CN220244790U - Gantry manipulator for grabbing tube blanks - Google Patents
Gantry manipulator for grabbing tube blanks Download PDFInfo
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- CN220244790U CN220244790U CN202322242728.2U CN202322242728U CN220244790U CN 220244790 U CN220244790 U CN 220244790U CN 202322242728 U CN202322242728 U CN 202322242728U CN 220244790 U CN220244790 U CN 220244790U
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- axis
- driving device
- guide rail
- mounting seat
- pawl
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- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model relates to a gantry manipulator for grabbing a tube blank, which comprises a gantry frame provided with a y-axis linear guide rail driving device, a double-arm beam of the x-axis linear guide rail driving device and an upright post of a z-axis linear guide rail driving device, wherein the double-arm beam is arranged on the y-axis linear guide rail driving device, an electric permanent magnet clamp is arranged at the end part of the upright post through a rotary driving device, a through mounting seat is fixed on the double-arm beam, the upright post is arranged in a sliding groove in the mounting seat through a z-axis guide rail of the z-axis linear guide rail driving device, a z-axis driving motor of the z-axis linear guide rail driving device is fixed on an outer shell of the mounting seat, and an upright post balancing mechanism and a safety mechanism are further arranged on the mounting seat. The upright post balancing mechanism reduces the load of the servo motor, the servo motor is more flexible in shape selection, the risk of failure of structural members is reduced, and the safety mechanism is used as a third-layer safety protection except for the free protection structure of the driving device and the protection of the balancing cylinder.
Description
Technical Field
The utility model relates to the technical field of automatic equipment, in particular to a gantry manipulator for grabbing tube blanks.
Background
Gantry mechanical hoisting tool is used as handling tool on large intelligent manufacturing production line, gantry mechanical hoisting is usually completed through three-axis linkage, and comprises x-axis, y-axis and z-axis direction movements, and mechanical hand hoisting is adopted to realize that mechanical hand clamps can realize T-axis direction rotation. The weight of the workpiece to be hoisted is added to the gantry, so that the whole z-axis direction carrying capacity is huge, the z-axis upright is driven, a certain lifting speed is required to be maintained, and a high-power servo motor is required, so that the motor is overlarge in shape selection, the layout of the motor on equipment is affected, and the cost is directly overhigh. In addition, the existing z-axis upright post lifting structure adopts a servo motor to drive a gear to engage with a rack for lifting, and the larger the weight on the z-axis is, the larger the gear and the rack bear weight, so that the possibility of structural member failure is increased, and the potential safety hazard is greatly provided.
Disclosure of Invention
Aiming at the problems, the utility model provides a gantry manipulator for grabbing a tube blank, which is provided with a column balancing mechanism for balancing the weight of a z-axis column and a workpiece.
In order to achieve the above purpose, the following technical scheme is adopted: the gantry manipulator for grabbing the tube blank comprises a portal frame provided with a y-axis linear guide rail driving device, a double-arm beam of the x-axis linear guide rail driving device and a stand column of a z-axis linear guide rail driving device, wherein the double-arm beam is arranged on the y-axis linear guide rail driving device, an electric permanent magnet clamp is arranged at the end part of the stand column through a rotary driving device, a through mounting seat is fixed on the double-arm beam, the stand column is arranged in a sliding groove in the mounting seat through a z-axis guide rail of the z-axis linear guide rail driving device, a z-axis driving motor of the z-axis linear guide rail driving device is fixed on an outer shell of the mounting seat, a stand column balancing mechanism is further arranged on the mounting seat and comprises a balancing cylinder, a lifting rope and a pulley block, the balancing cylinder is arranged at the top of the mounting seat and connected with the stand column through the lifting rope, and the lifting rope bypasses the pulley block.
Further, the pulley block comprises a fixed pulley and a movable pulley, the fixed pulley is arranged at the top of the mounting seat, the movable pulley is arranged on a cylinder rod of the balance cylinder, the lifting rope sequentially bypasses the movable pulley and the fixed pulley, one end of the lifting rope is fixed on the mounting seat, the other end of the lifting rope is fixed at the bottom end of the upright column, and a passing hole is reserved at the passing position of the lifting rope by the mounting seat.
Further, the safety mechanism is arranged on the mounting seat and comprises a safety gear and a locking shaft mechanism, the safety gear is arranged on the upright post through a gear shaft and meshed with a driving rack of the z-axis linear guide rail driving device on the upright post, the position of the gear shaft corresponds to the mounting seat and penetrates through the side wall of the mounting seat, and the locking shaft mechanism is arranged on the side wall of the mounting seat.
Further, the lock shaft mechanism comprises a ratchet, a pawl mounting groove and an electromagnet, wherein the ratchet is mounted on the gear shaft, the pawl mounting groove is mounted on the side wall of the mounting seat and is connected with the electromagnet, and the pawl is mounted in the pawl mounting groove through a spring and a rotating shaft and corresponds to the ratchet to ensure that the pawl rebounds to clamp the ratchet when the electromagnet is powered off.
Further, an encoder is installed at the shaft end of the gear shaft.
The utility model has the beneficial effects that:
the utility model discloses install balanced cylinder on the mount pad to be connected with the stand through the assembly pulley, the stand utilizes balanced cylinder to balance the weight that withstands on falling the stand when going up and down through z axis nature guide rail drive arrangement control, lightens servo motor load, and servo motor selection type is more nimble, reduce cost, and reduce the gravity that drive arrangement's gear and rack bear, reduce the risk of structure inefficacy, balanced cylinder is under the sudden outage or other structure inefficacy that leads to, keeps pressure, prevents that the stand from falling suddenly.
The safety mechanism is designed on the mounting seat and used as a third layer of safety protection except for a free protection structure of the driving device and the protection of the balance cylinder, when the gear structural part of the z-axis linear guide rail driving device fails, the electromagnet of the lock shaft mechanism is powered off, the pawl rebounds to lock the ratchet wheel, and the z-axis upright post is braked by the safety gear.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic structural view of a column section;
FIG. 3 is a cross-sectional view of a column portion;
FIG. 4 is an enlarged view at A of FIG. 2;
fig. 5 is an enlarged view at B of fig. 3.
As shown in the figure: 1. a portal frame; 2. a double arm beam; 3. a column; 4. a mounting base; 5. a z-axis guide rail; 6. an electro permanent magnet clamp; 7. a z-axis drive motor; 8. a drive rack; 100. a balancing cylinder; 101. a hanging rope; 102. a fixed pulley; 103. a movable pulley; 200. a safety gear; 201. a ratchet wheel; 202. a pawl; 203. pawl mounting slots; 204. an electromagnet; 205. a gear shaft.
Detailed Description
Example 1
1-5 are schematic views of the present embodiment, and a gantry manipulator for grabbing a tube blank includes a gantry 1 provided with a y-axis linear guide rail driving device, a dual-arm beam 2 of the x-axis linear guide rail driving device, and a column 3 of the z-axis linear guide rail driving device, where the gantry 1, the dual-arm beam 2, and the column 3 are respectively used as moving carriers in y, x, and z-axis directions, and the y, x, and z-axis linear guide rail driving devices all use a servo motor in combination with a gear and a rack to drive a linear guide rail moving structure. The double-arm beam 2 is arranged on the y-axis linear guide rail driving device, the mounting seat 4 of the through center is fixed on the double-arm beam 2, a chute is arranged inside the mounting seat 4, the upright post 3 is arranged in the chute in the mounting seat 4 through a z-axis guide rail 5 of the z-axis linear guide rail driving device, an electric permanent magnet clamp 6 is arranged at the end part of the upright post 3 through a rotary driving device, the rotary driving device realizes T-axis rotation through the cooperation of a rotary speed reducer and a servo motor, a z-axis driving motor 7 of the z-axis linear guide rail driving device is fixed on the outer shell of the mounting seat 4, and an upright post balance mechanism and a safety mechanism are further arranged on the mounting seat 4.
The column balancing mechanism comprises a balancing cylinder 100, the stroke of the balancing cylinder 100 is increased by adopting a pulley block to be matched with a lifting rope 101 because of the larger stroke of the column, the pulley block comprises a fixed pulley 102 and a movable pulley 103, the balancing cylinder 100 and the fixed pulley 102 are arranged at the top of an installation seat 4, the movable pulley 103 is arranged on a cylinder rod of the balancing cylinder 100, the lifting rope 101 sequentially bypasses the movable pulley 103 and the fixed pulley 102, one end of the lifting rope 101 is fixed on the installation seat 4, the other end of the lifting rope is fixed at the bottom end of the column 3, and a passing hole is reserved at the passing position of the lifting rope 101 by the installation seat 4. The column balancing mechanism shares the load of the z-axis linear guide rail driving device in the lifting process of the column 3, and the column 3 is matched with the lifting of the column 100 through the expansion and contraction of the cylinder rod.
The safety mechanism includes a safety gear 200 and a lock shaft mechanism including a ratchet 201, a pawl 202, a pawl mounting groove 203, and an electromagnet 204. The safety gear 200 is mounted on the upright 3 by a gear shaft 205 and is meshed with a drive rack 8 of a z-axis linear guide rail drive device on the upright 3, and the gear shaft 205 is positioned corresponding to the mounting seat 4 and penetrates through the side wall of the mounting seat 4. Ratchet 201 installs on gear shaft 205, and pawl mounting groove 203 is installed on mount pad 4 lateral wall, and pawl mounting groove 203 connects electro-magnet 204, and pawl 202 passes through spring and pivot to be installed in pawl mounting groove 203, and corresponds with ratchet 202, guarantees when electro-magnet 204 outage, and pawl 202 kick-backs to block ratchet 201, and pawl mounting groove 203 is the metal piece, and the encoder is installed to the axle head of gear shaft 205. In the process of motor braking, the z-axis driving motor 7 of the z-axis linear guide rail driving device still can continuously fall down under the failure of a motor gear structural member, and a safety mechanism is required to brake. When the z-axis driving motor 7 operates normally, the data of the encoder of the motor and the encoder of the safety mechanism should be kept consistent, and when the gear of the z-axis driving motor fails, the upright post 3 falls down, at this time, the data of the two encoders are different, the system detects the data difference, the z-axis driving motor 7 is considered to have failure condition, the electromagnet 204 is powered off, the pawl 202 rebounds to clamp the ratchet 201, the gear shaft 205 is locked, and the safety gear 200 brakes the upright post 3, so that the upright post 3 is prevented from falling down.
The present utility model is not limited to the present embodiment, and any equivalent concept or modification within the technical scope of the present utility model is listed as the protection scope of the present utility model.
Claims (5)
1. Gantry manipulator for pipe blank snatchs, including install Y axis nature rail drive's portal frame (1), X axis nature rail drive's both arms roof beam (2) and z axis nature rail drive's stand (3), both arms roof beam (2) install on Y axis nature rail drive, stand (3) tip pass through rotary drive and install electric permanent magnet anchor clamps (6), its characterized in that, both arms roof beam (2) on fixed through mount pad (4), stand (3) install in the spout in mount pad (4) through z axis nature rail drive's z axis guide (5), z axis nature rail drive's z axis driving motor (7) are fixed on mount pad (4) shell body, mount pad (4) on still be provided with stand balance mechanism, stand balance mechanism include balance cylinder (100), lifting rope (101) and assembly pulley, balance cylinder (100) install at mount pad (4) top, balance cylinder (100) are passed through lifting rope (101) and are connected with stand (3) and are walked around assembly pulley (101).
2. The gantry manipulator for grabbing a tube blank according to claim 1, wherein the pulley block comprises a fixed pulley (102) and a movable pulley (103), the fixed pulley (102) is mounted at the top of the mounting seat (4), the movable pulley (103) is mounted on a cylinder rod of the balancing cylinder (100), the lifting rope (101) sequentially bypasses the movable pulley (103) and the fixed pulley (102), one end of the lifting rope is fixed on the mounting seat (4), the other end of the lifting rope is fixed at the bottom end of the upright post (3), and a through hole is reserved at the passing position of the lifting rope (101) by the mounting seat (4).
3. The gantry manipulator for tube blank gripping according to claim 1 or 2, characterized in that the mounting base (4) is provided with a safety mechanism, the safety mechanism comprises a safety gear (200) and a locking shaft mechanism, the safety gear (200) is mounted on the upright post (3) through a gear shaft (205) and is meshed with a driving rack (8) of the z-axis linear guide rail driving device on the upright post (3), the position of the gear shaft (205) corresponds to the mounting base (4) and penetrates through the side wall of the mounting base (4), and the locking shaft mechanism is arranged on the side wall of the mounting base (4).
4. The gantry manipulator for grabbing a tube blank according to claim 3, wherein the lock shaft mechanism comprises a ratchet wheel (201), a pawl (202), a pawl mounting groove (203) and an electromagnet (204), the ratchet wheel (201) is mounted on a gear shaft (205), the pawl mounting groove (203) is mounted on the side wall of the mounting seat (4), the pawl mounting groove (203) is connected with the electromagnet (204), the pawl (202) is mounted in the pawl mounting groove (203) through a spring and a rotating shaft and corresponds to the ratchet wheel (201), and when the electromagnet (204) is powered off, the pawl (202) rebounds to clamp the ratchet wheel (201).
5. The gantry manipulator for tube blank gripping according to claim 4, characterized in that the shaft end of the gear shaft (205) is provided with an encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322242728.2U CN220244790U (en) | 2023-08-21 | 2023-08-21 | Gantry manipulator for grabbing tube blanks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322242728.2U CN220244790U (en) | 2023-08-21 | 2023-08-21 | Gantry manipulator for grabbing tube blanks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220244790U true CN220244790U (en) | 2023-12-26 |
Family
ID=89228381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322242728.2U Active CN220244790U (en) | 2023-08-21 | 2023-08-21 | Gantry manipulator for grabbing tube blanks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220244790U (en) |
-
2023
- 2023-08-21 CN CN202322242728.2U patent/CN220244790U/en active Active
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