Three-axis gantry robot

Abstract

The utility model relates to the field of welding robots, and discloses a three-axis gantry robot which comprises lifting mechanisms, the lifting mechanisms are installed on the left side and the right side of a moving mechanism, a rotating mechanism is installed on the lower portion of the moving mechanism, and the moving mechanism comprises a cross beam, a hub motor and a connecting block. The middle of the connecting block is rotationally connected to the front side and the rear side of the hub motor, and the upper end of the rotating mechanism is installed on the lower portion of the hub motor. According to the three-axis gantry robot, the first gear motor is driven to enable the chain wheel connected with the first gear motor to rotate, the other chain wheel enables the chain to drive the moving mechanism to move up and down, workpieces of various heights can be machined conveniently, various requirements can be met, when the moving mechanism moves upwards, the clamping blocks are extruded by teeth of the racks, and the clamping blocks are clamped by the clamping blocks. And when the clamping block crosses the teeth of the rack, the spring enables the clamping block to reset, so that the teeth of the rack clamp the clamping block, the situation that the moving mechanism falls due to accidents is prevented, and using is very safe.

Description

Technical Field

[0001] The utility model relates to the field of welding robots, in particular to a three-axis gantry robot. Background Art

[0002] Welding robots are industrial robots that perform welding, including cutting and spraying. They are mainly used in several major industries, such as automobile trailer manufacturing, engineering machinery processing, and spare parts manufacturing. They have a wide range of uses, but the gantry welding robots currently in use have certain shortcomings: for welding workpieces of different heights, the height adjustment range of the welding robot is limited, resulting in a large limitation on the scope of application. Utility Model Content

[0003] The main purpose of the utility model is to provide a three-axis gantry robot, which can effectively solve the problems in the background technology.

[0004] To achieve the above object, the technical solution adopted by the utility model is: a three-axis gantry robot, including a lifting mechanism, the lifting mechanism is installed on the left and right sides of a moving mechanism, and a rotating mechanism is installed at the lower part of the moving mechanism;

[0005] The moving mechanism comprises a crossbeam, a hub motor and a connecting block, wherein the middle portion of the connecting block is rotatably connected to the front and rear sides of the hub motor, the outer periphery of the connecting block is arranged inside the crossbeam, and the upper end of the rotating mechanism is installed at the lower part of the hub motor.

[0006] Preferably, universal wheels are provided on the front and rear sides of the lower part of the lifting mechanism.

[0007] Preferably, the rotating mechanism includes a connecting seat, a connecting rod 1, a connecting rod 2, a connecting head, a reduction motor 2 and a reduction motor 3. The upper part of the connecting seat is rotatably connected to the lower end of the hub motor, one end of the connecting rod 1 is rotatably connected to the lower part of the connecting seat, the other end of the connecting rod 1 is rotatably connected to one end of the connecting rod 2, the connecting head is installed at the other end of the connecting rod 2, the reduction motor 2 is installed at the lower part of the connecting seat, the output end of the reduction motor 2 passes through the connecting seat and is fixedly connected to one end of the connecting rod 1, the reduction motor 3 is installed at one end of the connecting head, the output end of the reduction motor 3 passes through the connecting rod 2 and is fixedly connected to the other end of the connecting rod 1, a servo motor is installed inside the connecting seat, and the servo motor is fixedly connected to the lower end of the hub motor.

[0008] Preferably, the lifting mechanism includes a column, two upper and lower sprockets, a chain, a reduction motor, a bottom beam, an anti-fall mechanism and multiple rollers, the middle part of the sprocket is rotatably connected to the upper and lower sides of the column, the two ends of the chain are meshed and connected to the outer periphery of the sprocket, the middle part of the chain is fixedly connected to the left and right sides of the moving mechanism, the reduction motor is installed at the lower part of the column, the output end of the reduction motor passes through the column and is fixedly connected to the middle part of the lower sprocket, the lower end of the column is fixedly connected to the middle part of the upper side of the bottom beam, the middle part of the roller is rotatably connected to the front and rear sides of the left and right ends of the moving mechanism, and the anti-fall mechanism is installed on the left and right sides of the moving mechanism.

[0009] Preferably, the anti-fall mechanism includes a block, a cavity, a limit plate, a spring and a rack, the cavity is opened at the left and right ends of the beam, one side of the limit plate is fixedly connected to one end of the block, the outer periphery of the block is slidably connected to the left and right ends of the beam, one side of the spring is arranged on the side of the limit plate away from the block, the spring is arranged inside the cavity, and one side of the rack is fixedly connected to the inner wall of the column.

[0010] Preferably, an electromagnet is provided on the inner wall of the cavity on the side close to the rotating mechanism, and an iron block is provided on the side of the limiting plate away from the clamping block.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] 1. Drive the reduction motor to rotate the sprocket connected to it, and the chain drives the moving mechanism to move up and down through another sprocket, which is convenient for processing workpieces of various heights and can meet various needs. When the moving mechanism moves up, the block is squeezed by the teeth of the rack, so that the block is retracted into the cavity. When the block passes over the teeth of the rack, the spring will reset the block so that the teeth of the rack can clamp the block to prevent the moving mechanism from falling due to accidents. When the beam needs to be lowered, the electromagnet is energized to make it absorb the iron block, so that the block is retracted into the cavity, which is very safe to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a three-dimensional structural schematic diagram of a three-axis gantry robot of the utility model;

[0014] Figure 2 This is a schematic diagram of the rotating mechanism structure of a three-axis gantry robot of the utility model;

[0015] Figure 3 This is a schematic diagram of the lifting mechanism structure of a three-axis gantry robot of the utility model;

[0016] Figure 4 The utility model is a schematic diagram of the rack structure of a three-axis gantry robot.

[0017] In the figure: 1. lifting mechanism; 101. column; 102. sprocket; 103. chain; 104. reduction motor 1; 105. bottom beam; 106. anti-fall mechanism; 1061. block; 1062. cavity; 1063. limit plate; 1064. spring; 1065. electromagnet; 1066. iron block; 1067. rack; 107. roller; 2. moving mechanism; 201. crossbeam; 202. hub motor; 203. connecting block; 3. rotating mechanism; 301. connecting seat; 302. connecting rod 1; 303. connecting rod 2; 304. connector; 305. reduction motor 2; 306. reduction motor 3; 4. universal wheel. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0019] like Figure 1-4 As shown, a three-axis gantry robot includes a lifting mechanism 1, which is installed on the left and right sides of a moving mechanism 2, and a rotating mechanism 3 is installed at the lower part of the moving mechanism 2.

[0020] In this embodiment, the moving mechanism 2 includes a crossbeam 201, a hub motor 202 and a connecting block 203. The middle part of the connecting block 203 is rotatably connected to the front and rear sides of the hub motor 202. The outer periphery of the connecting block 203 is arranged inside the crossbeam 201. The upper end of the rotating mechanism 3 is installed at the lower part of the hub motor 202. Universal wheels 4 are arranged at the front and rear sides of the lower part of the lifting mechanism 1. The rotating mechanism 3 includes a connecting seat 301, a connecting rod 1 302, a connecting rod 2 303, a connecting head 304, a reduction motor 2 305 and a reduction motor 3 306. The upper part of the connecting seat 301 is rotatably connected to the lower end of the hub motor 202. One end of the connecting rod 1 302 is rotatable. The connecting rod 301 is rotatably connected to the lower part of the connecting seat 301, the other end of the connecting rod 1 302 is rotatably connected to one end of the connecting rod 2 303, the connecting head 304 is installed at the other end of the connecting rod 2 303, the reduction motor 2 305 is installed at the lower part of the connecting seat 301, the output end of the reduction motor 2 305 passes through the connecting seat 301 and is fixedly connected to one end of the connecting rod 1 302, the reduction motor 3 306 is installed at one end of the connecting head 304, the output end of the reduction motor 3 306 passes through the connecting rod 2 303 and is fixedly connected to the other end of the connecting rod 1 302, and a servo motor is installed inside the connecting seat 301, and the servo motor is fixedly connected to the lower end of the hub motor 202.

[0021] Specifically, the electric welding device can be connected through the connecting head 304, and the hub motor 202 can drive the rotating mechanism 3 to move left and right through the connecting block 203. The servo motor, the reduction motor 2 305 and the reduction motor 3 306 can drive the connecting rod 1 302 and the connecting rod 2 303 to rotate, so that any part of the workpiece can be processed through the electric welding device.

[0022] In this embodiment, the lifting mechanism 1 includes a column 101, two upper and lower sprocket wheels 102, a chain 103, a reduction motor 104, a bottom beam 105, an anti-falling mechanism 106 and a plurality of rollers 107. The middle part of the sprocket wheel 102 is rotatably connected to the upper and lower sides of the column 101, the two ends of the inner part of the chain 103 are meshed and connected to the outer periphery of the sprocket wheel 102, the middle part of the chain 103 is fixedly connected to the left and right sides of the moving mechanism 2, the reduction motor 104 is installed at the lower part of the column 101, the output end of the reduction motor 104 passes through the column 101 and is fixedly connected to the middle part of the lower sprocket wheel 102, the lower end of the column 101 is fixedly connected to the middle part of the upper side of the bottom beam 105, the middle part of the roller 107 is rotatably connected to the front and rear sides of the left and right ends of the moving mechanism 2, and the anti-falling mechanism 106 is installed at the bottom of the column 101. On the left and right sides of the mobile mechanism 2, the anti-fall mechanism 106 includes a block 1061, a cavity 1062, a limit plate 1063, a spring 1064 and a rack 1067. The cavity 1062 is opened at the left and right ends of the beam 201, one side of the limit plate 1063 is fixedly connected to one end of the block 1061, the outer periphery of the block 1061 is slidably connected to the left and right ends of the beam 201, one side of the spring 1064 is arranged on the side of the limit plate 1063 away from the block 1061, the spring 1064 is arranged inside the cavity 1062, one side of the rack 1067 is fixedly connected to the inner wall of the column 101, an electromagnet 1065 is arranged on the inner wall of the cavity 1062 close to the rotating mechanism 3, and an iron block 1066 is arranged on the side of the limit plate 1063 away from the block 1061.

[0023] Specifically, the reduction motor 104 is driven to rotate the sprocket 102 connected thereto, and the chain 103 drives the mobile mechanism 2 to move up and down through another sprocket 102, which can adapt to various needs. When the mobile mechanism 2 moves up, the block 1061 is squeezed by the teeth of the rack 1067, so that the block 1061 is retracted into the cavity 1062. When the block 1061 passes over the teeth of the rack 1067, the spring 1064 will reset the block 1061, so that the teeth of the rack 1067 clamp the block 1061 to prevent the mobile mechanism 2 from falling due to accidents. When the beam 201 needs to descend, the electromagnet 1065 is energized so that the electromagnet 1065 absorbs the iron block 1066, so that the block 1061 is retracted into the cavity 1062, which is very safe to use.

[0024] Working principle:

[0025] The electric welding device can be connected through the connector 304, and the hub motor 202 can drive the rotating mechanism 3 to move left and right through the connecting block 203. The connecting rod 1 302 and the connecting rod 2 303 are driven to rotate by the servo motor, the reduction motor 2 305 and the reduction motor 3 306, so that the workpiece can be processed at any position through the electric welding device, and the reduction motor 1 104 is driven to rotate the sprocket 102 connected thereto, and the chain 103 drives the moving mechanism 2 to move up and down through another sprocket 102, which can meet various needs. When the mechanism 2 moves upward, the block 1061 is squeezed by the teeth of the rack 1067, so that the block 1061 is retracted into the cavity 1062. When the block 1061 passes over the teeth of the rack 1067, the spring 1064 will reset the block 1061, so that the teeth of the rack 1067 can clamp the block 1061, preventing the moving mechanism 2 from falling due to accidents. When the beam 201 needs to descend, the electromagnet 1065 is energized so that the electromagnet 1065 absorbs the iron block 1066, so that the block 1061 is retracted into the cavity 1062, which is very safe to use.

[0026] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A three-axis gantry robot, comprising a lifting mechanism (1), characterized in that: The lifting mechanism (1) is installed on the left and right sides of the moving mechanism (2), and a rotating mechanism (3) is installed at the bottom of the moving mechanism (2); The moving mechanism (2) comprises a crossbeam (201), a wheel hub motor (202) and a connecting block (203); the middle part of the connecting block (203) is rotatably connected to the front and rear sides of the wheel hub motor (202); the outer periphery of the connecting block (203) is arranged inside the crossbeam (201); and the upper end of the rotating mechanism (3) is mounted on the lower part of the wheel hub motor (202).

2. A three-axis gantry robot according to claim 1, characterized in that: Universal wheels (4) are arranged on the front and rear sides of the lower part of the lifting mechanism (1).

3. A three-axis gantry robot according to claim 1, characterized in that: The rotating mechanism (3) comprises a connecting seat (301), a connecting rod 1 (302), a connecting rod 2 (303), a connecting head (304), a second reduction motor (305) and a third reduction motor (306); the upper portion of the connecting seat (301) is rotatably connected to the lower end of the hub motor (202); one end of the connecting rod 1 (302) is rotatably connected to the lower portion of the connecting seat (301); the other end of the connecting rod 1 (302) is rotatably connected to one end of the second connection rod (303); the connecting head (304) is installed on the other end of the second connection rod (303). The first end of the wheel hub motor (202) is a wheel hub motor (202), the second ...6) is a wheel hub motor (206), the output end of the wheel hub motor (306) is 4. A three-axis gantry robot according to claim 1, characterized in that: The lifting mechanism (1) comprises a column (101), two upper and lower sprocket wheels (102), a chain (103), a reduction motor (104), a bottom beam (105), an anti-falling mechanism (106) and a plurality of rollers (107); the middle portion of the sprocket wheel (102) is rotatably connected to the upper and lower sides of the column (101); the inner ends of the chain (103) are meshedly connected to the outer periphery of the sprocket wheel (102); the middle portion of the chain (103) is fixedly connected to the moving mechanism (2). On the left and right sides, the reduction motor 1 (104) is installed at the lower part of the column (101), the output end of the reduction motor 1 (104) passes through the column (101) and is fixedly connected to the middle part of the lower sprocket (102), the lower end of the column (101) is fixedly connected to the middle part of the upper side of the bottom beam (105), the middle part of the roller (107) is rotatably connected to the front and rear sides of the left and right ends of the moving mechanism (2), and the anti-falling mechanism (106) is installed on the left and right sides of the moving mechanism (2).

5. A three-axis gantry robot according to claim 4, characterized in that: The anti-falling mechanism (106) comprises a block (1061), a cavity (1062), a limiting plate (1063), a spring (1064) and a rack (1067); the cavity (1062) is provided at the left and right ends of the cross beam (201); one side of the limiting plate (1063) is fixedly connected to one end of the block (1061); the outer periphery of the block (1061) is slidably connected to the left and right ends of the cross beam (201); one side of the spring (1064) is arranged on the side of the limiting plate (1063) away from the block (1061); the spring (1064) is arranged inside the cavity (1062); and one side of the rack (1067) is fixedly connected to the inner wall of the column (101).

6. A three-axis gantry robot according to claim 5, characterized in that: An electromagnet (1065) is provided on the inner wall of the cavity (1062) on the side close to the rotating mechanism (3), and an iron block (1066) is provided on the side of the limiting plate (1063) away from the clamping block (1061).

Images