WO2024093594A1 - 一种龙门架输送装置 - Google Patents

一种龙门架输送装置 Download PDF

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Publication number
WO2024093594A1
WO2024093594A1 PCT/CN2023/122006 CN2023122006W WO2024093594A1 WO 2024093594 A1 WO2024093594 A1 WO 2024093594A1 CN 2023122006 W CN2023122006 W CN 2023122006W WO 2024093594 A1 WO2024093594 A1 WO 2024093594A1
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WIPO (PCT)
Prior art keywords
longitudinal
support body
conveying device
crossbeam
transverse
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Application number
PCT/CN2023/122006
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English (en)
French (fr)
Inventor
梁猛
赵凯
林海涛
蔡孙彬
程坤喜
Original Assignee
上海世禹精密设备股份有限公司
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Application filed by 上海世禹精密设备股份有限公司 filed Critical 上海世禹精密设备股份有限公司
Publication of WO2024093594A1 publication Critical patent/WO2024093594A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
    • B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole

Definitions

  • the invention relates to the technical field of conveying devices, and in particular to a gantry conveying device.
  • gantry conveying devices are widely used in the field of industrial assembly and processing.
  • the crossbeam of the gantry conveying device is set across two support bodies.
  • the crossbeam is driven by a linear motor to slide longitudinally relative to the support bodies, thereby providing longitudinal freedom for the grasping structure located on the crossbeam.
  • the reaction force of the linear motor causes the beam to drive the support body to vibrate when moving at high speed, so that the beam vibrates with the support body, causing the grasping structure to deviate during the longitudinal movement, affecting the accuracy of the grasping mechanism in grasping objects.
  • the purpose of the present invention is to provide a gantry conveying device to solve the problem in the prior art that when the linear motor drives the X-axis beam to move at high speed on the support body, it is easy to cause the support body to vibrate, thereby causing the support body to drive the X-axis beam to vibrate, affecting the grasping accuracy of the grasping structure.
  • a gantry conveying device includes two parallel and heavy solid support bodies arranged in the longitudinal direction and a crossbeam arranged in the transverse direction and spanning over the two support bodies, the crossbeam is provided with a transverse guide rail, a gripping mechanism and a transverse linear motor driving the gripping mechanism to slide along the transverse guide rail, each of the support bodies is provided with a longitudinal guide rail and a longitudinal linear motor, and a control board is electrically connected to the two longitudinal linear motors to control the two longitudinal linear motors to synchronously drive the two ends of the crossbeam to move along the corresponding longitudinal guide rails.
  • a heavy solid fixing platform is arranged below the two supporting bodies, and the two supporting bodies are fixed on the upper surface of the fixing platform.
  • the fixing table is made of marble.
  • the fixing platform is rectangular.
  • the support body and the fixing platform are integrally formed.
  • the support body is made of marble.
  • a U-shaped groove is opened longitudinally in the middle part of the upper surface of the support body, a mounting plate fixed on the cross beam is arranged between the support body and the cross beam, each of the longitudinal linear motors includes two groups of stators arranged longitudinally and a mover arranged between the two groups of stators, the two groups of stators are relatively arranged on both sides of the U-shaped groove, and the mover is fixed at the bottom of the mounting plate.
  • two longitudinal guide rails located on both sides of the U-shaped groove are arranged on the upper surface of each support body, and two longitudinal sliding blocks respectively cooperating with the two longitudinal guide rails are arranged at the bottom of each mounting plate.
  • opposite stoppers are respectively arranged at two ends of the top of the support body, and buffer rubber heads are arranged inside the stoppers.
  • a longitudinal grating ruler is respectively arranged between the two ends of the beam and the two supporting bodies, and the grating reading head of the longitudinal grating ruler is electrically connected to the control board.
  • This application sets up a heavy solid support body so that the support body can eliminate the influence of the reaction force generated by the longitudinal linear motor when it is working through its own weight, avoid vibration of the support body under the reaction force, improve the stability of the longitudinal movement of the grasping mechanism, and thus make the grasping of the grasping mechanism more precise.
  • Fig. 1 is a schematic diagram of the overall structure of the present invention
  • FIG. 2 is a schematic diagram of the structure of point A in FIG. 1 .
  • the present invention is a gantry conveying device, including a control board, two parallel and heavy solid support bodies 10 arranged along the longitudinal direction, and a crossbeam 11 arranged along the transverse direction and spanning over the two support bodies 10, the crossbeam 11 is provided with a transverse guide rail 12, a gripping mechanism 13 and a transverse linear motor 14, each support body 10 is provided with a longitudinal guide rail 15 and a longitudinal linear motor 16, the control board is electrically connected to the transverse linear motor 14 and the longitudinal linear motor 16, the transverse linear motor 14 is controlled to drive the gripping mechanism 13 to move along the transverse guide rail 12, so that the gripping mechanism 13 has a transverse degree of freedom, and the two longitudinal linear motors 16 are controlled to synchronously drive the two ends of the crossbeam 11 to move along the corresponding longitudinal guide rails 15, so that the gripping mechanism 13 has a longitudinal degree of freedom.
  • the support body 10 can be made of marble, steel, iron, concrete casting, etc., so that it has sufficient weight to offset the reaction force acting on the support body 10 when the longitudinal guide rail 15 drives the cross beam 11 to move, effectively avoiding the vibration of the support body 10 and ensuring the stability of the grasping mechanism 13 during longitudinal movement.
  • a fixing platform 17 is provided below the support body 10, and the two support bodies 10 are fixed on the upper surface of the fixing platform 17.
  • the fixing platform 17 is rectangular, so that the fixing platform 17 has a sufficient contact area with the ground, thereby improving the stability of the support body 10.
  • the fixing platform 17 can be made of marble, steel, iron, concrete casting, etc., to ensure that the fixing platform 17 has sufficient weight and strength.
  • the support body 10 and the fixing platform 17 are integrally formed.
  • the support body 10 is an inverted U-shaped frame structure, the upper surface of the support body 10 is a plane, and a U-shaped groove 101 is longitudinally opened in the middle of the upper surface of the support body 10 and passes through the two ends of the support body 10.
  • a mounting plate 18 fixed to the bottom of the beam 11 is arranged between the support body 10 and the beam 11.
  • Each longitudinal linear motor 16 includes two groups of stators 161 arranged longitudinally and a mover 162 arranged between the two groups of stators 161.
  • the two groups of stators 161 are relatively arranged on both sides of the U-shaped groove 101, and the mover 162 is fixed to the bottom of the mounting plate 18.
  • a U-shaped fixing frame 102 is fixedly provided in the U-shaped groove 101, and two groups of stators 161 are respectively fixed on the two inner side walls of the fixing frame 102, each group of stators 161 is composed of a plurality of coils spaced apart in the longitudinal direction, and the mover 162 is composed of an I-shaped permanent magnet, and the head of the mover 162 is embedded in the limiting groove at the bottom of the mounting plate 18, and the tail of the mover 162 extends to the bottom of the stator 161 so that the stator 161 is partially located between the head of the mover 162 and the tail of the mover 162.
  • Two longitudinal guide rails 15 are arranged on each support body 10, and the two longitudinal guide rails 15 are respectively located on both sides of the U-shaped groove 101.
  • the bottom of each mounting plate 18 is located on both sides of the mover 162 and longitudinal sliders 19 cooperating with the two longitudinal guide rails 15 are arranged.
  • the longitudinal linear motor 16 synchronously drives the crossbeam 11 to move, the longitudinal slider 19 slides along the longitudinal guide rails 15.
  • Stoppers 20 are arranged at both ends of each support body 10 to prevent the longitudinal sliding block 19 from being separated from the longitudinal guide rail 15. Further, a buffer rubber head 201 is arranged inside each stopper 20 to prevent the mounting plate 18 from colliding with the stopper 20.
  • a longitudinal grating ruler 21 is respectively arranged between the two ends of the beam 11 and the two support bodies 10.
  • the grating reading head of the longitudinal grating ruler 21 is fixed on the outside of the mounting plate 18 and partially extends to the outside of the support body 10.
  • the scale grating (not shown) of the longitudinal grating ruler 21 is longitudinally arranged on the outer wall of the support body 10.
  • the control board is electrically connected to the grating reading head of the longitudinal grating ruler 21. The control board accurately controls the two longitudinal linear motors 16 through the longitudinal displacement data read by the two grating reading heads to drive the two ends of the beam 11 to synchronously displace.
  • the grabbing mechanism 13 is slidably connected to the cross beam 11 by being fixed on a connecting plate 22.
  • the connecting plate 22 is generally L-shaped.
  • the cross beam 11 has mutually perpendicular side surfaces and upper surfaces.
  • the stator of the transverse linear motor 14 is laterally fixed to the middle of the side surface of the cross beam 11.
  • the mover of the transverse linear motor 14 is fixed on the connecting plate 22 and is arranged opposite to the stator of the transverse linear motor 14.
  • Four transverse guide rails 12 are provided and are respectively located on the side edges of the side surface and upper surface of the cross beam 11.
  • Four transverse sliders 23 that respectively cooperate with the four transverse guide rails 12 are provided on the connecting plate 22.
  • the connecting plate 22 and the cross beam 11 are slidably connected through the transverse guide rails 12 and the transverse sliders 23.
  • a transverse grating ruler 24 is arranged between the connecting plate 22 and the beam 11, and the control board is electrically connected to the grating reading head of the transverse grating ruler 24, so that the control board can accurately control the lateral displacement of the grasping mechanism 13 through the lateral displacement data read by the grating reading head of the transverse grating ruler 24.
  • the scale grating of the transverse grating ruler 24 is arranged on the upper surface of the beam 11.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Linear Motors (AREA)

Abstract

一种龙门架输送装置，包括沿纵向设置的两个相互平行且笨重实心的支撑体（10）以及沿横向设置且横跨在两个支撑体上方的横梁（11），横梁上设置有横向导轨（12）、抓取机构（13）以及驱动抓取机构沿横向导轨滑动的横移直线电机（14），每个支撑体上均设置有纵向导轨（15）和纵移直线电机（16），控制板与两个纵移直线电机电连接控制两个纵移直线电机同步驱动横梁两端沿对应的纵向导轨移动，使支撑体通过自身的重量消除纵移直线电机工作时产生的反作用力对支撑体的影响，避免支撑体在反作用力下振动，提高抓取机构纵向移动的稳定性，进而使抓取机构抓取更精准。

Description

一种龙门架输送装置 技术领域
本发明涉及输送装置技术领域，具体涉及一种龙门架输送装置。
背景技术
目前，龙门架输送装置被广泛应用于工业组装加工领域，龙门架输送装置的横梁横跨设置在两个支撑体上，横梁在直线电机的带动相对支撑体沿纵向滑动，进而为位于横梁上的抓取结构提供纵向上的自由度。
然而，当横梁在支撑体上高速移动时，如移动速度超过10m/s,直线电机的反作用力对导致横梁在高速移动时带动支撑体振动，从而使横梁跟随这支撑体振动，导致抓取结构在沿纵向移动的过程中发生偏差，影响抓取机构抓取物件的精准度。
发明内容
本发明的目的在于提供一种龙门架输送装置，解决现有技术中直线电机在驱动X轴横梁在支撑体上高速移动时容易带动支撑体振动，从而使支撑体带动X轴横梁振动，影响抓取结构抓取精度的问题。
本发明的目的可以通过以下技术方案实现：
一种龙门架输送装置，包括沿纵向设置的两个相互平行且笨重实心的支撑体以及沿横向设置且横跨在两个所述支撑体上方的横梁，所述横梁上设置有横向导轨、抓取机构以及驱动所述抓取机构沿所述横向导轨滑动的横移直线电机，每个所述支撑体上均设置有纵向导轨和纵移直线电机，控制板与两个所述纵移直线电机电连接控制两个所述纵移直线电机同步驱动所述横梁两端沿对应的所述纵向导轨移动。
作为本发明进一步的方案：两个所述支撑体下方设置有笨重实心的固定台，两个所述支撑体被固定在所述固定台的上表面上。
作为本发明进一步的方案：所述固定台采用大理石制作。
作为本发明进一步的方案：所述固定台呈矩形。
作为本发明进一步的方案：所述支撑体与所述固定台一体成型。
作为本发明进一步的方案：所述支撑体采用大理石制作。
作为本发明进一步的方案：所述支撑体上表面中部沿纵向开设有U形槽，所述支撑体和所述横梁之间设置有固定在横梁上的安装板，每个所述纵移直线电机包括沿纵向设置的两组定子以及设置在两组所述定子之间的一动子，两组所述定子相对设置在所述U形槽内部两侧，一所述动子固定在所述安装板底部。
作为本发明进一步的方案：每个所述支撑体的上表面上均设置有两条位于所述U形槽两侧的所述纵向导轨，每个所述安装板底部设置有分别与两条纵向导轨配合的两个纵移滑块。
作为本发明进一步的方案：所述支撑体顶部两端分别设置有相对的挡块，所述挡块的内侧设置有缓冲橡胶头。
作为本发明进一步的方案：所述横梁两端与两所述支撑体之间分别设置有一纵向光栅尺，所述纵向光栅尺的光栅读数头与所述控制板电连接。
本发明的有益效果：本申请通过设置笨重实心的支撑体，使支撑体通过自身的重量消除纵移直线电机工作时产生的反作用力对自身的影响，避免支撑体在反作用力下振动，提高抓取机构纵向移动的稳定性，进而使抓取机构抓取更精准。
附图说明
下面结合附图对本发明作进一步的说明。
图1是本发明整体结构示意图；
图2是图1中A处的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而 不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
请参阅图1-2所示，本发明为一种龙门架输送装置，包括控制板、沿纵向设置的两个相互平行且笨重实心的支撑体10以及沿横向设置且横跨在两个支撑体10上方的横梁11,横梁11上设置有横向导轨12、抓取机构13和横移直线电机14,每个支撑体10上均设置有纵向导轨15和纵移直线电机16,控制板与横移直线电机14和纵移直线电机16均电连接，控制横移直线电机14驱动抓取机构13沿横向导轨12移动，使抓取机构13具有横向上的自由度，控制两个纵移直线电机16同步驱动横梁11两端沿对应的纵向导轨15移动，使抓取机构13具有纵向上的自由度。
支撑体10可采用大理石、钢、铁、混凝土浇筑等制作而成，使自身具有足够的重量，可抵消纵向导轨15驱动横梁11移动时作用在支撑体10上的反作用力，有效避免支撑体10的振动，保证抓取机构13在纵向移动时的稳定性。
支撑体10的下方设置有固定台17,两支撑体10固定在固定台17上表面上，固定台17呈矩形，使固定台17与地面具有足够的接触面积，提高支撑体10的稳定性，固定台17可选择大理石、钢、铁、混凝土浇筑等制作而成，保证固定台17具有足够的重量和足够的强度，优选的，支撑体10与固定台17一体成型。
本实施例中，支撑体10呈倒U形的架体结构，支撑体10的上表面为平面，支撑体10上表面的中部沿纵向开设有贯穿支撑体10两端的U形槽101,支撑体10和横梁11之间设置有固定在横梁11底部的安装板18,每个纵移直线电机16包括沿纵向设置的两组定子161以及设置在两组定子161之间的一动子162,两组定子161相对设置在U形槽101内部两侧，动子162固定在安装板18底部。具体的，U形槽101内固定设置有U形的固定框102,两组定子161分别固定在固定框102的两内侧壁上，每组定子161有沿纵向上间隔设置的若干线圈构成，动子162由呈工字型的永磁铁构成，动子162的头部嵌入在安装板18底部的限位槽中，动子162的尾部延伸至定子161的下方使定子161部分位于动子162的头部和动子162的尾部之间。
每个支撑体10上均设置有两条纵向导轨15,两条纵向导轨15分别位于U形槽101两侧，每块安装板18的底部位于动子162的两侧设置有与两条纵向导轨15配合的纵移滑块19,纵移直线电机16同步驱动横梁11移动时，纵移滑块19沿纵向导轨15滑动。
每个支撑体10的两端分别相对设置有挡块20,防止纵移滑块19脱离纵向导轨15。进一步的，每个挡块20内侧设置有缓冲橡胶头201,避免安装板18与挡块20硬碰。
横梁11两端与两支撑体10之间分别设置有一纵向光栅尺21,纵向光栅尺21的光栅读数头固定在安装板18的外侧且部分延伸至支撑体10外侧的，纵向光栅尺21的标尺光栅(未图示)沿纵向设置在支撑体10外侧壁上，控制板与纵向光栅尺21的光栅读数头电连接，控制板通过两光栅读数头读取的纵向位移数据精准控制两纵移直线电机16带动横梁11两端同步位移。
抓取机构13通过固定在连接板22上与横梁11滑动连接，连接板22大体呈L状，横梁11具有相互垂直的侧面和上表面，横移直线电机14的定子沿横向固定在横梁11的侧面中部，横移直线电机14的动子固定在连接板22上与横移直线电机14的定子相对设置，横向导轨12设置有四条且分别位于横梁11侧面和上表面的侧边缘，连接板22上设置有与四条横向导轨12分别配合的四个横移滑块23,连接板22与横梁11之间通过横向导轨12和横移滑块23进行滑动连接。
连接板22与横梁11之间设置有一横向光栅尺24,控制板与横向光栅尺24的光栅读数头电连接，使控制板可通过横向光栅尺24的光栅读数头读取的横向位移数据精准控制抓取机构13沿横向上的位移，本实施例中，横向光栅尺24的标尺光栅设置在横梁11上表面上。
以上对本发明的一个实施例进行了详细说明，但所述内容仅为本发明的较佳实施例，不能被认为用于限定本发明的实施范围。凡依本发明申请范围所作的均等变化与改进等，均应仍归属于本发明的专利涵盖范围之内。

Claims (10)

  1. 一种龙门架输送装置，其特征在于，包括沿纵向设置的两个相互平行且笨重实心的支撑体以及沿横向设置且横跨在两个所述支撑体上方的横梁，所述横梁上设置有横向导轨、抓取机构以及驱动所述抓取机构沿所述横向导轨滑动的横移直线电机，每个所述支撑体上均设置有纵向导轨和纵移直线电机，控制板与两个所述纵移直线电机电连接控制两个所述纵移直线电机同步驱动所述横梁两端沿对应的所述纵向导轨移动。
  2. 根据权利要求1所述的龙门架输送装置，其特征在于，两个所述支撑体下方设置有笨重实心的固定台，两个所述支撑体被固定在所述固定台的上表面。
  3. 根据权利要求2所述的龙门架输送装置，其特征在于，所述固定台采用大理石、钢、铁、混凝土浇筑等制作。
  4. 根据权利要求2所述的龙门架输送装置，其特征在于，所述固定台呈矩形。
  5. 根据权利要求2所述的龙门架输送装置，其特征在于，所述支撑体与所述固定台一体成型。
  6. 根据权利要求1所述的龙门架输送装置，其特征在于，所述支撑体采用大理石、钢、铁、混凝土浇筑等制作。
  7. 根据权利要求1所述的龙门架输送装置，其特征在于，所述支撑体上表面中部沿纵向开设有U形槽，所述支撑体和所述横梁之间设置有固定在横梁上的安装板，每个所述纵移直线电机包括沿纵向设置的两组定子以及设置在两组所述定子之间的一动子，两组所述定子相对设置在所述U形槽内部两侧，一所述动子固定在所述安装板底部。
  8. 根据权利要求7所述的龙门架输送装置，其特征在于，每个所述支撑体的上表面上均设置有两条位于所述U形槽两侧的所述纵向导轨，每个所述安装板底部设置有分别与两条纵向导轨配合的两个纵移滑块。
  9. 根据权利要求1所述的龙门架输送装置，其特征在于，所述支撑体顶部两端分别设置有相对的挡块，所述挡块的内侧设置有缓冲橡胶头。
  10. 根据权利要求1所述的龙门架输送装置，其特征在于，所述横梁两 端与两所述支撑体之间分别设置有一纵向光栅尺，所述纵向光栅尺的光栅读数头与所述控制板电连接。
PCT/CN2023/122006 2022-11-03 2023-09-27 一种龙门架输送装置 WO2024093594A1 (zh)

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