN 215755120 U CN215755120 U CN 215755120U CN 202121966144 U CN202121966144 U CN 202121966144U CN 215755120 U CN215755120 U CN 215755120U
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Abstract
The utility model relates to the technical field of material grabbing, and discloses a gantry type material taking structure, which comprises: a gantry assembly; the cross beam is arranged on the gantry frame assembly and can move on the gantry frame assembly along the Y-axis direction; the X-axis moving piece is arranged on the cross beam and can move on the cross beam along the X-axis direction; the Z-axis module is arranged on the X-axis moving piece and comprises a grabbing component, the grabbing component is arranged on the X-axis moving piece in a sliding mode along the Z-axis direction, the grabbing component comprises a first grabbing unit and a second grabbing unit, the first grabbing unit is configured to grab at least two materials simultaneously, and the second grabbing unit is configured to grab at least one material. The grabbing component of the gantry type material taking structure comprises the first grabbing unit and the second grabbing unit, so that the grabbing component can grab a plurality of materials simultaneously, the materials are moved in batches, the time consumed by moving the materials is shortened, and the working efficiency of the gantry type material taking structure is improved.
Description
Technical Field
The utility model relates to the technical field of material grabbing, in particular to a gantry type material taking structure.
Background
Among the prior art, when removing the material to the assigned position from a position, need remove through getting the material structure, specifically, get the material structure and can only snatch a material at every turn, when needs remove a plurality of materials, need consume long time for should get the work efficiency of material structure lower and be unfavorable for the batch operation.
SUMMERY OF THE UTILITY MODEL
Based on the above, the utility model aims to provide the gantry type material taking structure, so that the time consumed by moving materials is shortened, the working efficiency is improved, and the gantry type material taking structure is beneficial to moving the materials in batches.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a gantry type material taking structure, comprising: a gantry assembly; the cross beam is arranged on the gantry frame assembly and can move on the gantry frame assembly along the Y-axis direction; the X-axis moving piece is arranged on the cross beam and can move on the cross beam along the X-axis direction; the Z-axis module is arranged on the X-axis moving piece and comprises a grabbing assembly, the grabbing assembly is arranged on the X-axis moving piece in a sliding mode along the Z-axis direction, the grabbing assembly comprises a first grabbing unit and a second grabbing unit, the first grabbing unit is configured to grab at least two materials at the same time, and the second grabbing unit is configured to grab at least one material.
As a preferred scheme that planer-type got material structure, first unit of snatching includes first clamping jaw cylinder and two at least clamping jaw groups, first clamping jaw cylinder includes a cylinder body and two clamping jaw output, at least one clamping jaw output with cylinder body sliding connection, every clamping jaw group all is including setting up one first clamping jaw body on the clamping jaw output and setting up another second clamping jaw body on the clamping jaw output, clamping jaw output can drive first clamping jaw body and/or second clamping jaw body motion is so that clamping jaw group presss from both sides or loosens the material.
As a preferred scheme of a gantry type material taking structure, the Z-axis module further comprises a Z-axis driving element arranged on the X-axis moving element and a Z-axis moving element arranged at an output end of the Z-axis driving element, the first grabbing unit and the second grabbing unit are respectively arranged on two opposite sides of the Z-axis moving element, and the Z-axis driving element is configured to drive the grabbing assembly to move along the Z-axis direction through the Z-axis moving element.
As a preferred scheme that planer-type got material structure, Z axle module is still including fixing one first clamping jaw mounting on the clamping jaw output piece, fix another second clamping jaw mounting on the clamping jaw output piece and fixing clamping jaw guide rail on the Z axle moving member, fixed being provided with on the first clamping jaw mounting first clamping jaw body, fixed being provided with on the second clamping jaw mounting second clamping jaw body, first clamping jaw mounting with second clamping jaw mounting all with clamping jaw guide rail sliding connection.
As a preferred scheme that planer-type got material structure, Z axle driving piece includes first Z axle drive unit and second Z axle drive unit, first Z axle drive unit's stiff end sets up on the X axle moving member, first Z axle drive unit's output with second Z axle drive unit's stiff end links to each other, second Z axle drive unit's output is equipped with snatch the subassembly, first Z axle drive unit with second Z axle drive unit homoenergetic drives it follows to snatch the subassembly Z axle direction motion.
As a preferred scheme of the gantry type material taking structure, at least two clamping jaw groups are distributed along the Z-axis direction.
As a preferred scheme of the gantry type material taking structure, the second grabbing unit is a pneumatic clamping jaw, and the pneumatic clamping jaw is configured to grab one material.
As an optimal scheme of a gantry type material taking structure, a Y-axis motor and a Y-axis ball screw are arranged on a gantry frame assembly, the output end of the Y-axis motor is in transmission connection with a Y-axis screw of the Y-axis ball screw, a Y-axis nut of the Y-axis ball screw is connected with the cross beam, and the Y-axis motor can drive the cross beam to move along the Y-axis direction through the Y-axis ball screw.
As an optimal scheme of a gantry type material taking structure, an X-axis motor and an X-axis ball screw are arranged on a cross beam, the output end of the X-axis motor is in transmission connection with an X-axis screw of the X-axis ball screw, an X-axis nut of the X-axis ball screw is connected with the X-axis moving member, and the X-axis motor can drive the cross beam to move along the X-axis direction through the X-axis ball screw.
As an optimal scheme of a gantry type material taking structure, the gantry assembly comprises a first gantry body and a second gantry body, one end of the beam is in sliding connection with the first gantry body, and the other end of the beam is in sliding connection with the second gantry body.
The utility model has the beneficial effects that: the grabbing component of the gantry type material taking structure can move along the X-axis direction, the Y-axis direction and the Z-axis direction, so that the grabbing component can move materials to any position conveniently, and the grabbing component comprises the first grabbing unit capable of grabbing at least two materials and the second grabbing unit capable of grabbing at least one material simultaneously, so that the grabbing component can grab a plurality of materials simultaneously, the material moving in batches is facilitated, the time consumed by moving the materials is shortened, and the working efficiency of the gantry type material taking structure is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic view of a gantry type reclaiming structure according to an embodiment of the present invention;
fig. 2 is a schematic view of a Z-axis module of a gantry type material taking structure according to an embodiment of the present invention;
fig. 3 is a partial enlarged view of fig. 2 at a.
In the figure:
1. a gantry assembly; 11. a first gantry body; 12. a second gantry body;
2. a cross beam;
3. an X-axis moving member;
4. a Z-axis module; 41. a grasping assembly; 411. a first grasping unit; 4111. a first jaw cylinder; 4112. a jaw set; 41121. a first jaw body; 41122. a second jaw body; 412. a second grasping unit; 42. a Z-axis drive member; 421. a first Z-axis drive unit; 422. a second Z-axis drive unit; 43. a Z-axis moving member; 44. a first jaw mount; 45. a second jaw securing member; 46. a jaw guide;
5. a Y-axis motor;
6. an X-axis motor;
100. and (3) feeding.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment provides a gantry type material taking structure, as shown in fig. 1 to 3, including a gantry assembly 1, a beam 2, an X-axis moving member 3 and a Z-axis module 4, the beam 2 is disposed on the gantry assembly 1, the beam 2 can move on the gantry assembly 1 along the Y-axis direction, the X-axis moving member 3 is disposed on the beam 2, the X-axis moving member 3 can move on the beam 2 along the X-axis direction, the Z-axis module 4 is disposed on the X-axis moving member 3 and includes a grabbing component 41, the grabbing component 41 is slidably disposed on the X-axis moving member 3 along the Z-axis direction, the grabbing component 41 includes a first grabbing unit 411 and a second grabbing unit 412, the first grabbing unit 411 is configured to grab at least two materials 100 at the same time, and the second grabbing unit 412 is configured to grab at least one material 100.
Specifically, the X-axis direction, the Y-axis direction and the Z-axis direction are as shown in fig. 1, the material 100 of the embodiment is a carrier, the first grabbing unit 411 can grab seven materials 100 at the same time, and the second grabbing unit 412 can grab one material 100, that is, the gantry type material fetching structure can move eight materials 100 at a time. In other embodiments, the materials 100 are not limited to the carrier of the embodiment, and may also be other parts to be moved, the number of the materials 100 that can be gripped by the first gripping unit 411 at most is not limited to seven in the embodiment, and may also be two or other numbers greater than two, and the number of the materials 100 that can be gripped by the second gripping unit 412 is also not limited to one in the embodiment, and may also be two or more than two, which are specifically set according to actual needs. Because the gantry type material taking structure is provided with the first grabbing unit 411 and the second grabbing unit 412, the grabbing component 41 can grab a single material 100 and grab seven materials 100 at most simultaneously, and application scenes of the gantry type material taking structure are increased.
It should be noted that, the first grabbing unit 411 of this embodiment can clamp the material 100 along the thickness direction of the material 100, and the second grabbing unit 412 can clamp the material 100 along the length or width direction of the material 100, so that the gantry type material taking structure can clamp the material 100 placed along different directions, and the applicability of the gantry type material taking structure is improved.
The grabbing component 41 of the gantry material taking structure provided by the embodiment can move along the X-axis direction, the Y-axis direction and the Z-axis direction, and the grabbing component 41 is convenient to move the material 100 to any position, because the grabbing component 41 includes the first grabbing unit 411 capable of grabbing at least two materials 100 and the second grabbing unit 412 capable of grabbing at least one material 100, the grabbing component 41 can grab a plurality of materials 100 simultaneously, which is helpful for moving the materials 100 in batches, the time consumed by moving the materials 100 is shortened, and the working efficiency of the gantry material taking structure is improved.
As shown in fig. 1, the Z-axis module 4 of the present embodiment further includes a Z-axis driving member 42 disposed on the X-axis moving member 3 and a Z-axis moving member 43 disposed at an output end of the Z-axis driving member 42, the first grasping unit 411 and the second grasping unit 412 are respectively disposed at two opposite sides of the Z-axis moving member 43, and the Z-axis driving member 42 is configured to drive the grasping assembly 41 to move in the Z-axis direction by the Z-axis moving member 43. Specifically, when the grabbing component 41 needs to be moved along the Z-axis direction, the Z-axis driving component 42 drives the Z-axis moving component 43 to drive the grabbing component 41 to move along the Z-axis direction.
As shown in fig. 2 and 3, the first gripping unit 411 of the present embodiment includes a first jaw cylinder 4111 and seven jaw groups 4112, each jaw group 4112 can grip one material 100, the seven jaw groups 4112 are distributed along the Z-axis direction, the first jaw cylinder 4111 includes a cylinder body and two jaw outputs slidably connected to the cylinder body, each jaw group 4112 includes a first jaw body 41121 disposed on one jaw output and a second jaw body 41122 disposed on the other jaw output, and the two jaw outputs are configured to move toward or away from each other to clamp or unclamp the material 100 by the jaw groups 4112. In other embodiments, the arrangement direction of the clamping jaw set 4112 is not limited to this limitation of this embodiment, and may also be distributed along the X-axis direction, the Y-axis direction, or other directions, which is specifically set according to actual needs.
Specifically, the first jaw bodies 41121 of the seven jaw groups 4112 are each disposed on the same jaw output, and the second jaw bodies 41122 of the seven jaw groups 4112 are each disposed on another jaw output. When the two jaw outputs are moved away from each other, the first jaw body 41121 and the second jaw body 41122 of each jaw set 4112 can move away from each other for the purpose of releasing the material 100; when the two jaw outputs move toward each other, the first jaw body 41121 and the second jaw body 41122 of each jaw set 4112 can move toward each other, achieving the purpose of gripping the material 100.
In other embodiments, it is also possible that one of the jaw output members is slidably connected to the cylinder body, and the other jaw output member is fixed to the cylinder body, and if the first jaw body 41121 is fixed to the movable jaw output member, the second jaw body 41122 is fixed to the other jaw output member, and the distance between the first jaw body 41121 and the second jaw body 41122 of each jaw group 4112 can be changed by the jaw output member, so that the purpose of the jaw group 4112 for clamping or releasing the material 100 is achieved; or, the second jaw body 41122 is fixed to a movable jaw output, and then the first jaw body 41121 is fixed to another jaw output, so that the distance between the first jaw body 41121 and the second jaw body 41122 of each jaw set 4112 can be changed by the jaw output, and thus the purpose that the jaw set 4112 grips or releases the material 100 is achieved, and the arrangement is specifically based on actual needs.
Further, as shown in fig. 2 and 3, the Z-axis module 4 of the present embodiment further includes a first jaw fixing member 44 fixed to one of the jaw output members, a second jaw fixing member 45 fixed to the other jaw output member, and four jaw guide rails 46 fixed to the Z-axis moving member 43, wherein the first jaw fixing member 44 is fixedly provided with a first jaw body 41121, the second jaw fixing member 45 is fixedly provided with a second jaw body 41122, and both the first jaw fixing member 44 and the second jaw fixing member 45 are slidably connected to the jaw guide rails 46. That is, in the present embodiment, each of the seven first jaw bodies 41121 is fixed to one jaw output by the first jaw fixing member 44, each of the seven second jaw bodies 41122 is fixed to the other jaw output by the second jaw fixing member 45, and when the two jaw outputs move the first jaw fixing member 44 and the second jaw fixing member 45 on the jaw guide rail 46, each of the seven first jaw bodies 41121 and the seven second jaw bodies 41122 moves, so that the material 100 is clamped or unclamped.
The second gripping unit 412 of this embodiment is a pneumatic gripper configured to grip one of the materials 100. Pneumatic clamping jaw belongs to prior art, and specific accessible outsourcing obtains, and this place is no longer repeated. When the material 100 is grabbed, the first grabbing unit 411 can simultaneously grab seven carriers from the designated equipment and then send the seven carriers to the designated equipment, and the second grabbing unit 412 can take the carriers off the multi-layer storage bin one by one and place the carriers at the designated position or on the flow line.
In order to increase the stroke of the grabbing component 41 along the Z-axis direction, as shown in fig. 2, the Z-axis driving component 42 of the present embodiment includes a first Z-axis driving unit 421 and a second Z-axis driving unit 422, a fixed end of the first Z-axis driving unit 421 is disposed on the X-axis moving component 3, an output end of the first Z-axis driving unit 421 is connected to a fixed end of the second Z-axis driving unit 422, an output end of the second Z-axis driving unit 422 is provided with the grabbing component 41, and both the first Z-axis driving unit 421 and the second Z-axis driving unit 422 can drive the grabbing component 41 to move along the Z-axis direction.
Specifically, first Z-axis drive unit 421 is by the Z-axis motor, belt assembly and Z-axis ball screw constitute, second Z-axis drive unit 422 is the Z-axis cylinder, wherein belt assembly comprises first belt pulley, belt body and second belt pulley, the output and the first belt pulley transmission of Z-axis motor are connected, belt body cover is established on first belt pulley and second belt pulley, the second belt pulley is connected with Z-axis ball screw's screw transmission, Z-axis ball screw's nut links to each other with first clamping jaw cylinder 4111, the Z-axis motor can drive the Z-axis cylinder and snatch subassembly 41 and move along the Z-axis direction through belt assembly and Z-axis ball screw. In other embodiments, the first Z-axis driving unit 421 may also include a Z-axis motor and a Z-axis ball screw, and an output end of the Z-axis motor is directly connected to a screw of the Z-axis ball screw; or the first Z-axis driving unit 421 is an electric push rod, a hydraulic oil cylinder or other linear driving structure, and is specifically selected according to actual needs. In other embodiments, the second Z-axis driving unit 422 may be an electric push rod, a hydraulic oil cylinder, a motor and ball screw structure or other linear driving structures, which are specifically selected according to actual needs.
As shown in fig. 1, a Y-axis motor 5 and a Y-axis ball screw (not shown in the figure) are disposed on the gantry assembly 1 of the present embodiment, an output end of the Y-axis motor 5 is in transmission connection with a Y-axis screw of the Y-axis ball screw, a Y-axis nut of the Y-axis ball screw is connected with the cross beam 2, and the Y-axis motor 5 can drive the cross beam 2 to move along the Y-axis direction through the Y-axis ball screw. The Y-axis motor 5 and the Y-axis ball screw are matched for use, so that the movement precision of the grabbing component 41 along the Y-axis direction can be increased, and the grabbing component 41 can be accurately positioned along the Y-axis direction.
As shown in fig. 1, the gantry assembly 1 of the present embodiment includes a first gantry body 11 and a second gantry body 12, one end of the beam 2 is slidably connected to the first gantry body 11, and the other end is slidably connected to the second gantry body 12. First portal frame body 11 and second portal frame body 12 all adopt closed welded structure for portal frame subassembly 1's structure is more stable.
As shown in fig. 1, the beam 2 of this embodiment is provided with an X-axis motor 6 and an X-axis ball screw (not shown in the figure), an output end of the X-axis motor 6 is in transmission connection with an X-axis screw of the X-axis ball screw, an X-axis nut of the X-axis ball screw is connected with the X-axis moving member 3, and the X-axis motor 6 can drive the beam 2 to move along the X-axis direction through the X-axis ball screw. The X-axis motor 6 and the X-axis ball screw are matched for use, so that the movement precision of the grabbing component 41 along the X-axis direction can be increased, and the grabbing component 41 can be accurately positioned along the X-axis direction.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a planer-type material taking structure which characterized in that includes:
a gantry assembly (1);
the cross beam (2) is arranged on the gantry frame assembly (1), and the cross beam (2) can move on the gantry frame assembly (1) along the Y-axis direction;
the X-axis moving piece (3) is arranged on the cross beam (2), and the X-axis moving piece (3) can move on the cross beam (2) along the X-axis direction;
the Z-axis module (4) is arranged on the X-axis moving piece (3) and comprises a grabbing component (41), the grabbing component (41) is arranged on the X-axis moving piece (3) in a sliding mode along the Z-axis direction, the grabbing component (41) comprises a first grabbing unit (411) and a second grabbing unit (412), the first grabbing unit (411) is configured to be capable of grabbing at least two materials (100) at the same time, and the second grabbing unit (412) is configured to be capable of grabbing at least one material (100).
2. The gantry reclaiming structure as claimed in claim 1 wherein the first gripper unit (411) comprises a first jaw cylinder (4111) and at least two jaw sets (4112), the first jaw cylinder (4111) comprises a cylinder body and two jaw outputs, at least one of the jaw outputs is slidably connected to the cylinder body, each of the jaw sets (4112) comprises a first jaw body (41121) disposed on one of the jaw outputs and a second jaw body (41122) disposed on the other of the jaw outputs, and the jaw outputs are capable of moving the first jaw body (41121) and/or the second jaw body (41122) to grip or release the jaw set (4112) from the material (100).
3. The gantry type material taking structure according to claim 2, wherein the Z-axis module (4) further comprises a Z-axis driving member (42) arranged on the X-axis moving member (3) and a Z-axis moving member (43) arranged at an output end of the Z-axis driving member (42), the first grabbing unit (411) and the second grabbing unit (412) are respectively arranged at two opposite sides of the Z-axis moving member (43), and the Z-axis driving member (42) is configured to drive the grabbing assembly (41) to move along the Z-axis direction through the Z-axis moving member (43).
4. The gantry type material taking structure according to claim 3, wherein the Z-axis module (4) further comprises a first jaw fixing member (44) fixed on one of the jaw output members, a second jaw fixing member (45) fixed on the other jaw output member, and a jaw guide rail (46) fixed on the Z-axis moving member (43), the first jaw fixing member (44) is fixedly provided with the first jaw body (41121), the second jaw fixing member (45) is fixedly provided with the second jaw body (41122), and the first jaw fixing member (44) and the second fixing member jaw (45) are both in sliding connection with the jaw guide rail (46).
5. The gantry type material taking structure according to claim 3, wherein the Z-axis driving member (42) comprises a first Z-axis driving unit (421) and a second Z-axis driving unit (422), a fixed end of the first Z-axis driving unit (421) is arranged on the X-axis moving member (3), an output end of the first Z-axis driving unit (421) is connected with a fixed end of the second Z-axis driving unit (422), an output end of the second Z-axis driving unit (422) is provided with the grabbing component (41), and the grabbing component (41) can be driven by the first Z-axis driving unit (421) and the second Z-axis driving unit (422) to move along the Z-axis direction.
6. A gantry reclaiming structure according to claim 3, wherein at least two of said jaw sets (4112) are distributed along the Z-axis direction.
7. The gantry reclaiming structure of claim 1 wherein said second gripper unit (412) is a pneumatic gripper configured to grip one of said materials (100).
8. The gantry type material taking structure according to claim 1, wherein a Y-axis motor (5) and a Y-axis ball screw are arranged on the gantry frame assembly (1), an output end of the Y-axis motor (5) is in transmission connection with a Y-axis screw of the Y-axis ball screw, a Y-axis nut of the Y-axis ball screw is connected with the cross beam (2), and the Y-axis motor (5) can drive the cross beam (2) to move along the Y-axis direction through the Y-axis ball screw.
9. The gantry type material taking structure according to claim 1, wherein an X-axis motor (6) and an X-axis ball screw are arranged on the cross beam (2), an output end of the X-axis motor (6) is in transmission connection with an X-axis screw of the X-axis ball screw, an X-axis nut of the X-axis ball screw is connected with the X-axis moving member (3), and the X-axis motor (6) can drive the cross beam (2) to move along the X-axis direction through the X-axis ball screw.
10. The gantry type material taking structure according to claim 1, wherein the gantry frame assembly (1) comprises a first gantry body (11) and a second gantry body (12), one end of the cross beam (2) is slidably connected with the first gantry body (11), and the other end of the cross beam (2) is slidably connected with the second gantry body (12).
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|---|---|---|---|
| CN202121966144.4U CN215755120U (en) | 2021-08-20 | 2021-08-20 | Gantry type material taking structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121966144.4U CN215755120U (en) | 2021-08-20 | 2021-08-20 | Gantry type material taking structure |
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| CN215755120U true CN215755120U (en) | 2022-02-08 |
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