A multi-angle heavy object lifting gantry

Abstract

The present invention relates to a multi-angle heavy object lifting gantry, belonging to the technical field of lifting equipment. A multi-angle heavy object lifting gantry, the two ends of the X-axis beam are respectively connected to the sliding bracket through the first support plate and the second support plate, the first support plate is respectively provided with a slide groove and a limit hole along the axis thereof, a slide column and a limit hole are arranged on the center axis of the lower end face of one end of the X-axis beam, the slide column is vertically arranged in the slide groove and can slide in the slide groove, the limit hole and the limit hole coincide in the X-axis direction, and in the coincident state, a detachable fixing pin is arranged in the limit hole and the limit hole, a vertical rotation axis is arranged on the center axis of the lower end face of the other end of the X-axis beam, and the shaft body of the rotation axis is arranged in the rotation hole on the second support plate. The present invention can realize that the X-axis beam can rotate at a certain angle relative to the Y-axis beam, and a single or multiple robotic arms can be selected to suck the workpiece according to the workpiece situation.

Description

Technical Field

[0001] The invention belongs to the technical field of lifting equipment, and in particular relates to a multi-angle heavy object lifting gantry. Background Art

[0002] The gantry is a new type of lifting gantry developed based on the daily production needs of small and medium-sized factories and companies to transport equipment, warehouse goods in and out, lift and repair heavy equipment and transport materials. It is suitable for mold manufacturing, auto repair factories, mines, civil construction sites and other places where lifting is required. It is commonly used in construction to transport materials and move construction personnel up and down to achieve mechanization of lifting. It can reduce manpower, reduce production and operation costs, and improve work efficiency. However, the current gantry only provides a lifting function. For major components that need to rotate, the lifting and transporting function is too lacking.

[0003] Chinese patent No. 201610715508.9 discloses a gantry, which includes: a gantry body, an electric control box fixed on the gantry body, a Z-axis drive device fixed on the gantry body, and an X-axis drive device sliding on the Z-axis drive device, the Z-axis drive device moves along the Z-axis direction in the gantry body and drives the X-axis drive device to move in the Z-axis direction; the X-axis drive device includes a suction cup, the X-axis drive device moves in the X-axis direction, and drives the suction cup to absorb the workpiece. Although this patent solves the problem of transporting large devices, if the placement angle of the large device is inconsistent with the use angle, this device will directly transport the original wrong placement angle to the use position, but the angle at this time is not the correct use angle of the device. The device can only be used after the angle is corrected. This problem of adjusting the angle cannot be solved by this device, and this device can only absorb one device at a time, and the work efficiency is not high. Summary of the invention

[0004] In order to solve the problems raised in the above background technology, the present invention provides a multi-angle heavy object lifting gantry, which has the characteristics of multi-angle lifting of objects, two lifting rods can work independently, high carrying efficiency, simple and convenient operation.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-angle heavy object lifting gantry, including a gantry truss, a manipulator and a control system, the gantry truss includes an X-axis beam, an X-axis sliding assembly, a Y-axis beam, a Y-axis sliding assembly, a Z-axis slide and a Z-axis sliding assembly, two Y-axis beams are arranged in parallel at a certain distance, each of the two ends of the Y-axis beam is supported and fixed by supporting columns, and each Y-axis beam is correspondingly provided with the Y-axis sliding assembly; the Y-axis sliding assembly includes a sliding bracket, a Y-axis rack, a gear meshing with the Y-axis rack, a Y-axis servo motor driving the gear and a Y-axis guide pair, the sliding bracket is slidably installed on the Y-axis beam through the Y-axis guide pair, the Y-axis rack and the Y-axis guide of the Y-axis guide pair are both installed on the Y-axis beam along the Y-axis direction; the X-axis beam is mounted on On the two Y-axis crossbeams, the two ends of the X-axis crossbeam are respectively connected to the sliding brackets, the X-axis sliding assembly includes a slide, an X-axis rack, a gear meshing with the X-axis rack, an X-axis servo motor driving the gear, and an X-axis guide pair, the slide is slidably mounted on the X-axis crossbeam through the X-axis guide pair, and the guide rails of the X-axis rack and the X-axis guide pair are both mounted on the X-axis crossbeam along the X-axis direction; the Z-axis sliding assembly includes a Z-axis rack, a gear meshing with the Z-axis rack, a Z-axis servo motor driving the gear, and a Z-axis guide pair, the Z-axis ram is slidably mounted on the slide through the Z-axis guide pair, and the guide rails of the Z-axis rack and the Z-axis guide pair are both mounted on the Z-axis ram along the Z-axis direction; the manipulator includes a connecting seat fixedly mounted on the lower end of the Z-axis ram and a suction cup mounted on the connecting seat;

[0006] The two ends of the X-axis crossbeam are respectively fixedly connected to the sliding bracket by a first support plate and a second support plate horizontally fixed to the upper end surface of the sliding bracket, and the first support plate is respectively provided with a sliding groove and a limiting through hole along its axis, and a sliding column and a limiting hole are arranged on the center axis of the lower end surface of one end of the X-axis crossbeam, and the sliding column is vertically arranged in the sliding groove and can slide in the sliding groove, and the limiting hole and the limiting through hole coincide with each other in the X-axis direction, and in the coincident state, a detachable fixing pin is arranged in the limiting hole and the limiting through hole, and a vertical rotating shaft is arranged on the center axis of the lower end surface of the other end of the X-axis crossbeam, and the shaft body of the rotating shaft is arranged in the rotating through hole on the second support plate.

[0007] Preferably, an R-axis servo motor is provided on the connecting seat, and the R-axis servo motor can drive the suction cup to adjust the angle in the horizontal direction.

[0008] Preferably, the first support plate and the second support plate are both formed by a short plate and a long plate fixedly connected, and their cross-sections are L-shaped. The short plate and the long plate are fixedly connected to the top of the sliding bracket at their corners.

[0009] Preferably, an image recognition device is provided on the connecting socket.

[0010] Preferably, a plurality of robotic arms are provided on the X-axis crossbeam and include the Z-axis ram, the Z-axis sliding assembly, the robot arm, and the X-axis sliding assembly.

[0011] Preferably, a bearing is fixedly arranged in the rotating through hole, and the shaft body of the rotating shaft is clamped in the bearing for rotation.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] By providing a slide groove and a limiting through hole on the first support plate, providing a rotation through hole on the second support plate, and providing a slide column, a limiting hole and a rotation axis on the X-axis beam, the X-axis beam can be rotated at a certain angle relative to the Y-axis beam;

[0014] By arranging a plurality of mechanical arms including the Z-axis ram, the Z-axis sliding assembly, the manipulator, and the X-axis sliding assembly on the X-axis crossbeam, when carrying relatively small objects, the two mechanical arms work separately to carry them, thereby improving work efficiency; when encountering large objects, the two mechanical arms work synchronously;

[0015] By arranging an image recognition device and an R-axis servo motor on the connection seat, the workpiece can be image recognized. According to the size, shape and position of the workpiece recognized by the image recognition device, the suction cup angle and the selection of a single or multiple robotic arms can be adjusted by the R-axis servo motor according to the set program;

[0016] By fixing the bearing in the rotating through hole, the rotating shaft can rotate in the bearing more effectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the connection between the sliding bracket and the first support plate of the present invention;

[0019] Figure 3 It is a schematic diagram of the connection between the X-axis crossbeam of the present invention and the first support plate and the second support plate respectively;

[0020] Figure 4 It is a structural schematic diagram of the X-axis crossbeam of the present invention;

[0021] Figure 5It is a schematic structural diagram of the mechanical arm of the present invention.

[0022] In the figure: 1. supporting column, 2. Y-axis crossbeam, 3. X-axis crossbeam, 4. sliding seat, 5. Z-axis slide, 6. Y-axis servo motor, 7. Z-axis servo motor, 8. X-axis servo motor, 9. sliding bracket, 10. first supporting plate, 11. second supporting plate, 12. slide groove, 13. limiting through hole, 14. sliding column, 15. limiting hole, 16. fixing pin, 17. rotating shaft, 18. rotating through hole, 19. connecting seat, 20. suction cup, 21. R-axis servo motor, 22. image recognition device. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0025] Example

[0026] See also Figure 1-5, a multi-angle heavy object lifting gantry, including a gantry truss, a manipulator and a control system, the gantry truss includes an X-axis beam 3, an X-axis sliding assembly, a Y-axis beam 2, a Y-axis sliding assembly, a Z-axis ram 5 and a Z-axis sliding assembly, the Y-axis beam 2 is arranged in parallel with two Y-axis beams 2 at a certain distance, each of the two ends of the Y-axis beam 2 is supported and fixed by a supporting column 1, and each of the Y-axis beams 2 is correspondingly provided with the Y-axis sliding assembly; the Y-axis sliding assembly includes a sliding bracket 9, a Y-axis rack, a gear meshing with the Y-axis rack, a Y-axis servo motor 6 driving the gear and a Y-axis guide pair, the sliding bracket 9 is slidably installed on the Y-axis beam 2 through the Y-axis guide pair, the Y-axis rack and the Y-axis guide of the Y-axis guide pair are both installed on the Y-axis beam 2 along the Y-axis direction; the X-axis beam 3 is mounted on the two Y-axis beams 2, and the two ends of the X-axis beam are respectively connected The sliding bracket 9, the X-axis sliding assembly includes a slide 4, an X-axis rack, a gear meshing with the X-axis rack, an X-axis servo motor 8 driving the gear, and an X-axis guide pair, the slide 4 is slidably mounted on the X-axis beam 3 through the X-axis guide pair, and the X-axis rack and the guide rails of the X-axis guide pair are both mounted on the X-axis beam 3 along the X-axis direction; the Z-axis sliding assembly includes a Z-axis rack, a gear meshing with the Z-axis rack, a Z-axis servo motor 7 driving the gear, and a Z-axis guide pair, the Z-axis ram 5 is slidably mounted on the slide 4 through the Z-axis guide pair, and the Z-axis rack and the guide rails of the Z-axis guide pair are both mounted on the Z-axis ram 5 along the Z-axis direction; the manipulator includes a connecting seat 19 fixedly mounted at the lower end of the Z-axis ram 5 and a suction cup 20 mounted on the connecting seat 19; the above technical scheme can realize translational movement in the X, Y, and Z axis directions.

[0027] The two ends of the X-axis cross beam 3 are respectively connected to the sliding bracket 9 by a first support plate 10 and a second support plate 11 horizontally welded to the upper end surface of the sliding bracket 9, and the first support plate 10 is respectively provided with a slide groove 12 and a limit hole 13 along its axis. A vertical downward slide column 14 and a vertical limit hole 15 are welded on the center axis of the lower end surface of one end of the X-axis cross beam 3. The slide column 14 is vertically arranged in the slide groove 12 and can slide in the slide groove 12. The limiting hole 15 overlaps with the limiting through hole 13 in the X-axis direction, and in the overlapping state, a detachable fixing pin 16 is arranged in the limiting hole 15 and the limiting through hole 13, and the fixing method of the fixing pin can select the existing technology according to the actual working conditions, such as fixing by thread, buckle, pin shaft, etc.; a vertical rotation shaft 17 is welded on the central axis of the lower end surface of the other end of the X-axis cross beam 3, and the shaft body of the rotation shaft 17 is arranged in the rotation through hole 18 on the second support plate 11. When the fixing pin 16 fixes the X-axis cross beam 3 and the first support plate 10, the X-axis cross beam 3 cannot rotate, and the X-axis cross beam 3 will reciprocate through the Y-axis servo motor 6. After the fixing pin 16 is removed, the X-axis beam 3 can rotate relative to the Y-axis beam 2. There are two rotation modes during the rotation of the X-axis beam 3. One is that the Y-axis servo motor 6 on the sliding bracket 9 connected to the second support plate 11 does not work, and the Y-axis servo motor 6 on the sliding bracket 9 connected to the first support plate 10 moves on the Y-axis beam 2, driving the slide column 14 to slide in the slide groove 12, so that the X-axis beam 3 rotates with the rotation axis 17 as the axis; the other is that the Y-axis servo motors 6 on the sliding brackets 9 respectively connected to the first support plate 10 and the second support plate 11 both work and rotate in opposite directions, so that the X-axis beam 3 rotates with the midpoint of the X-axis beam 3 as the axis. Both rotation modes require the control system to be pre-programmed. The second rotation mode is easier to set the control system because the rotation axis is at the midpoint of the X-axis beam 3, so it can be given priority.

[0028] An R-axis servo motor 21 is fixed on the connection seat 19, and the R-axis servo motor 21 can drive the suction cup 20 to adjust the angle in the horizontal direction. The R-axis servo motor 21 can realize the horizontal rotation of the suction cup 20 through existing transmission shafts, reduction boxes and other mechanisms to adapt to the suction angles required for different workpiece shapes.

[0029] The first support plate 10 and the second support plate 11 are both formed by a short plate and a long plate fixedly connected, and their cross-sections are L-shaped, and the corners of the short plate and the long plate are fixedly connected to the top of the sliding bracket 9. By providing the L-shaped support plate, the stability of the support plate on the sliding bracket 9 can be improved.

[0030] An image recognition device 22 is fixed on the connecting seat 19, and a plurality of mechanical arms are arranged on the X-axis beam 3 and include the Z-axis ram 5, the Z-axis sliding assembly, the manipulator, and the X-axis sliding assembly. The image recognition device 22 can apply existing image recognition technology to perform image recognition on the size, shape, and position of the workpiece. When the workpiece is within the image recognition area, a single mechanical arm can be selected for suction. When the workpiece is large and irregular in shape, multiple mechanical arms can be selected for suction.

[0031] A bearing is fixedly arranged in the rotating through hole 18, and the shaft body of the rotating shaft 17 is clamped in the bearing for rotation, which can reduce the friction force of the rotating shaft 17 when rotating in the rotating through hole 18, increase the service life of the rotating shaft and make the rotation more stable.

[0032] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention, and any figure marks in the claims should not be regarded as limiting the claims involved.

[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A multi-angle heavy object lifting gantry, comprising a gantry truss, a manipulator and a control system, wherein the gantry truss comprises an X-axis crossbeam (3), an X-axis sliding assembly, a Y-axis crossbeam (2), a Y-axis sliding assembly, a Z-axis ram (5) and a Z-axis sliding assembly, wherein two Y-axis crossbeams (2) are arranged in parallel at a certain distance, and each of the two ends of the Y-axis crossbeam (2) is supported and fixed by a supporting column (1), and each of the Y-axis crossbeams (2) is correspondingly provided with the Y-axis sliding assembly. The Y-axis sliding assembly comprises a sliding bracket (9), a Y-axis rack, a gear meshing with the Y-axis rack, a Y-axis servo motor (6) driving the gear, and a Y-axis guide pair, wherein the sliding bracket (9) is slidably mounted on the Y-axis crossbeam (2) through the Y-axis guide pair, and the Y-axis rack and the Y-axis guide of the Y-axis guide pair are both mounted on the Y-axis crossbeam (2) along the Y-axis direction; the X-axis crossbeam (3) is mounted on the two Y-axis crossbeams (2), The two ends of the X-axis crossbeam are respectively connected to the sliding bracket (9), the X-axis sliding assembly comprises a slide seat (4), an X-axis rack, a gear meshing with the X-axis rack, an X-axis servo motor (8) driving the gear, and an X-axis guide pair, the slide seat (4) is slidably mounted on the X-axis crossbeam (3) through the X-axis guide pair, and the X-axis rack and the guide rail of the X-axis guide pair are both mounted on the X-axis crossbeam (3) along the X-axis direction; the Z-axis sliding assembly comprises a Z-axis A rack, a gear meshing with the Z-axis rack, a Z-axis servo motor (7) driving the gear, and a Z-axis guide pair, the Z-axis ram (5) being slidably mounted on the slide seat (4) through the Z-axis guide pair, the Z-axis rack and the guide rail of the Z-axis guide pair being both mounted on the Z-axis ram (5) along the Z-axis direction; the manipulator comprises a connecting seat (19) fixedly mounted on the lower end of the Z-axis ram (5) and a suction cup (20) mounted on the connecting seat (19); Features: The two ends of the X-axis cross beam (3) are connected to the sliding bracket (9) through a first support plate (10) and a second support plate (11) horizontally fixed to the upper end surface of the sliding bracket (9), respectively; the first support plate (10) is provided with a slide groove (12) and a limit hole (13) along its central axis, and a slide column (14) and a limit hole (15) are provided on the central axis of the lower end surface of one end of the X-axis cross beam (3); the slide column (14) is vertically arranged in the slide groove (12). The slide groove (12) can slide in the slide groove (12), the limiting hole (15) and the limiting through hole (13) overlap in the X-axis direction, and in the overlapping state, a detachable fixing pin (16) is arranged in the limiting hole (15) and the limiting through hole (13), and a vertical rotation axis (17) is arranged on the central axis of the lower end surface of the other end of the X-axis cross beam (3), and the shaft body of the rotation axis (17) is arranged in the rotation through hole (18) on the second support plate (11).

2. According to claim 1, a multi-angle heavy object lifting gantry is characterized in that: An R-axis servo motor (21) is arranged on the connecting seat (19), and the R-axis servo motor (21) can drive the suction cup (20) to adjust the angle in the horizontal direction.

3. The multi-angle heavy object lifting gantry according to claim 1, characterized in that: The first support plate (10) and the second support plate (11) are both formed by fixedly connecting a short plate and a long plate, and their cross-sections are L-shaped. The corners of the short plate and the long plate are fixedly connected to the top of the sliding bracket (9).

4. The multi-angle heavy object lifting gantry according to claim 1, characterized in that: An image recognition device (22) is provided on the connection seat (19).

5. The multi-angle heavy object lifting gantry according to claim 1, characterized in that: A plurality of mechanical arms are arranged on the X-axis crossbeam (3) and include the Z-axis ram (5), the Z-axis sliding assembly, a mechanical arm, and the X-axis sliding assembly.

6. The multi-angle heavy object lifting gantry according to claim 1, characterized in that: A bearing is fixedly arranged in the rotating through hole (18), and the shaft body of the rotating shaft (17) is clamped in the bearing for rotation.

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