CN217225608U - Floating type gantry manipulator - Google Patents

Abstract

The utility model relates to a floating portal manipulator, snatch the structure to crossbeam and at least one including bearing structure, at least one X, snatch the structure with X is connected to the crossbeam, X to the at least one end of crossbeam pass through the relocation mechanism with bearing structure connects. Through setting up relocation mechanism, realize X to the crossbeam and the Y to the unsteady connection between the slide rail, reduce Y to the frictional force of slide rail, realize dynamic protection, extension Y is to the life-span of slide rail.

Description

Floating type gantry manipulator

Technical Field

The utility model belongs to the technical field of the automated manufacturing, especially, relate to a floating portal manipulator.

Background

With the rapid development of high-speed, high-precision and long-stroke processing application technologies, people put higher requirements on the operation precision and stability of the automatic grabbing manipulator. The traditional gantry manipulator usually adopts a bed frame structure with two longitudinal rails and one transverse rail, the transverse rail is rigidly fixed on two Y-direction (longitudinal) slide rails, and the transverse rail can only move in the Y direction.

At present, when a gantry structure is used for moving and carrying panels, the gantry structure is influenced by machining precision and installation precision, the perpendicularity of a beam and two Y directions is difficult to adjust, and meanwhile, if the parallelism between the two Y directions of slide rails is not well guaranteed, internal stress can be generated between systems when the beam runs, the friction force of the Y directions of the slide rails is increased, and the service life of the Y directions of the slide rails is influenced.

In the prior art, when the gantry robot is used for transplanting, the long waist hole is usually arranged on the robot fixing piece of the X-direction beam to adjust the installation position, so that the gantry robot is convenient to install but cannot realize dynamic protection on the gantry structure, and the Y-direction slide rail is very easy to damage.

Therefore, a gantry manipulator flexibly connected with the Y-direction slide rail needs to be found, so that the friction force of the Y-direction slide rail is reduced, dynamic protection is realized, and the service life of the Y-direction slide rail is prolonged.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned deficiencies of the prior art, in whole or in part, it is an object of the present invention to: the floating gantry manipulator realizes floating connection between the X-direction cross beam and the Y-direction slide rail, reduces friction on the Y-direction slide rail, realizes dynamic protection and prolongs the service life of the Y-direction slide rail.

In order to achieve the above purpose, the utility model provides the following technical scheme: a floating type gantry manipulator comprises a supporting structure, at least one X-direction cross beam and at least one grabbing structure, wherein the grabbing structure is movably connected to the X-direction cross beam, two ends of the X-direction cross beam are connected with the supporting structure in a sliding mode, and at least one end of the X-direction cross beam is connected with the supporting structure in a sliding mode through a floating mechanism. This technical scheme's beneficial effect lies in, through setting up relocation mechanism make X pass through relocation mechanism to the at least one end of crossbeam with bearing structure connects, realizes X and is connected to the unsteady between crossbeam and the bearing structure, to the friction that Y caused to the slide rail when reducing the manipulator transport product, prolongs Y to the life of slide rail and whole portal manipulator.

The floating mechanism comprises a floating plate, a plurality of floating line rails and a base; the floating plate moves on the floating linear rails along the X direction, the X-direction cross beam is connected to the floating plate, the floating linear rails are arranged on the base, and the base is connected with the supporting structure in a sliding mode; the base is in the both ends department of floating the line gauge still is provided with the baffle, is used for restricting the extreme position of floating the board. The floating plate can move along the floating line rails so as to realize floating connection; the baffle sets up the both ends of a plurality of line rails that float have injectd the unsteady stroke of floating plate, prevent that the slider from deviating from.

The number of the floating wire rails is three, and the three floating wire gauges are arranged on the base in parallel. Through set up three unsteady line rail on the base, improve the holding power of unsteady line rail.

The supporting structure is provided with a slide rail, a slide block is arranged on the slide rail, the slide block can move on the slide rail along the Y direction, and the X-direction cross beam is connected with the slide block; one end of the X-direction beam is fixedly connected with the sliding block, and the other end of the X-direction beam is connected to the sliding block through a floating mechanism; the floating mechanism is connected with the sliding block on the sliding rail through the base. Of course, both ends of the X-direction beam may be connected to the slider through the floating mechanism. Through set up the slider between X to crossbeam and slide rail, realize X to the crossbeam can move in Y direction along the slip table, realize the transport function.

The supporting structure comprises a first supporting part and a second supporting part, and the sliding rail on the first supporting part or/and the second supporting part is driven by a motor. The sliding rail on the first supporting part or the second supporting part is driven by the motor, the sliding rail on the second supporting part or the first supporting part is only used as a guide auxiliary mechanism, a group of sliding rail groups which are driven by the motor and only play a role of guiding is formed, and the structure is simple and convenient to install. When the sliding rails on the first supporting part and the second supporting part are driven by the motor, a group of sliding rail groups with driving functions are formed, so that the gantry manipulator runs stably.

And two groups of sliding rails are arranged on the supporting structure. Through set up two sets of slide rails on bearing structure, form two sets of Y of a set of bearing structure of sharing to the slide rail, be convenient for control respectively, practice thrift the cost.

And at least one X-direction cross beam is arranged on each group of slide rails. Through setting up the X that accords with demand quantity to the crossbeam, transport when realizing article improves work efficiency.

Compared with the prior art, the utility model discloses following beneficial effect has at least: the floating mechanism is arranged at least one end of the X-direction cross beam, so that floating connection between the X-direction cross beam and the Y-direction slide rail is realized, friction of the manipulator on the Y-direction slide rail during product conveying is reduced, and the service life of the slide rail is prolonged; in addition, by arranging the auxiliary guide mechanism, the use of elements is reduced, and meanwhile, the running direction of the X-direction beam can be kept unchanged during moving, so that the friction is reduced.

Drawings

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

Fig. 1 is a schematic structural view of a floating gantry robot according to an embodiment of the present invention.

Fig. 2 is a left side view of the floating gantry robot of fig. 1.

Fig. 3 is a schematic view of the floating mechanism of fig. 1.

Fig. 4 is a schematic view of a base structure of the floating mechanism shown in fig. 3.

Reference numerals: a 1-X directional beam; 11-a fixed end; 12-a floating end; 121-a floating plate; 122-a base; 1221-floating wire track; 1222 a-baffle i; 1222 b-baffle ii; 13-a grasping configuration; 2-a sliding table; 3-a linear slide rail; 4-a support structure; 401-a first support; 402-second support.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

Examples

As shown in fig. 1, the present embodiment provides a floating type gantry robot including a support structure 4 composed of a first support 401 and a second support 402, the first support 401 and the second support 402 being arranged in parallel with each other. Slide rails are arranged on the first supporting portion 401 and the second supporting portion 402, in this embodiment, the slide rail on the first supporting portion 401 is a sliding table 2 driven by a motor, and the slide rail on the second supporting portion 402 is a linear slide rail 3 without a motor drive, and is used as an auxiliary guiding mechanism. Of course, in some embodiments, the sliding tables 2 are disposed on both the first supporting portion 401 and the second supporting portion 402, forming a dual power set.

The X-shaped sliding rail further comprises an X-shaped cross beam 1, and two ends of the X-shaped cross beam 1 are respectively connected with a sliding table 2 and a linear sliding rail 3 which are arranged on the first supporting portion 401 and the second supporting portion 402. Referring to fig. 2, in the present embodiment, two ends of the X-direction beam 1 are a fixed end 11 and a floating end 12, respectively, and the fixed end 11 and the floating end 12 are connected to the sliding table 2 and the linear guideway 3 through a sliding block (not shown in the figure). Specifically, the fixed end 11 is connected with the sliding table 2 through a sliding block, and the floating end 12 is connected with the linear sliding rail 3 through a sliding block, so that a structure with one end connected in a floating mode is formed, friction between the X-direction cross beam 1 and the linear sliding rail 3 is reduced, and dynamic protection is achieved. The X-direction beam 1 is provided with a grabbing structure 13, the grabbing structure 13 is connected with the X-direction beam 1 through a long waist hole, and the grabbing structure 13 is used for carrying articles. In the present embodiment, the grabbing structure 13 is formed by a suction cup, however, in other embodiments, the grabbing structure 13 may also be formed by other elements capable of carrying objects, such as a clamping assembly. The number of the X-direction cross beams 1 can be more than one according to needs, and a plurality of articles can be conveyed simultaneously.

Of course, in some embodiments, both ends of the X-direction beam 1 are floating ends 12, one of the two floating ends 12 is connected with the linear sliding rail 3 through a sliding block, and the other is connected with the sliding table 2 through a sliding block. In the present embodiment, as can be seen from fig. 3, the floating end 12 is formed by a floating mechanism, which includes a base 122 and a floating plate 121. As shown in fig. 4, three floating line rails 1221 are disposed on the base 122 along the X direction, and the three floating line rails 1221 are disposed in parallel. The baffle 1222a and the baffle 1222b are respectively arranged at the two ends of the three floating wire rails 1221, and the limit position of the floating mechanism is determined by arranging the baffle 1222a and the baffle 1222b, so that the X-direction beam 1 cannot slide out of the floating wire rails 1221. Floating plate 121 is slidably coupled to three floating line rails 1221 such that floating plate 121 can move in the X direction on three floating line rails 1221. Two or four floating wire rails 1221 can be further disposed on the base 122, so as to ensure smooth sliding, which is not limited in this embodiment.

In this embodiment, the fixed end 11 of the X-direction beam 1 is fixedly connected to the slider through the transition plate, and the floating end 12 of the X-direction beam 1 moves in the X direction on the three floating rails 1221 disposed on the base 122 through the floating plate 121, so as to be floatingly connected to the slider disposed below the base 122. The fixed end 11 of the X-direction beam 1 drives the X-direction beam 1 to move along the Y direction under the driving of the sliding table 2 through the sliding block, and the floating end 12 of the X-direction beam 1 moves along the Y direction on the linear sliding rail 3 through the sliding block. When carrying articles along the Y direction in the X direction beam 1 and the grabbing structure 13, the floating plate 121 at the floating end 12 of the X direction beam 1 can move left and right along the X direction on the three floating line rails 1221 according to the acting force applied to the X direction beam 1, so that the dynamic protection of the sliding table 2 and the linear sliding rail 3 is realized.

As shown in fig. 1, in this embodiment, the first support part 401 is provided with the sliding table 2 driven by the motor and the linear slide rail 3 for guiding only, and the second support part 402 is also provided with the sliding table 2 driven by the motor and the linear slide rail 3 for guiding only, that is, two sets of sliding rails are provided on the support structure 4, which saves cost. The sliding table 2 on the first support part 401 and the linear slide rail 3 of the second support part 402 form a set of slide rails, and an X-direction beam 1 is arranged on the set of slide rails; the linear slide rail 3 of the first support part 401 and the slide table 2 of the second support part 402 form another set of slide rails, and an X-direction beam 1 is also arranged on the set of slide rails. Of course, in some embodiments, two sliding tables 2 are disposed on the first supporting portion 401, and two sliding tables 2 are also disposed on the second supporting portion 402, so as to form two sets of slide rail sets with driving function.

The above description of the embodiments is only intended to facilitate the understanding of the method and the core idea 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 scope of the appended claims.

Claims (10)

1. The floating gantry manipulator is characterized by comprising a supporting structure (4), at least one X-direction cross beam (1) and at least one grabbing structure (13), wherein the grabbing structure (13) is movably connected to the X-direction cross beam (1), two ends of the X-direction cross beam (1) are connected with the supporting structure (4) in a sliding mode, and at least one end of the X-direction cross beam (1) is connected with the supporting structure (4) in a sliding mode through a floating mechanism.

2. A floating gantry robot as claimed in claim 1, characterized in that the floating mechanism comprises a floating plate (121), a floating line rail (1221) and a base (122); the floating plate (121) moves on the floating linear rail (1221) along the X direction, the X-direction beam (1) is connected to the floating plate (121), the floating linear rail (1221) is arranged on the base (122), and the base (122) is connected with the supporting structure (4) in a sliding mode.

3. A floating gantry robot as claimed in claim 2, characterized in that the base (122) is further provided with stops (1222) at both ends of the floating wire track for limiting the limit positions of the floating plate (121).

4. A floating gantry robot according to claim 2, characterized in that the number of said floating wire rails (1221) is three, three of said floating wire rails (1221) being arranged in parallel on said base (122).

5. A floating gantry robot as claimed in claim 1 or 2, characterized in that said support structure (4) is provided with a slide rail on which a slide block is arranged, said slide block being movable on said slide rail in the Y-direction, said X-direction beam (1) being fixedly connected to said slide block.

6. A floating gantry robot according to claim 5, characterized in that one end of the X-direction beam (1) is fixedly connected with the slide block, and the other end of the X-direction beam (1) is connected to the slide block through a floating mechanism.

7. A floating gantry robot as claimed in claim 6, wherein the floating mechanism is fixedly connected to the slide blocks on the slide rails through a base (122).

8. A floating gantry robot according to claim 5, characterized in that the support structure (4) comprises a first support (401) and a second support (402), the slide rails on the first support (401) or/and the second support (402) being motor driven.

9. A floating gantry robot according to claim 5, characterized in that said support structure (4) is provided with two sets of sliding rails.

10. A floating gantry robot according to claim 9, characterized in that on each set of said slide rails there is at least one of said X-beams (1).

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