CN217890169U - Floating type gantry structure capable of absorbing errors - Google Patents

Abstract

The utility model relates to a can absorb floating gantry structure of error, including bearing structure, portal bridge, snatch the structure with the portal bridge is connected, the at least one end of portal bridge pass through the relocation mechanism with bearing structure connects, the relocation mechanism is including the vertical floating unit and the horizontal floating unit that are used for absorbing vertical difference in height's vertical floating unit and absorb horizontal difference in level. Through setting up vertical floating unit and realizing that portal bridge and Y are connected to floating between the slide rail, reduce horizontal and vertical friction to Y to the slide rail when long distance transport article, realize dynamic protection, the life-span of extension longmen structure.

Description

Floating type gantry structure capable of absorbing errors

Technical Field

The utility model belongs to the technical field of the automated manufacturing, especially, relate to a floating gantry structure that can absorb error.

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 structure usually adopts a bed frame structure with two longitudinal rails and one transverse rail, a portal bridge is rigidly fixed on two slide rails in the Y direction (longitudinal direction), and the portal bridge 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, a portal bridge and two Y-direction verticality are difficult to adjust, and meanwhile, if parallelism between two Y-direction sliding rails is not well guaranteed, internal stress can be generated between systems when the portal bridge operates, the friction force of the Y-direction sliding rails is increased, and the service life of the Y-direction sliding rails is influenced.

In the prior art, when the gantry structure is used for transplanting by hand, a long waist hole is usually arranged on a manipulator fastener of a portal bridge to adjust the installation position, so that the gantry structure is convenient to install but cannot be dynamically protected, and Y-direction sliding rails are extremely easy to damage; or the horizontal friction force applied to the Y-direction slide rail is reduced by using flexible connection at one end or two ends of the gantry structure, but in practice, the Y-direction slide rail is applied with forces in the longitudinal direction and the transverse direction when the gantry structure carries articles, but the friction force applied to the Y-direction slide rail in the transverse direction can only be reduced in the prior art.

Therefore, a floatable gantry structure is needed to be found, the stress condition between the portal bridge and the two Y-direction slide rails is dynamically adjusted, the transverse and longitudinal friction forces of the Y-direction slide rails are reduced, and the service life of the Y-direction slide rails 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 type gantry structure capable of absorbing errors is provided, floating connection between a portal bridge and Y-direction slide rails is achieved, transverse and longitudinal friction to the Y-direction slide rails is reduced, dynamic protection is achieved when the floating type gantry structure is used for long-distance transportation, and the service life of the Y-direction slide rails is prolonged.

In order to achieve the above purpose, the utility model provides the following technical scheme: a floating type gantry structure capable of absorbing errors comprises a supporting structure and a portal bridge, wherein the supporting structure comprises two parallel sliding rails, two ends of the portal bridge are respectively connected with the sliding rails in a sliding mode, at least one end of the portal bridge is connected with the sliding rails in a sliding mode through a floating mechanism, and the floating mechanism comprises a longitudinal floating unit and/or a transverse floating unit, wherein the longitudinal floating unit is used for absorbing longitudinal height differences; the portal bridge is fixedly connected with the longitudinal floating unit, the longitudinal floating unit is fixedly connected with the transverse floating unit, and the transverse floating unit is connected with the sliding rail in a sliding manner. The technical scheme has the advantages that at least one end of the portal bridge is in floating connection with the supporting structure through the floating mechanism by arranging the floating mechanism, and the longitudinal height difference generated when the gantry structure operates is absorbed by arranging the longitudinal floating unit in the floating mechanism; or the longitudinal floating unit and the transverse floating unit are simultaneously arranged in the floating mechanism, so that the vertical height difference and the horizontal difference generated when the gantry structure operates can be absorbed simultaneously, the friction on the Y-direction slide rail when the manipulator carries products is reduced, and the service lives of the Y-direction slide rail and the whole gantry manipulator are prolonged.

The longitudinal floating unit comprises a top plate, a middle plate and a floating part, the floating part is arranged between the top plate and the middle plate, the top plate is fixedly connected with the portal bridge, and the middle plate is fixedly connected with the transverse floating unit. Through roof and portal fixed connection, the medium plate is connected with horizontal floating unit, and sets up the portion of floating between roof and medium plate, realizes forming the buffering between portal and horizontal floating unit, strengthens floating of portal, effectively reduces the friction to Y to the slide rail.

The floating part comprises a guide post and a spring, and the spring is sleeved on the guide post; the top plate and the middle plate are respectively provided with a top plate through hole and a middle plate through hole which are matched with the guide pillar, one end of the guide pillar penetrates through the through hole to be in threaded connection with the top plate, and the other end of the guide pillar penetrates through the middle plate through hole in the middle plate. Through guide pillar and roof threaded connection, adorn the spring suit on the guide pillar, the other end of guide pillar is worn in the medium plate interlude hole on the medium plate, and the guide pillar is in can be in the up-and-down motion of medium plate interlude hole when the roof atress, realizes the absorption to the vertical difference in height that the door bridge operation in-process produced, effectively slows down the friction to the Y to the slide rail.

And a guide post clamping ring for preventing the guide post from being separated from the middle plate is arranged at the bottom end of the guide post. The guide pillar clamping ring is arranged at the bottom of the guide pillar, so that the guide pillar is prevented from being separated from the middle plate when moving up and down in the through hole in the middle plate under the action of the spring when the top plate is stressed, and mechanism faults are caused.

The floating part is an elastic rubber column. The elastic rubber column is used as the floating part, and two ends of the elastic rubber column are fixedly connected with the top plate and the middle plate respectively, so that the longitudinal height difference generated in the gantry operation process is absorbed by the aid of the buffering effect of the elastic rubber column.

The transverse floating unit comprises a floating block, a floating linear rail and a bottom plate; the floating block moves on the floating linear rail along the X direction; the floating block is fixedly connected with the middle plate, the floating line rail is arranged on the bottom plate, and the bottom plate is connected with the supporting structure in a sliding manner; the bottom plate is also provided with baffle plates at two ends of the floating linear rail, and the baffle plates are used for limiting the limit position of the floating block; the quantity of the line rail that floats is three, three the line rail that floats is in parallel arrangement on the bottom plate. The floating plate can move along the floating line rails so as to realize floating connection; the baffle plates are arranged at two ends of the plurality of floating linear rails, so that the floating stroke of the floating plate is limited, and the sliding block is prevented from falling off; through set up three line rail that floats on the bottom plate, improve the holding power of line rail that floats.

When the spring is compressed to the limit position, the distance between the guide post and the bottom plate is larger than 5mm. Through the restriction to the length of guide pillar for even the guide pillar also can not offset with the bottom plate when the spring compression extremely spacing, thereby avoid the guide pillar and the mechanical fault that the bottom plate offseted and cause.

The guide posts are arranged on two sides of the floating block. Through setting up the guide pillar in the both sides of slider, can not offset with slider and floating line rail when the roof atress guide pillar moves about in the jack on the medium plate under the effect of spring, avoid because of the mechanical fault that both offset and cause.

The supporting structure is provided with two sets of slide rails, the slide rails are provided with slide blocks, the slide blocks move along the slide rails, one end of the portal bridge is fixedly connected with the slide blocks, and the other end of the portal bridge is fixedly connected with the slide blocks on the slide rails through a bottom plate on the floating mechanism. Through set up the slider between portal bridge and slide rail, realize that the portal bridge can move along the slip table in Y direction, realize the transport function. Of course, both ends of the door bridge can be connected to the sliding block through the floating mechanism, so that the floating connection of both ends of the door bridge is realized.

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.

At least one door bridge is arranged on each group of sliding rails. Through setting up the door bridge that accords with demand quantity, carry when realizing a plurality of article, improve 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 portal bridge, so that the floating connection between the portal bridge and the Y-direction slide rail is realized, the friction of a manipulator on the Y-direction slide rail during long-distance product carrying is reduced, and the service life of the slide rail is prolonged; in addition, through setting up vertical floating unit and horizontal floating unit in floating machanism, utilize guide pillar and spring to mutually support and realize the absorption to the vertical difference in height that longmen operation in-process produced, utilize the cooperation of floating plate and unsteady line rail to realize the absorption to the horizontal difference in level that longmen operation in-process produced to this realizes the double buffering of vertical and horizontal two dimensions, thereby reduces effectively to Y to slide rail friction, prolongs longmen structure's life.

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 structure capable of absorbing errors according to an embodiment of the present invention.

Fig. 2 is a front view of the portal bridge of fig. 1.

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

Fig. 4 is an exploded view of fig. 3.

Reference numerals: 1-a door bridge; 11-a fixed end; 12-a manipulator; 2-a sliding table; 3-a linear slide; 4-a support structure; 401-a first support; 402-a second support; 5-a floating mechanism; 511-top plate; 5111-top plate through hole; 5121-a spring; 5122-guide posts; 51220-guide post retainer ring; 513 middle plate; 521-a bottom plate; 5221-mounting holes; 522-floating wire track; 523-a slider; 524-baffle plate; 5241-baffle I; 5242 baffle II.

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 gantry structure capable of absorbing errors, which includes a support structure 4 composed of a first support 401 and a second support 402, wherein the first support 401 and the second support 402 are parallel to each other. Sliding rails are arranged on the first supporting portion 401 and the second supporting portion 402, in this embodiment, the sliding rail on the first supporting portion 401 is a sliding table 2 driven by a motor, and the sliding rail on the second supporting portion 402 is a linear sliding rail 3 without a motor, and is used as an auxiliary guiding mechanism. Sliding blocks (not shown) are arranged on the sliding table 2 and the linear slide rail 3. Of course, in some embodiments, the first support portion 401 and the second support portion 402 are both provided with the sliding table 2, forming a dual power set.

Still include portal bridge 1, the both ends of portal bridge 1 are connected with slip table 2 and the linear slideway 3 that set up on first supporting part 401 and second supporting part 402 respectively. Referring to fig. 2, in the present embodiment, two ends of the portal bridge 1 are a fixed end 11 and a floating end, and the fixed end 11 and the floating end are connected to the sliding platform 2 and the linear sliding rail 3 through a sliding block. Specifically, the fixed end 11 is connected with the sliding table 2 through the sliding block, the floating end is connected with the linear sliding rail 3 through the sliding block, a structure with one end connected in a floating mode is formed, friction between the portal bridge 1 and the linear sliding rail 3 is reduced, and dynamic protection is achieved. The door bridge 1 is provided with a manipulator 12, the manipulator 12 is connected with the door bridge 1 through a long waist hole, and the manipulator 12 is used for carrying articles. In the present embodiment, the robot 12 is composed of a chuck assembly, but in other embodiments, the robot 12 may be composed of other elements capable of carrying objects, such as a clamping assembly. The number of the door bridges 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 door bridge 1 are floating ends, one of the two floating ends is connected with the linear sliding rail 3 through a sliding block, and the other floating end is connected with the sliding table 2 through a sliding block. In the present embodiment, referring to fig. 2 to 4, it can be seen that the floating end is constituted by the floating mechanism 5, and the floating mechanism 5 includes a longitudinal floating unit and a lateral floating unit. Specifically, the vertical floating unit is fixedly connected with the horizontal floating unit, and the vertical floating unit comprises: a top plate 511, a floating part and a middle plate 513, wherein the top plate 511 is fixedly connected with one end of the door bridge 1, and the middle plate 513 is fixedly connected with the transverse floating unit. More specifically, in this embodiment, the floating portion is a spring 5121 and a guide post 5122, the spring 5121 is sleeved on the guide post 5122, a top plate insertion hole 5111 matched with the guide post 5122 is formed in the top plate 511, the guide post 5122 is screwed with the top plate 511 through the top plate insertion hole 5111, a middle plate insertion hole (not shown) matched with the guide post 5122 is also formed in the middle plate 513, and the guide post 5122 passes through the middle plate insertion hole in the middle plate 513. The guide post 5122 can move up and down in the middle plate insertion hole on the middle plate 513 when the top plate 511 is forced to compress the spring 5121 downwards, so as to realize the absorption of the height difference in the longitudinal direction generated during the operation of the door bridge 1. In addition, in the embodiment, in order to prevent the guide post 5122 from separating from the middle plate 513 during the movement process, which causes the floating mechanism 5 to be stiff, a guide post snap ring 51220 is disposed at the bottom end of the guide post 5122, which ensures that the guide post 5122 does not jump out of the middle plate insertion hole in the middle plate 513, so that the mechanism operates stably.

Of course, in other embodiments, the floating mechanism 5 includes a longitudinal floating unit, and the floating portion may be an elastic rubber column disposed between the top plate 511 and the middle plate 513, and two ends of the elastic rubber column are fixedly connected to the top plate 511 and the middle plate 513, respectively. In this embodiment, the top plate 511 is fixedly connected to the door bridge 1, and the middle plate 513 is fixedly connected to the slider. When the top plate 511 is stressed, the distance between the top plate 511 and the middle plate 513 is dynamically changed by using the elasticity of the elastic rubber column to absorb the height difference in the longitudinal direction generated in the operation process of the portal bridge 1, and the length of the elastic rubber column is calculated according to the elastic coefficient of the adopted elastic rubber and the floating amount of the portal structure.

In the present embodiment, the lateral floating unit includes: bottom plate 521, floating rail 522, slider 523, and stop plate 524. Specifically, three floating wire rails 522 are provided on the base plate 521 in the X direction, and the three floating wire rails 522 are provided in parallel with each other. A baffle I5241 and a baffle II 5242 are respectively arranged at two ends of the three floating line rails 522, and the limit position of the floating block 523 in the X direction is determined by arranging the baffle I5241 and the baffle II 5242, so that the floating block 523 can not slide out of the floating line rails 522. The slider 523 is slidably connected to the floating rail 522, the slider 523 can move on the floating rail 522 along the X direction, and the slider 523 is fixedly connected to the middle plate 513. Two or four floating wire rails 522 may be further disposed on the bottom plate 521, so as to ensure smooth sliding, which is not limited in this embodiment.

In addition, in the embodiment, in order to ensure the normal operation of the floating mechanism 5, the guide posts 5122 are arranged on both sides of the floating block 523, so as to avoid mechanical stiffness caused by the fact that the guide posts 5122 abut against the floating block 523 in the moving process. The length of the guide post 5122 can be calculated according to the floating amount required by the gantry structure and the thickness of the middle plate 513, and it is ensured that when the top plate 511 is stressed to compress the spring 5121, and the spring 5121 is compressed to the limit, the distance between the bottom end of the guide post 5122 and the bottom plate 521 is greater than 5mm, so as to ensure that the guide post 5122 does not abut against the bottom plate 521 even if the spring 5121 is compressed to the limit position, and mechanical failure is caused. In this embodiment, the distance between the bottom end of the guide post 5122 and the bottom plate 521 when the spring 5121 is compressed to the limit is 6mm, and in other embodiments, the distance may vary with the floating amount of the gantry structure, the elastic coefficient of the elastic element, and the like, and is not limited herein.

In this embodiment, the fixed end 11 of the door bridge 1 is fixedly connected to the slider through the transition plate, the floating end of the door bridge 1 is fixedly connected to the floating mechanism 5 through the top plate 511, and the floating mechanism 5 is fixedly connected to the slider through the mounting hole 5211 formed in the bottom plate 521. The fixed end 11 of the portal bridge 1 drives the portal bridge 1 to move along the Y direction under the driving of the sliding table 2 through the sliding block, and the floating end of the portal bridge 1 moves along the Y direction on the linear sliding rail 3 through the sliding block. When the portal bridge 1 and the manipulator 12 carry articles along the Y direction, according to the acting force applied to the portal bridge 1, the guide post 5122 in the floating mechanism 5 at the floating end of the portal bridge 1 can move up and down to dynamically absorb the longitudinal height difference generated, and the floating block 523 can move left and right on the floating linear rail 522 along the X direction to dynamically absorb the transverse level difference generated, so that the dynamic protection of the sliding table 2 and the linear sliding rail 3 is realized during long-distance carrying.

In this embodiment, the first support part 401 is simultaneously provided with the sliding table 2 driven by the motor and the linear slide rail 3 only playing a guiding role, and the second support part 402 is also simultaneously provided with the sliding table 2 driven by the motor and the linear slide rail 3 only playing a guiding role, that is, two sets of slide rails are arranged on the support structure 4, so that the cost is saved. The sliding table 2 on the first support part 401 and the linear slide rail 3 on the second support part 402 form a set of slide rails, and a door bridge 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 a door bridge 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. A floating type gantry structure capable of absorbing errors comprises a supporting structure (4) and a portal bridge (1), wherein the supporting structure (4) comprises two parallel sliding rails, two ends of the portal bridge (1) are respectively connected with the sliding rails in a sliding manner, and the floating type gantry structure is characterized in that at least one end of the portal bridge (1) is connected with the sliding rails in a sliding manner through a floating mechanism (5), and the floating mechanism (5) comprises a longitudinal floating unit for absorbing longitudinal height difference or/and a transverse floating unit for absorbing transverse level difference; the portal bridge (1) is fixedly connected with the longitudinal floating unit, the longitudinal floating unit is fixedly connected with the transverse floating unit, and the transverse floating unit is connected with the sliding rail in a sliding manner.

2. An error absorbing floating gantry structure as claimed in claim 1, characterized in that the longitudinal floating unit comprises a top plate (511), a middle plate (513) and a floating part, the floating part is arranged between the top plate (511) and the middle plate (513), the top plate (511) is fixedly connected with the door bridge (1), the middle plate (513) is fixedly connected with the lateral floating unit.

3. An error-absorbing floating gantry structure according to claim 2, characterized in that the floating part comprises a guide post (5122) and a spring (5121), the spring (5121) is sleeved on the guide post (5122); the top plate (511) and the middle plate (513) are respectively provided with a top plate through hole (5111) and a middle plate through hole which are matched with the guide post (5122), one end of the guide post (5122) penetrates through the top plate through hole (5111) to be in threaded connection with the top plate (511), and the other end of the guide post penetrates through the middle plate through hole on the middle plate (513).

4. An error absorbing floating gantry structure according to claim 3, characterized in that a guide post snap ring (51220) is provided on the bottom end of the guide post (5122) for preventing the guide post (5122) from separating from the middle plate (513).

5. An error-absorbing floating gantry structure according to claim 2, characterized in that the floating part comprises elastic rubber columns.

6. An error absorbing floating gantry structure according to claim 1, characterized in that the lateral floating unit comprises a slider (523), floating wire rails (522) and a bottom plate (521); the slider (523) moves on the floating rail (522) in the X direction; the floating block (523) is fixedly connected with the middle plate (513), the floating line rail (522) is arranged on the bottom plate (521), and the bottom plate (521) is connected with the supporting structure (4) in a sliding mode.

7. An error absorbing floating gantry structure according to claim 3, characterized in that the distance between the bottom end of the guide post (5122) and the bottom plate (521) when the spring (5121) is compressed to the extreme limit is larger than 5mm.

8. An error absorbing floating gantry structure according to claim 7, characterized in that the guide posts (5122) are placed on both sides of the slider (523).

9. An error-absorbing floating gantry structure according to claim 6, characterized in that the bottom plate (521) is further provided with baffles (524) at both ends of the floating line rail (522) for limiting the extreme positions of the sliders (523); the number of the floating wire rails (522) is three, and the three floating wire rails (522) are arranged on the bottom plate (521) in parallel.

10. An error-absorbing floating gantry structure according to claim 1, characterized in that two sets of sliding rails are arranged on the supporting structure (4), and sliding blocks are arranged on the sliding rails, the sliding blocks move along the sliding rails, one end of the portal bridge (1) is fixedly connected with the sliding blocks, and the other end of the portal bridge (1) is fixedly connected with the sliding blocks through a bottom plate (521) on the floating mechanism.

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