CN210048134U - Gantry type mechanical arm - Google Patents
Gantry type mechanical arm Download PDFInfo
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- CN210048134U CN210048134U CN201920726452.6U CN201920726452U CN210048134U CN 210048134 U CN210048134 U CN 210048134U CN 201920726452 U CN201920726452 U CN 201920726452U CN 210048134 U CN210048134 U CN 210048134U
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Abstract
The utility model belongs to the technical field of automation equipment, a planer-type manipulator is disclosed, include the portal frame and install two arms on the portal frame, the portal frame includes crossbeam and stand, the crossbeam is improved level and is provided with a translation rack, the translation rack is followed the length direction of crossbeam extends the setting, every the arm includes the translation main part and installs translation motor in the translation main part, the difference translation motor autonomous working, the translation main part with crossbeam horizontal sliding connects, translation motor's output shaft with translation rack transmission connects. Two arms homoenergetic of this scheme reach the both ends border position of cardboard independently, realize snatching, have improved planer-type manipulator's commonality. Meanwhile, translation motors on different mechanical arms are all in transmission connection with the same translation rack, so that different translation motors use the same translation rack as a positioning reference, and the positioning accuracy of the two mechanical arms is higher.
Description
Technical Field
The utility model relates to an automation equipment technical field especially relates to a planer-type manipulator.
Background
The back process major part of traditional cardboard cutting machine overturns the cardboard through the manual work, pile up and carry, cause workman intensity of labour big, work efficiency is low, automatic tilting mechanism has been adopted to the back process of current part cardboard cutting machine, automation equipment such as pile-up mechanism replaces the manual work and makes work efficiency improve to some extent, but these automatic upsets, the positioning accuracy of automation equipment such as pile-up mechanism is low, the commonality is poor, simultaneously the enterprise is in the actual production process, there is the variety in the specification of cardboard, especially in production batch occasion such as little or production line change, current automatic upset, the positioning accuracy and the commonality of automation equipment such as pile-up can't satisfy the production demand.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an aim at: provided is a gantry type manipulator, which can improve the positioning precision and the universality of the manipulator.
To achieve the purpose, the utility model adopts the following technical proposal:
the utility model provides a gantry type manipulator, includes the portal frame and installs two arms on the portal frame, the portal frame includes crossbeam and stand, the crossbeam is improved level and is provided with a translation rack, the translation rack is followed the length direction of crossbeam extends the setting, every the arm includes the translation main part and installs translation motor in the translation main part, the difference translation motor autonomous working, the translation main part with crossbeam horizontal sliding connection, translation motor's output shaft with translation rack transmission is connected.
Specifically, on the one hand, every be provided with translation motor on the arm respectively, and every translation motor works independently each other, can make different arms independently remove mutually noninterference, every arm only need when snatching the cardboard according to the marginal position of cardboard correspondingly move to the position that corresponds can, need not to coordinate the removal and the position of other relevant mechanisms at the removal in-process, consequently, as long as the cardboard reaches the below of portal frame, no matter the cardboard specification is big or small, no matter the position that the cardboard is located the portal frame below is on the left and on the right, two arms homoenergetic reach the both ends marginal position of cardboard independently, realize snatching, effectively improved the commonality of portal type manipulator. On the other hand, translation motors on different mechanical arms are all connected with the same translation rack in a transmission mode, so that different translation motors are enabled to use the same translation rack as a positioning reference, and therefore the positioning accuracy of the two mechanical arms is higher, and the relative positions are more accurate.
As an optimal technical scheme, be provided with on the crossbeam and let a mouthful, the translation rack is installed let in the mouth, translation motor's output shaft is located let in the mouth.
Specifically, through setting up let the position mouth, and arrange translation rack and translation motor's output shaft in let the transmission connect in the position mouth, make the overall structure overall arrangement of planer-type manipulator compacter on the one hand, on the other hand makes the focus of arm more be close to the center of portal frame to reduce the moment of torsion between arm and the portal frame, be favorable to improving planer-type manipulator's overall reliability and life.
As a preferred technical scheme, the translation rack is arranged on the side wall of the relief opening, and an output shaft of the translation motor is vertically inserted into the relief opening;
or the translation rack is arranged on the bottom surface of the yielding port, and the output shaft of the translation motor is horizontally inserted into the yielding port.
As a preferred technical solution, the translation rack is a helical rack.
As a preferred technical scheme, translation slide rails are respectively arranged on the top surface of the cross beam and one side surface extending along the length direction, translation sliders are correspondingly arranged on the translation main body, and the translation sliders are slidably connected with the translation slide rails.
Preferably, the translation main body comprises a first portion and a second portion, the first portion is horizontally arranged, the second portion is vertically arranged, the first portion and the second portion are combined to form an inverted L-shaped structure, and the bottom surface of the first portion and one side, close to the cross beam, of the second portion are respectively provided with the translation sliding block.
The arm adopts two translation slide rails to be connected with the crossbeam, and two translation slide rails are the stairstepping overall arrangement, have increased translation slide rail interval, and make full use of arcwall face snatchs the bearing capacity bigger, and the rigidity is stronger, has prolonged life, can realize reliably fixing arm horizontal migration, has improved structural stability, combines high-quality linear guide, rack and pinion transmission and motor drive, can realize that repeated positioning accuracy reaches 0.1 mm.
As a preferable technical scheme, the mechanical arm further comprises a vertical main body and a vertical motor installed on the vertical main body, the vertical main body is vertically and slidably connected with the translation main body, a driving block is arranged on one side, far away from the cross beam, of the translation main body, and an output shaft of the vertical motor is in transmission connection with the driving block.
As a preferable technical scheme, the vertical motor is arranged at the top of the vertical main body, a screw rod is vertically arranged on one side of the vertical main body close to the translation main body, an output shaft of the vertical motor is fixedly connected with the screw rod, and the screw rod is in threaded transmission connection with the driving block.
As an optimal technical scheme, one side, far away from the cross beam, of the translation main body is provided with a vertical sliding block, one side, close to the translation main body, of the vertical main body is provided with a vertical sliding rail, and the vertical sliding block is connected with the vertical sliding rail in a sliding mode.
Preferably, the vertical slider is arranged on the lower half part of the translation body. By arranging the vertical slider at a relatively lower position, the vertical body can reach a lower position, which can be understood as realizing a wider motion track coverage of the vertical body without the need for the translation body to be arranged longer.
As a preferred technical solution, the robot arm further comprises a turnover mechanism, and the turnover mechanism is mounted on the vertical main body.
Preferably, the turnover mechanism comprises a turnover speed reducer and a turnover motor matched with the turnover speed reducer, the turnover speed reducer is installed on one side, away from the translation main body, of the vertical main body, and the turnover speed reducer is connected with a turnover clamp.
Preferably, the overturning fixture comprises a connecting piece connected with an overturning speed reducer and a plurality of clamping jaws installed on the connecting piece.
As a preferred technical scheme, a CCD camera is arranged at the bottom of the cross beam, and the shooting direction of the CCD camera is downward.
Specifically, through setting up the CCD camera can carry out image acquisition to the cardboard that reachs the portal frame below, and control system carries out positioning analysis to the image that obtains to send the instruction to the arm according to the cardboard position, thereby make the arm can reach the edge of cardboard accurately and snatch.
Preferably, the shooting direction of the CCD camera is vertically downward.
Preferably, the number of the CCD cameras is two, and the two CCD cameras are distributed at intervals along the length direction of the beam. Through setting up two the CCD camera can further improve the positioning accuracy of cardboard.
The utility model has the advantages that: the utility model provides a gantry type manipulator, on the one hand, every be provided with translation motor on the arm respectively, and every translation motor works independently each other, can make different arms independently remove mutually noninterference, every arm only need when snatching the cardboard according to the marginal position of cardboard correspondingly remove to the position that corresponds can, need not to coordinate the removal and the position of other relevant mechanisms at the removal in-process, consequently, as long as the cardboard reachs the below of portal frame, no matter the cardboard specification be big or small, no matter the position that the cardboard is located the portal frame below is right left side, two arms homoenergetic reach the both ends marginal position of cardboard independently, realize snatching, the commonality of gantry type manipulator has effectively been improved. On the other hand, translation motors on different mechanical arms are all connected with the same translation rack in a transmission mode, so that different translation motors are enabled to use the same translation rack as a positioning reference, and therefore the positioning accuracy of the two mechanical arms is higher, and the relative positions are more accurate.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and examples.
FIG. 1 is a schematic structural diagram of a gantry robot according to an embodiment;
FIG. 2 is an enlarged view of a portion of the portion A shown in FIG. 1;
FIG. 3 is a schematic view of a robot arm according to an embodiment;
fig. 4 is a schematic structural diagram of another view of the robot arm according to the embodiment.
In fig. 1 to 4:
10. a gantry; 101. a cross beam; 102. a column; 103. a let position port; 104. a translation rack; 105. translating the slide rail;
20. a mechanical arm; 201. a translation body; 2011. a first part; 2012. a second section; 202. a translation motor; 203. a translation slide block; 204. a vertical body; 205. a vertical motor; 206. a drive block; 207. a screw rod; 208. a vertical slide block; 209. a vertical slide rail; 210. a turnover mechanism; 2101. turning over the speed reducer; 2102. turning over a motor; 2103. and (5) overturning the clamp.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 4, a gantry type manipulator includes a gantry 10 and two mechanical arms 20 mounted on the gantry 10, the gantry 10 includes a beam 101 and a column 102, the beam 101 is horizontally provided with a translation rack 104, the translation rack 104 is an oblique rack, the translation rack 104 extends along the length direction of the beam 101, each mechanical arm 20 includes a translation body 201 and a translation motor 202 mounted on the translation body 201, different translation motors 202 work independently, the translation body 201 is connected with the beam 101 in a horizontal sliding manner, and an output shaft of the translation motor 202 is in transmission connection with the translation rack 104.
Specifically, on the one hand, each mechanical arm 20 is provided with a translation motor 202, and each translation motor 202 works independently, so that different mechanical arms 20 can move independently without interfering with each other, when a paperboard is grabbed, each mechanical arm 20 only needs to move to a corresponding position according to the edge position of the paperboard, and the movement and the position of other associated mechanisms do not need to be coordinated in the moving process, so that as long as the paperboard reaches the lower part of the portal frame 10, regardless of the size of the paperboard and the left and right of the position of the paperboard below the portal frame 10, the two mechanical arms 20 can independently reach the edge positions of the two ends of the paperboard, grabbing is realized, and the universality of the portal mechanical arm is effectively improved. On the other hand, the translation motors 202 of different mechanical arms 20 are in transmission connection with the same translation rack 104, so that the same translation rack 104 is used as a positioning reference for different translation motors 202, and thus the positioning accuracy of the two mechanical arms 20 is higher, and the relative positions are more accurate.
In this embodiment, the cross beam 101 is provided with a relief port 103, the translation rack 104 is disposed on a side wall of the relief port 103, and an output shaft of the translation motor 202 is vertically inserted into the relief port 103. Through setting up let position mouth 103, and arrange in translation rack 104 and translation motor 202's output shaft let position mouth 103 in the transmission connect, make the overall structure overall arrangement of planer-type manipulator compacter on the one hand, on the other hand makes the focus of manipulator 20 more be close to the center of portal frame 10 to reduce the moment of torsion between manipulator 20 and the portal frame 10, be favorable to improving the overall reliability and the life of planer-type manipulator. In other embodiments, the translation rack is disposed on a bottom surface of the abdication port, and an output shaft of the translation motor is horizontally inserted into the abdication port.
In this embodiment, the top surface and one side surface extending along the length direction of the beam 101 are respectively provided with a translation slide rail 105, the translation body 201 is correspondingly provided with a translation slider 203, and the translation slider 203 is slidably connected to the translation slide rail 105. Specifically, the translation main body 201 comprises a first portion 2011 and a second portion 2012, the first portion 2011 is horizontally arranged, the second portion 2012 is vertically arranged, the first portion 2011 and the second portion 2012 are combined into an inverted L-shaped structure, and the bottom surface of the first portion 2011 and one side of the second portion 2012, which is close to the cross beam 101, are respectively provided with the translation slider 203. Arm 20 adopts two translation slide rails 105 to be connected with crossbeam 101, and two translation slide rails 105 are the stairstepping overall arrangement, have increased translation slide rail 105 interval, and make full use of archway face snatchs the bearing capacity bigger, and the rigidity is stronger, has prolonged life, can realize reliably fixing arm 20 horizontal migration, has improved structural stability, combines high-quality linear guide, rack and pinion transmission and motor drive, can realize that repeated positioning accuracy reaches 0.1 mm.
The mechanical arm 20 further comprises a vertical main body 204 and a vertical motor 205 mounted on the vertical main body 204, the vertical main body 204 is vertically and slidably connected with the translation main body 201, a driving block 206 is arranged on one side of the translation main body 201 far away from the cross beam 101, and an output shaft of the vertical motor 205 is in transmission connection with the driving block 206. In this embodiment, the vertical motor 205 is disposed at the top of the vertical body 204, a lead screw 207 is vertically disposed on one side of the vertical body 204 close to the translation body 201, an output shaft of the vertical motor 205 is fixedly connected to the lead screw 207, and the lead screw 207 is in threaded transmission connection with the driving block 206. In other embodiments, the vertical motor may also be disposed at the bottom of the vertical body, a lead screw is vertically disposed on one side of the vertical body close to the translation body, an output shaft of the vertical motor is fixedly connected with the lead screw, and the lead screw is in threaded transmission connection with the driving block.
In this embodiment, a vertical slider 208 is disposed on a side of the translation main body 201 away from the cross beam 101, a vertical slide rail 209 is disposed on a side of the vertical main body 204 close to the translation main body 201, and the vertical slider 208 is slidably connected to the vertical slide rail 209. Further, the vertical slider 208 is disposed on the lower half of the translation body 201. By arranging the vertical slider 208 at a relatively lower position, the vertical body 204 can reach a lower position, which can be understood as a wider coverage of the motion trajectory of the vertical body 204 without the need to arrange the translational body 201 longer.
In this embodiment, the robot arm 20 further includes a turnover mechanism 210, and the turnover mechanism 210 is mounted on the vertical body 204. The turnover mechanism 210 comprises a turnover speed reducer 2101 and a turnover motor 2102 matched with the turnover speed reducer 2101, the turnover speed reducer 2101 is installed on one side, far away from the translation main body 201, of the vertical main body 204, and the turnover speed reducer 2101 is connected with a turnover clamp 2103. The overturning fixture 2103 comprises a connecting piece connected with the overturning speed reducer 2101 and a plurality of clamping jaws arranged on the connecting piece.
The bottom of crossbeam 101 is provided with the CCD camera, the shooting direction of CCD camera is downward. Through setting up the CCD camera can carry out image acquisition to the cardboard that reaches portal frame 10 below, and control system carries out positioning analysis to the image that obtains to send the instruction to arm 20 according to the cardboard position, thereby make arm 20 can reach the edge of cardboard and snatch accurately. In this embodiment, the shooting direction of the CCD cameras is vertically downward, the number of the CCD cameras is two, and the CCD cameras are distributed along the length direction of the beam 101 at intervals. Through setting up two the CCD camera can further improve the positioning accuracy of cardboard.
The terms "first" and "second" are used herein for descriptive purposes only and are not intended to have any special meaning.
It should be noted that the above embodiments are only preferred embodiments of the present invention and the technical principles applied, and any changes or substitutions which can be easily conceived by those skilled in the art within the technical scope of the present invention are covered by the protection scope of the present invention.
Claims (10)
1. The gantry type mechanical arm is characterized by comprising a gantry frame and two mechanical arms arranged on the gantry frame, wherein the gantry frame comprises a cross beam and a stand column, a translation rack is horizontally arranged on the cross beam, the translation rack is arranged along the length direction of the cross beam in an extending mode, each mechanical arm comprises a translation main body and a translation motor arranged on the translation main body, the translation motors work independently, the translation main body is connected with the cross beam in a horizontal sliding mode, and an output shaft of each translation motor is connected with the translation rack in a transmission mode.
2. The gantry manipulator of claim 1, wherein the beam is provided with a abdicating opening, the translation rack is installed in the abdicating opening, and the output shaft of the translation motor is located in the abdicating opening.
3. The gantry manipulator of claim 2, wherein the translation rack is disposed on a sidewall of the docking port, and an output shaft of the translation motor is vertically inserted into the docking port;
or the translation rack is arranged on the bottom surface of the yielding port, and the output shaft of the translation motor is horizontally inserted into the yielding port.
4. The gantry robot of claim 1, wherein said translating rack is a helical rack.
5. The gantry manipulator of claim 1, wherein a top surface of the beam and a side surface extending in the length direction are respectively provided with a translation slide rail, the translation body is correspondingly provided with a translation slide block, and the translation slide block is slidably connected with the translation slide rail.
6. The gantry manipulator of claim 1, wherein the manipulator further comprises a vertical body and a vertical motor mounted on the vertical body, the vertical body is vertically and slidably connected with the translation body, a driving block is arranged on one side of the translation body, which is far away from the cross beam, and an output shaft of the vertical motor is in transmission connection with the driving block.
7. The gantry manipulator of claim 6, wherein the vertical motor is disposed on the top of the vertical body, a lead screw is vertically disposed on one side of the vertical body close to the translation body, an output shaft of the vertical motor is fixedly connected to the lead screw, and the lead screw is in threaded transmission connection with the driving block.
8. The gantry manipulator of claim 7, wherein a vertical slider is disposed on a side of the translational body away from the beam, a vertical slide rail is disposed on a side of the vertical body close to the translational body, and the vertical slider is slidably connected to the vertical slide rail.
9. The gantry robot of claim 6, wherein said robotic arm further comprises a tilt mechanism mounted to said vertical body.
10. The gantry manipulator of any one of claims 1 to 9, wherein a CCD camera is provided at the bottom of the beam, and the shooting direction of the CCD camera is downward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920726452.6U CN210048134U (en) | 2019-05-20 | 2019-05-20 | Gantry type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920726452.6U CN210048134U (en) | 2019-05-20 | 2019-05-20 | Gantry type mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN210048134U true CN210048134U (en) | 2020-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920726452.6U Active CN210048134U (en) | 2019-05-20 | 2019-05-20 | Gantry type mechanical arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112047119A (en) * | 2020-07-07 | 2020-12-08 | 辽宁省交通高等专科学校 | Round bale stacking device and working method |
| CN113844942A (en) * | 2021-10-09 | 2021-12-28 | 唐山市铭辉印刷机械有限公司 | Paperboard arranging and conveying device and robot arm used for same |
| CN113998456A (en) * | 2021-12-14 | 2022-02-01 | 蚌埠凯盛工程技术有限公司 | Full-automatic turnover system for grinding wheel special for TFT glass |
-
2019
- 2019-05-20 CN CN201920726452.6U patent/CN210048134U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112047119A (en) * | 2020-07-07 | 2020-12-08 | 辽宁省交通高等专科学校 | Round bale stacking device and working method |
| CN113844942A (en) * | 2021-10-09 | 2021-12-28 | 唐山市铭辉印刷机械有限公司 | Paperboard arranging and conveying device and robot arm used for same |
| CN113998456A (en) * | 2021-12-14 | 2022-02-01 | 蚌埠凯盛工程技术有限公司 | Full-automatic turnover system for grinding wheel special for TFT glass |
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