Floating flexible gantry

Abstract

The embodiment of the present invention discloses a floating flexible gantry, including a beam shaft, an active side slide, a driven side slide and a floating flexible mechanism, one end of the beam shaft is connected to the active side slide, the driven side slide is provided with a support pin for supporting the other end of the beam shaft, the floating flexible mechanism includes a connector A and a connector B, the connector A and the connector B are respectively connected to the beam shaft and the driven side slide or respectively connected to the driven side slide and the beam shaft, a semi-cylinder is vertically arranged on the connector B, a limiting groove corresponding to the semi-cylinder is vertically arranged on the connector A, the semi-cylinder is correspondingly arranged in the limiting groove, and the two side surfaces of the semi-cylinder corresponding to the limiting groove on both sides are arc surfaces. The structure of the present invention is simple and reliable, and can effectively improve the precision index of the dual-drive gantry platform under high speed and high acceleration. Compared with other flexible gantry structures, the present invention has the characteristics of simple structure and compactness.

Description

Technical Field

[0001] The invention relates to the field of automation equipment, and in particular to a floating flexible gantry. Background Art

[0002] Automation equipment (such as plug-in, dispensing, and plate placement) usually uses a linear motor dual-drive gantry structure to achieve XY direction linkage, thereby achieving reciprocating motion at a specified position. During this process, the linear motor dual-drive gantry platform XY direction needs to ensure the position accuracy of the motion and improve product production capacity for a long time.

[0003] Most of the current linear motor dual-drive gantry platforms (consisting of a platform base, a beam axis, and two left and right drive shafts) are rigid gantry platforms, that is, the beam axis and the drive shaft are directly locked with rigid parts through screws. To ensure product efficiency, the dual-drive gantry platform must maintain a high acceleration and speed; in order to maintain smooth operation, the rigid gantry platform's horizontal axis and drive shaft, and between the drive shafts, must maintain strict verticality and parallelism, which increases the difficulty of assembly.

[0004] High acceleration and high speed will cause the temperature of the gantry platform's moving axis to rise, and the beam axis will elongate due to heat. At the same time, the high acceleration of the beam axis will impact the drive shaft, but the two ends of the beam axis are fixed by rigid parts of the drive shaft and cannot elongate, which causes the beam axis to deform in other directions, such as twisting. At the same time, the thermal stress and impact force of the beam axis act on the drive shaft, which in turn causes the loss of position accuracy of the beam axis. The driving shaft's running resistance increases due to thermal stress, and the impact causes the shaft to deform and lose accuracy. At the same time, the motor current rises sharply, causing a current alarm and the drive shaft to stop running.

[0005] There are also some flexible gantry structures in the market. They are mainly manufactured by adding a transverse guide structure and a rotating shaft structure between the crossbeam axis and one of the drive shafts. The two structures are superimposed on each other to offset the deformation of the crossbeam and the impact on the drive shaft. Summary of the invention

[0006] The technical problem to be solved by the embodiments of the present invention is to provide a floating flexible gantry to solve the problem that the existing high-speed rigid gantry is easy to be twisted and deformed and has poor precision and durability.

[0007] In order to solve the above technical problems, an embodiment of the present invention proposes a floating flexible gantry, including a beam axis, an active side slide, a driven side slide and a floating flexible mechanism, one end of the beam axis is connected to the active side slide, the driven side slide is provided with a support pin for supporting the other end of the beam axis, the floating flexible mechanism includes a connector A and a connector B, the connector A and the connector B are respectively connected to the beam axis and the driven side slide or respectively connected to the driven side slide and the beam axis, a semi-cylinder is vertically provided on the connector B, a limit groove corresponding to the semi-cylinder is vertically provided on the connector A, the semi-cylinder is correspondingly arranged in the limit groove, and the two side surfaces of the semi-cylinder corresponding to the limit groove on both sides are arc surfaces.

[0008] Furthermore, the maximum width of the two sides of the semi-cylinder is correspondingly less than or equal to the width of the limiting groove.

[0009] Furthermore, the semi-cylinder is spaced from the bottom of the limiting groove by a first preset distance.

[0010] Furthermore, the cross section of the semi-cylinder is waist-shaped or rounded rectangular.

[0011] Furthermore, two sides of the limiting groove are parallel.

[0012] Furthermore, the limiting groove is in the shape of an elongated strip.

[0013] Furthermore, two sides of the limiting groove are parallel to the movement direction of the beam axis.

[0014] Furthermore, the widest parts of both sides of the semi-cylinder are located in the limiting grooves.

[0015] Furthermore, a second preset distance is spaced between the end surface of the other end of the beam shaft and the driven side slide.

[0016] The beneficial effects of the present invention are as follows: the present invention can absorb the thermal stress caused by the temperature rise of the beam axis and the impact caused by high acceleration, and eliminate the running jam caused by the non-parallelism between the driving shafts in the longitudinal direction. The present invention absorbs the stress of the beam through the mobility and rotatability of the semi-cylinder. The present invention has a simple and reliable structure and can effectively improve the precision index of the dual-drive gantry platform under high speed and high acceleration. Compared with other flexible gantry structures, the present invention has the characteristics of simple and compact structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural diagram of a floating flexible gantry at one angle according to an embodiment of the present invention.

[0018] Figure 2 It is a three-dimensional structural diagram of the floating flexible gantry from another angle according to an embodiment of the present invention.

[0019] Figure 3 3D is a three-dimensional structural diagram of a connector A according to an embodiment of the present invention.

[0020] Figure 4 3D is a three-dimensional structural diagram of a connector B according to an embodiment of the present invention.

[0021] Figure 5 It is a three-dimensional structural diagram of the driven side slide and the floating flexible mechanism of an embodiment of the present invention.

[0022] Description of Figure Numbers

[0023] 10. Beam shaft, 20. Active side slide, 30. Driven side slide, 31. Support pin, 40. Floating flexible mechanism, 41. Connector A, 42. Connector B, 43. Limiting groove, 44. Semi-cylinder, 50. Driving shaft. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present invention is further described in detail below in conjunction with the drawings and specific embodiments.

[0025] In the embodiments of the present invention, if there are directional indications (such as up, down, left, right, front, back, etc.), they are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0026] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0027] Please refer to Figure 1 to Figure 5 The floating flexible gantry of the embodiment of the present invention includes a beam shaft 10, an active side slide 20, a driven side slide 30 and a floating flexible mechanism 40.

[0028] One end of the beam shaft 10 is connected to the active side slide 20. In a specific implementation, the beam shaft 10 and the active side slide 20 are directly locked by bolts. A support pin 31 for supporting the other end of the beam shaft 10 is provided on the driven side slide 30. Preferably, two support pins 31 are provided to support the other side of the beam shaft 10. When the floating flexible gantry of the present invention is used, the active side slide 20 and the driven side slide 30 are arranged on two drive shafts 50 (i.e., linear motors). Preferably, the top of the support pin 31 is hemispherical.

[0029] The floating flexible mechanism 40 is correspondingly arranged between the other end of the beam shaft 10 and the driven side slide 30. The floating flexible mechanism 40 includes a connector A41 and a connector B42. The connector A41 and the connector B42 respectively connect the beam shaft 10 and the driven side slide 30 or respectively connect the driven side slide 30 and the beam shaft 10, and there is floating contact between the connector A41 and the connector B42. That is, the connector A41 is arranged on the beam shaft 10 or the driven side slide 30, preferably on the beam shaft 10. In specific implementation, the connector A41 is fixed to the end face of the other end of the beam shaft 10 by bolts, and the connector B42 is fixed to the driven side slide 30 by bolts.

[0030] A semi-cylinder 44 is vertically arranged on the connector B42. A limiting groove 43 corresponding to the semi-cylinder 44 is vertically arranged on the connector A41. The semi-cylinder 44 is correspondingly arranged in the limiting groove 43. The two side surfaces of the semi-cylinder 44 corresponding to the limiting groove 43 on both sides (i.e., the front and rear side surfaces of the semi-cylinder 44) are arc surfaces. There is no rigid connection between the connector A41 and the connector B42. The arc surface design on both sides of the semi-cylinder 44 allows the beam shaft 10 to deflect forward and backward around the semi-cylinder 44, absorbs the thermal stress caused by the temperature rise of the beam shaft 10 and the impact caused by the high acceleration, eliminates the operation jam caused by the non-parallelism between the driving shafts 50 in the longitudinal direction, and absorbs the non-parallelism between part of the active side slide 20 and the driven side slide 30 and the asynchronous movement between the active side slide 20 and the driven side slide 30.

[0031] When the active side slide 20 and the driven side slide are not in a straight line after assembly due to parts processing problems, the floating flexible mechanism 40 of the present invention can also correct it.

[0032] When the beam shaft 10 elongates microscopically due to the temperature rise under high-speed state, and at the same time causes the beam shaft 10 to impact the drive shaft 50 under high acceleration state, in this case, the connector A41 and the connector B42 are not rigidly connected, and when the beam is heated and elongated, the connector A41 can undergo relative displacement.

[0033] As an implementation mode, the maximum width on both sides of the semi-cylinder 44 corresponds to a width less than or equal to that of the limiting groove 43 (in specific implementation, generally less than a few threads), thereby making it easier for the semi-cylinder 44 to be inserted into the limiting groove 43 and preventing interference between the connector A41 and the connector B42.

[0034] As an implementation manner, the semi-column 44 is spaced a first preset distance from the bottom of the limiting groove 43. In specific implementation, the value of the first preset distance is related to the maximum temperature of the beam shaft 10 during operation and the elongation of the beam shaft 10 at the maximum temperature, and the first preset distance is greater than the elongation of the beam shaft 10 at the maximum temperature.

[0035] As an implementation manner, the cross section of the semi-cylinder 44 is waist-shaped or rounded rectangular. Preferably, the front and rear surfaces of the semi-cylinder 44 are semi-cylindrical, and the left and right surfaces are flat.

[0036] As an implementation mode, the two sides of the limiting groove 43 are parallel. Preferably, the limiting groove 43 is in a long strip shape. Preferably, the two sides of the limiting groove 43 are parallel to the movement direction of the beam shaft 10.

[0037] As an implementation mode, the widest parts of the two sides of the semi-cylinder 44 are located in the limiting groove 43, so that the driven side slide 30 can better drive the beam shaft 10 and absorb the elongation of the beam shaft 10 after the temperature rises.

[0038] As an implementation method, a second preset distance is provided between the end surface of the other end of the beam shaft 10 and the driven side slide 30. In a specific implementation, the value of the second preset distance is related to the maximum temperature of the beam shaft 10 during operation and the elongation of the beam shaft 10 at the maximum temperature, and the second preset distance is greater than the elongation of the beam shaft 10 at the maximum temperature.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A floating flexible gantry, characterized in that: It includes a beam shaft, an active side slide, a driven side slide and a floating flexible mechanism. One end of the beam shaft is connected to the active side slide. The driven side slide is provided with a supporting pin for supporting the other end of the beam shaft. The floating flexible mechanism includes a connector A and a connector B. The connector A and the connector B are respectively connected to the beam shaft and the driven side slide or respectively connected to the driven side slide and the beam shaft. A semi-cylinder is vertically arranged on the connector B. A limiting groove corresponding to the semi-cylinder is vertically arranged on the connector A. The semi-cylinder is correspondingly arranged in the limiting groove. The two side surfaces of the semi-cylinder corresponding to the limiting groove on both sides are arc surfaces; the limiting groove is a long strip with parallel sides.

2. The floating flexible gantry according to claim 1, characterized in that: The maximum width of the two sides of the semi-cylinder is correspondingly less than or equal to the width of the limiting groove.

3. The floating flexible gantry according to claim 1, characterized in that: The semi-column is spaced from the bottom of the limiting groove by a first preset distance.

4. The floating flexible gantry according to claim 1, characterized in that: The cross section of the semi-cylinder is a waist-shaped or rounded rectangle.

5. The floating flexible gantry according to claim 1, characterized in that: Both sides of the limiting groove are parallel to the movement direction of the beam axis.

6. The floating flexible gantry according to claim 1, characterized in that: The widest parts of the two sides of the semi-cylinder are located in the limiting grooves.

7. The floating flexible gantry according to claim 1, characterized in that: The end surface of the other end of the beam shaft and the driven side slide table are spaced a second preset distance apart.

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