Gantry structure and production equipment

Abstract

The utility model provides a gantry structure and production equipment, and relates to the technical field of production equipment. In the gantry structure, two second axial modules are arranged in parallel at an interval, and a first axial module is arranged between the two second axial modules in a crossing manner; the joint module is located between one end of the first axial module and the second axial module. Each joint module comprises a joint bearing assembly and a coupling shaft assembly; the joint bearing assembly and the coupling shaft assembly are respectively connected with the first axial module or the second axial module; the joint bearing assembly is connected to the connecting shaft assembly in a sleeving mode, and the first axial module and the second axial module are connected at a target angle alpha. According to the gantry structure, the second axial module and the first axial module can be connected at the target angle alpha, the positioning error and / or the size error of the first axial module and the second axial module are / is compensated, the positioning and assembling difficulty of the gantry mechanism is reduced, and the problem that the friction force of a movement mechanism is increased or suffocated is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of production equipment, in particular to a gantry structure and production equipment. Background Art

[0002] In the related art, a large-span gantry structure usually adopts a two-vertical-one-horizontal structure, in which the horizontal beam is rigidly fixed on two mutually parallel vertical beams and is moved vertically by a driving mechanism.

[0003] However, when the positioning accuracy of the two vertical beams of the above-mentioned gantry structure is insufficient, the cross beam will generate internal stress in the system, increase the friction of the driving mechanism or the guide structure, and in severe cases, the cross beam cannot move, causing a suffocation problem. Utility Model Content

[0004] The utility model provides a gantry structure and production equipment, which can solve the problem that the gantry structure will increase the movement friction due to insufficient positioning accuracy of the vertical beams, which may cause the horizontal beams to be unable to move in severe cases.

[0005] The technical solution is as follows:

[0006] On the one hand, a gantry structure is provided, the gantry structure comprising:

[0007] A first axial module and two second axial modules, wherein the two second axial modules are arranged in parallel and spaced apart, and the first axial module is arranged across the two second axial modules;

[0008] at least one joint module, the at least one joint module being located between one end of the first axial module and one of the second axial modules;

[0009] Each of the joint modules includes a joint bearing assembly and a connecting shaft assembly;

[0010] One of the spherical bearing assembly and the connecting shaft assembly is connected to the end of the first axial module, and the other of the spherical bearing assembly and the connecting shaft assembly is connected to the second axial module; the spherical bearing assembly is sleeved on the connecting shaft assembly, and the first axial module and the second axial module are connected at a target angle α.

[0011] In some embodiments, the target angle α ranges from 80° to 100°.

[0012] In some embodiments, the joint module further comprises at least one limiting assembly, and the at least one limiting assembly is used to provide limiting in at least one direction between the joint bearing assembly and the coupling shaft assembly;

[0013] Each of the limiting components includes a first limiting structure and a second limiting structure, the first limiting structure and the second limiting structure are movably connected, the first limiting structure is connected to one of the joint bearing assembly and the connecting shaft assembly, and the second limiting structure is connected to the other of the joint bearing assembly and the connecting shaft assembly.

[0014] In some embodiments, one of the first limiting structure and the second limiting structure is a groove structure, and the other of the first limiting structure and the second limiting structure is a protrusion structure.

[0015] In some embodiments, two of the limit assemblies are arranged in a group, and each group of two limit assemblies is respectively arranged at two ends of the spherical bearing assembly and the connecting shaft assembly along the target angle α.

[0016] In some embodiments, the spherical bearing assembly includes a first connecting member and a spherical bearing;

[0017] The first connecting member is connected to the end of the first axial module or the second axial module, and a connecting hole is provided on the first connecting member; the spherical bearing includes an outer ring member and an inner ring member; the outer ring member is cooperatively connected to the connecting hole, and the inner ring member is cooperatively connected to the connecting shaft assembly.

[0018] In some embodiments, the connecting shaft assembly includes a fixed seat and a connecting shaft, the fixed seat is connected to the end of the first axial module or the second axial module, the connecting shaft is located on the fixed seat, and the connecting shaft is connected to the joint bearing assembly.

[0019] In some embodiments, the first axial module includes a first support member and a first motion mechanism;

[0020] The first support member is arranged along a first axial direction, the first motion mechanism is movably disposed on the first support member and can move along the first axial direction; the joint module is connected to an end of the first support member along the first axial direction;

[0021] The second axial module includes a second support member and a second motion mechanism;

[0022] The second support member is arranged in a second axial direction, the second motion mechanism is movably disposed on the second support member, the joint module is connected to the second motion mechanism, and the second motion mechanism can drive the joint module and the first axial module to move along the second axial direction.

[0023] In some embodiments, the spherical bearing assembly includes a first connecting member and a spherical bearing; the first connecting member is connected to an end of the first supporting member, and the axis of the connecting hole is arranged parallel to the first axial direction;

[0024] and / or,

[0025] The coupling shaft assembly includes a fixing seat and a coupling shaft; the fixing seat is connected to the second motion mechanism, and the axis of the coupling shaft is arranged perpendicular to the second axial direction.

[0026] On the other hand, a production device is provided, which includes the gantry structure described in the utility model.

[0027] The beneficial effects brought by the technical solution provided by the utility model include at least:

[0028] The gantry structure of the utility model comprises two second axial modules arranged in parallel, and a first axial module spanning between the two second axial modules, the end of the first axial module is connected to the second axial module via a joint module, the joint module comprises a joint bearing assembly and a connecting shaft assembly, the joint bearing assembly and the connecting shaft assembly are respectively connected to the first axial module and the second axial module, and by utilizing the spherical structural characteristics of the joint shaft, the connecting shaft assembly can rotate and swing relative to the joint bearing assembly, so that the second axial module and the first axial module can be connected at a target angle α, with good flexible connection effect, so that the target angle α can be utilized to compensate for the positioning error and / or size error of the first axial module and the second axial module, which is beneficial to reducing the difficulty of positioning and assembling the gantry mechanism, and is beneficial to preventing the problem of increased friction or suffocation of the motion mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 It is a structural schematic diagram of the gantry structure provided by an embodiment of the utility model;

[0031] Figure 2 It is a structural exploded view of the gantry structure provided by the embodiment of the utility model;

[0032] Figure 3 It is a schematic diagram of the structure in which the first axial module and the second axial module provided in an embodiment of the utility model are at a target angle α;

[0033] Figure 4It is a schematic structural diagram of a first axial module and a second axial module provided by another embodiment of the utility model at a target angle α;

[0034] Figure 5 It is a structural schematic diagram of a joint module provided by an embodiment of the utility model;

[0035] Figure 6 It is a structural exploded view of the joint module provided in an embodiment of the utility model.

[0036] The reference numerals in the figures represent respectively:

[0037] 1. The first axial module;

[0038] 11. a first support member; 12. a first motion mechanism;

[0039] 2. Second axial module;

[0040] 21. second support member; 22. second motion mechanism; 23. driving unit; 24. rotating shaft; 25. transmission mechanism;

[0041] 3. Joint module;

[0042] 31. Spherical bearing assembly; 311. First connecting member; 3111. Connecting hole; 312. Spherical bearing; 3121. Outer ring member; 3122. Inner ring member; 32. Connecting shaft assembly; 321. Fixed seat; 322. Connecting shaft; 33. Limiting assembly; 331. First limiting structure; 332. Second limiting structure; 34. Fixed end cover; 35. Locking screw; 36. Transmission connector. DETAILED DESCRIPTION

[0043] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the utility model. Instead, they are only examples of devices and methods consistent with some aspects of the utility model as detailed in the attached claims.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0045] It should be understood that in the present utility model, "electrical connection" can be understood as the physical contact and electrical conduction of components; it can also be understood as the form in which different components in the circuit structure are connected through physical lines such as printed circuit board (PCB) copper foil or wires that can transmit electrical signals. "Communication connection" can refer to electrical signal transmission, including wireless communication connection and wired communication connection. Wireless communication connection does not require a physical medium and does not belong to a connection relationship that limits the product structure. "Connection" and "connected" can both refer to a mechanical connection relationship or a physical connection relationship, that is, A is connected to B or A is connected to B, which can mean that there is a fastening component (such as screws, bolts, rivets, etc.) between A and B, or A and B are in contact with each other and A and B are difficult to separate.

[0046] Unless otherwise defined, all technical terms used in the embodiments of the present invention have the same meanings as commonly understood by those skilled in the art.

[0047] In order to make the purpose, technical solution and advantages of the present invention more clear, the implementation mode of the present invention will be further described in detail below with reference to the accompanying drawings.

[0048] On the one hand, combined with Figures 1 to 4 As shown, this embodiment provides a gantry structure, and the gantry structure includes:

[0049] A first axial module 1 and two second axial modules 2 , the two second axial modules 2 are arranged in parallel and spaced apart, and the first axial module 1 is arranged across the two second axial modules 2 .

[0050] At least one joint module 3 is located between one end of the first axial module 1 and one of the second axial modules 2 ; each joint module 3 includes a joint bearing assembly 31 and a connecting shaft assembly 32 .

[0051] One of the joint bearing assembly 31 and the connecting shaft assembly 32 is connected to the end of the first axial module 1, and the other of the joint bearing assembly 31 and the connecting shaft assembly 32 is connected to the second axial module 2; the joint bearing assembly 31 is sleeved on the connecting shaft assembly 32, and the first axial module 1 and the second axial module 2 are connected at a target angle α.

[0052] The gantry structure of this embodiment includes two second axial modules 2 arranged in parallel, and a first axial module 1 spanning between the two second axial modules 2. The end of the first axial module 1 is connected to the second axial module 2 through a joint module 3. The joint module 3 includes a joint bearing assembly 31 and a connecting shaft assembly 32. The joint bearing assembly 31 and the connecting shaft assembly 32 are respectively connected to the first axial module 1 and the second axial module 2. By utilizing the spherical structural characteristics of the joint shaft, the connecting shaft assembly 32 can rotate and swing relative to the joint bearing assembly 31, so that the second axial module 2 and the first axial module 1 can be connected at a target angle α, with good flexible connection effect, so that the target angle α can be used to compensate for the positioning error and / or size error of the first axial module 1 and the second axial module 2, which is beneficial to reducing the difficulty of positioning and assembly of the gantry mechanism and preventing the problem of increased friction or suffocation of the motion mechanism.

[0053] Among them, the joint bearing 312 is a spherical sliding bearing, whose sliding contact surface is an inner spherical surface and an outer spherical surface. It can rotate and swing at any angle during movement, and make tilting movements (i.e., self-aligning movements) within a certain angle range. It can still work normally when the eccentricity between the connecting shaft assembly 32 and the joint bearing assembly 31 is large.

[0054] In some possible implementations, the first axial module 1 is arranged along a first axial direction, the second axial module 2 is arranged along a second axial direction, and two second axial modules 2 and one first axial module 1 are constructed into a gate-type structure.

[0055] Exemplarily, the number of the joint modules 3 is two, and a joint module 3 is respectively provided at both ends of the first axial module 1 along the first axial direction to be flexibly connected to the corresponding second axial module 2 .

[0056] In some other possible implementations, the sleeve positions of the spherical bearing assembly 31 and the connecting shaft assembly along the first axial direction are adjustable, thereby compensating for the length error of the first axial module 1 and reducing the production accuracy requirements and assembly difficulty of the first axial module 1.

[0057] Combination Figure 3 , 4 As shown, in some embodiments, the target angle α ranges from 80° to 100°.

[0058] When the value of the target angle α satisfies the above-mentioned value range, the gantry structure of this embodiment can better compensate for the positioning error and / or dimensional error of the first axial module 1 and the second axial module 2, reduce the difficulty of positioning and assembling the first axial module 1 and the second axial module 2, and effectively prevent the problem of increased friction or suffocation of the moving mechanism.

[0059] Exemplarily, the value of the target angle α is, for example, 80°, 81°, 82°, 83°, 84°, 85°, 86°, 88°, 90°, 92°, 95°, 98°, 100°, and the like.

[0060] Need to explain, Figure 3 and Figure 4 Only two examples of the target angle α are given, which cannot be regarded as a limitation on the target angle α. The target angle α can be an angle in any direction in the three-dimensional space.

[0061] Combination Figure 5 , 6 As shown, in some embodiments, the joint module 3 further includes at least one limiting component 33 , and the at least one limiting component 33 is used to provide limiting in at least one direction between the joint bearing component 31 and the connecting shaft component 32 .

[0062] Each limiting assembly 33 includes a first limiting structure 331 and a second limiting structure 332, and the first limiting structure 331 and the second limiting structure 332 are movably connected. The first limiting structure 331 is connected to one of the joint bearing assembly 31 and the connecting shaft assembly 32, and the second limiting structure 332 is connected to the other of the joint bearing assembly 31 and the connecting shaft assembly 32.

[0063] Through the above arrangement, the joint module 3 can use the limit assembly 33 to provide a directional limit for the joint bearing assembly 31 and the connecting shaft assembly 32. The relative range of the first limit structure 331 and the second limit structure 332, that is, the range in which the joint bearing assembly 31 and the connecting shaft assembly 32 can move relative to each other, determines the value range of the target angle α. The number of limit assemblies 33 can be one or more.

[0064] Exemplarily, the first limiting structure 331 is connected to the spherical bearing assembly 31 , and the second limiting structure 332 is connected to the connecting shaft assembly 32 ; or, the first limiting structure 331 is connected to the connecting shaft assembly 32 , and the second limiting structure 332 is connected to the spherical bearing assembly 31 .

[0065] Combination Figure 5 , 6As shown, in some embodiments, one of the first limiting structure 331 and the second limiting structure 332 is a groove structure, and the other of the first limiting structure 331 and the second limiting structure 332 is a protrusion structure.

[0066] Exemplarily, the first limiting structure 331 is a groove structure, and the second limiting structure 332 is a protrusion structure; or, the first limiting structure 331 is a protrusion structure, and the second limiting structure 332 is a groove structure.

[0067] In some possible implementations, the first limiting structure 331 is connected to the spherical bearing assembly 31 , and the direction of the first limiting structure 331 is perpendicular to the first axial direction and the second axial direction, respectively.

[0068] Combination Figure 4 As shown, in some embodiments, two limit assemblies 33 are arranged in groups, and each group of two limit assemblies 33 is respectively arranged at two ends of the joint bearing assembly 31 and the connecting shaft assembly 32 along the target angle α.

[0069] By using two limiting components 33 arranged at both ends of the target angle α, the swing of the joint bearing component 31 and the connecting shaft component 32 can be limited from both sides, thereby improving the connection reliability of the joint bearing component 31 and the connecting shaft component 32.

[0070] Combination Figure 6 As shown, in some embodiments, the spherical bearing assembly 31 includes a first connecting member 311 and a spherical bearing 312 .

[0071] The first connecting member 311 is connected to the end of the first axial module 1 or the second axial module 2, and a connecting hole 3111 is provided on the first connecting member 311; the joint bearing 312 includes an outer ring member 3121 and an inner ring member 3122; the outer ring member 3121 is connected to the connecting hole 3111, and the inner ring member 3122 is connected to the connecting shaft assembly 32.

[0072] The joint bearing assembly 31 of this embodiment connects the joint bearing 312 to the first axial module 1 or the second axial module 2 through the first connecting member 311. The inner ring member 3122 and the outer ring member 3121 of the joint bearing 312 are spherically slidingly connected. The connecting shaft assembly 32 is connected to the inner ring member 3122 and can swing within the range of the target angle α under the spherical sliding action of the inner ring member 3122 and the outer ring member 3121.

[0073] In some possible implementations, the first connecting member 311 is provided with an auxiliary guide column protruding outward in a direction perpendicular to the first axial direction. The auxiliary guide column can be formed as a first limiting structure 331 or a second limiting structure 332 to limit the joint bearing assembly 31.

[0074] Exemplarily, an auxiliary bearing (not shown in the figure) is provided on the auxiliary guide column, which can improve the guiding effect of the auxiliary guide column.

[0075] Combination Figure 6 As shown, in some embodiments, the coupling shaft assembly 32 includes a fixing seat 321 and a coupling shaft 322, the fixing seat 321 is connected to the end of the first axial module 1 or the second axial module 2, the coupling shaft 322 is located on the fixing seat 321, and the coupling shaft 322 is connected to the spherical bearing assembly 31. Exemplarily, the coupling shaft 322 is connected to the inner ring member 3122 of the spherical bearing 312, and the coupling shaft 322 can drive the inner ring member 3122 to slide and swing relative to the outer ring member 3121.

[0076] The connecting shaft assembly 32 of this embodiment connects the connecting shaft 322 to the first axial module 1 or the second axial module 2 through the fixed seat 321, and the connecting shaft 322 is inserted into the joint bearing assembly 31, which can ensure the reliable connection between the connecting shaft assembly 32 and the joint bearing assembly 31 when the eccentricity between the connecting shaft 322 and the joint bearing assembly 31 is large.

[0077] In some possible implementations, the fixing seat 321 is provided with an auxiliary limiting plate extending along the first axial direction, and the auxiliary limiting plate is provided with a waist-shaped groove. The waist-shaped groove can be formed into a first limiting structure 331 or a second limiting structure 332 to limit the joint bearing assembly 31.

[0078] In some possible implementations, see Figure 6 As shown, the joint module 3 also includes a fixed end cover 34, and the connecting shaft 322 is connected to the joint bearing 312 on one side along the first axial direction. The fixed end cover 34 is located on the other side of the joint bearing 312 along the first axial direction. The fixed end cover 34 is locked and fixed to the connecting shaft 322 by a locking screw 35, and the connecting shaft 322 is locked and fixed in the joint bearing 312, thereby preventing the connecting shaft 322 from escaping from the joint bearing 312.

[0079] Combination Figure 1 As shown, in some embodiments, the first axial module 1 includes a first support member 11 and a first motion mechanism 12; the first support member 11 is arranged along the first axial direction, the first motion mechanism 12 is movably provided on the first support member 11, and can move along the first axial direction; the joint module 3 is connected to the end of the first support member 11 along the first axial direction.

[0080] The second axial module 2 includes a second support member 21 and a second motion mechanism 22; the second support member 21 is arranged in the second axial direction, the second motion mechanism 22 is movably arranged on the second support member 21, the joint module 3 is connected to the second motion mechanism 22, and the second motion mechanism 22 can drive the joint module 3 and the first axial module 1 to move along the second axial direction.

[0081] In the gantry mechanism of the present embodiment, the first support member 11 and the two second support members 21 are constructed into a gate-type structure. The first motion mechanism 12 can move along the first axial direction under the support of the first support member 11, and the second motion mechanism 22 can move along the second axial direction under the support of the second support member 21. The two ends of the first support member 11 are flexibly connected to the two second motion mechanisms 22 through two joint modules 3 respectively, so that the two second motion mechanisms 22 can drive the first support member 11 and the first motion mechanism 12 thereon to move along the second axial direction, and then the first motion mechanism 12 can realize the compound motion along the first axial direction and the second axial direction.

[0082] In some possible implementations, combined with Figure 1 , 2 As shown in Figures 6 and 7, the second axial module 2 includes a driving unit 23, which is connected to two transmission mechanisms 25 via a rotating shaft 24. The two transmission mechanisms 25 are respectively arranged on two second support members 21, and the second motion mechanism 22 is respectively connected to the two transmission mechanisms 25. The driving unit 23 transmits power to the second motion mechanism 22 via the rotating shaft 24 and the transmission mechanism 25, and drives the second motion mechanism 22 to move along the second axial direction on the second support member 21.

[0083] Exemplarily, the transmission mechanism 25 includes, but is not limited to, a belt transmission mechanism, a worm gear transmission mechanism, a rack and pinion mechanism, and a chain transmission mechanism.

[0084] Optionally, the transmission mechanism 25 is a belt transmission mechanism, and the transmission mechanism 25 includes two pulleys respectively located at the two ends of the second support member 21, and a synchronous belt connected to the two pulleys, and the second motion mechanism 22 is fixedly connected to the synchronous belt through a transmission connector 36. One of the pulleys is connected to the rotating shaft 24, and when the driving unit 23 drives the rotating shaft 24 to rotate, the rotating shaft 24 drives the pulley to rotate, and the pulley drives the synchronous belt to move, and the second motion mechanism 22 moves along the second axial direction under the drive of the synchronous belt.

[0085] Combination Figure 2 , 6 As shown, in some embodiments, the spherical bearing assembly 31 includes a first connecting member 311 and a spherical bearing 312; the first connecting member 311 is connected to the end of the first support member 11, and the axis of the connecting hole 3111 is arranged parallel to the first axial direction. When the spherical bearing 312 is matched with the connecting hole 3111, the axis of the outer ring member 3121 of the spherical bearing 312 is parallel to the axis of the connecting hole 3111 and also parallel to the first axial direction.

[0086] Combination Figure 2 , 6As shown, in some embodiments, the coupling shaft assembly 32 includes a fixing seat 321 and a coupling shaft 322; the fixing seat 321 is connected to the second motion mechanism 22, and the axis of the coupling shaft 322 is arranged perpendicular to the second axial direction. The fixing seat 321 can be used to arrange the coupling shaft 322 in a direction perpendicular to the second axial direction. When the coupling shaft 322 is connected to the spherical bearing 312, a vertical flexible connection between the second axial module 2 and the first axial module 1 can be achieved, thereby reducing the difficulty of assembling the second axial module 2 and the first axial module 1.

[0087] On the other hand, this embodiment provides a production device, which includes the gantry structure of the utility model.

[0088] The production equipment of this embodiment adopts the gantry mechanism of the utility model and has all the beneficial technical effects of all the embodiments in this article.

[0089] In some possible implementations, at least one functional module is connected to the first motion mechanism 12 of the first axial module 1, and the functional modules are, for example, a transport functional module and a processing functional module. The transport functional module can perform the transport of materials along the first axial direction and / or the second axial direction; the processing functional module can perform mechanical processing, assembly processing, welding processing, etc. on the materials passing through the gantry mechanism.

[0090] It should be noted that the "several" and "at least one" mentioned in this article refer to one or more, and "multiple" and "at least two" refer to two or more. "And / or" describes the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0091] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0093] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0094] In the description of this specification, the reference terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention.

[0095] The above description is only an embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A gantry structure, characterized in that: The gantry structure comprises: A first axial module (1) and two second axial modules (2), wherein the two second axial modules (2) are arranged in parallel and spaced apart, and the first axial module (1) is arranged across the two second axial modules (2); at least one joint module (3), the at least one joint module (3) being located between one end of the first axial module (1) and one of the second axial modules (2); Each of the joint modules (3) comprises a joint bearing assembly (31) and a connecting shaft assembly (32); One of the spherical bearing assembly (31) and the connecting shaft assembly (32) is connected to the end of the first axial module (1), and the other of the spherical bearing assembly (31) and the connecting shaft assembly (32) is connected to the second axial module (2); the spherical bearing assembly (31) is sleeved on the connecting shaft assembly (32), and the first axial module (1) and the second axial module (2) are connected at a target angle α.

2. The gantry structure according to claim 1, characterized in that: The target angle α has a value range of 80°-100°.

3. The gantry structure according to claim 1, characterized in that: The joint module (3) further comprises at least one limiting component (33), wherein the at least one limiting component (33) is used to provide limiting in at least one direction between the joint bearing component (31) and the connecting shaft component (32); Each of the limiting components (33) comprises a first limiting structure (331) and a second limiting structure (332), wherein the first limiting structure (331) and the second limiting structure (332) are movably connected, wherein the first limiting structure (331) is connected to one of the joint bearing component (31) and the connecting shaft component (32), and the second limiting structure (332) is connected to the other of the joint bearing component (31) and the connecting shaft component (32).

4. The gantry structure according to claim 3, characterized in that: One of the first limiting structure (331) and the second limiting structure (332) is a groove structure, and the other of the first limiting structure (331) and the second limiting structure (332) is a protrusion structure.

5. The gantry structure according to claim 3, characterized in that: The two limit assemblies (33) are arranged in a group, and each group of two limit assemblies (33) are respectively arranged at two ends of the joint bearing assembly (31) and the connecting shaft assembly (32) along the target angle α.

6. The gantry structure according to claim 1, characterized in that: The spherical bearing assembly (31) comprises a first connecting member (311) and a spherical bearing (312); The first connecting member (311) is connected to the end of the first axial module (1) or the second axial module (2), and a connecting hole (3111) is provided on the first connecting member (311); the spherical bearing (312) includes an outer ring member (3121) and an inner ring member (3122); the outer ring member (3121) is cooperatively connected to the connecting hole (3111), and the inner ring member (3122) is cooperatively connected to the connecting shaft assembly (32).

7. The gantry structure according to claim 6, characterized in that: The connecting shaft assembly (32) comprises a fixing seat (321) and a connecting shaft (322); the fixing seat (321) is connected to the end of the first axial module (1) or the second axial module (2); the connecting shaft (322) is located on the fixing seat (321); and the connecting shaft (322) is connected to the inside of the joint bearing assembly (31).

8. The gantry structure according to any one of claims 1 to 7, characterized in that: The first axial module (1) comprises a first support member (11) and a first movement mechanism (12); The first support member (11) is arranged along a first axial direction; the first movement mechanism (12) is movably arranged on the first support member (11) and is capable of moving along the first axial direction; the joint module (3) is connected to an end of the first support member (11) along the first axial direction; The second axial module (2) comprises a second support member (21) and a second movement mechanism (22); The second support member (21) is arranged in a second axial direction, the second motion mechanism (22) is movably arranged on the second support member (21), the joint module (3) is connected to the second motion mechanism (22), and the second motion mechanism (22) can drive the joint module (3) and the first axial module (1) to move along the second axial direction.

9. The gantry structure according to claim 8, characterized in that: The spherical bearing assembly (31) comprises a first connecting member (311) and a spherical bearing (312); the first connecting member (311) is connected to the end of the first supporting member (11), and the axis of the connecting hole (3111) on the first connecting member (311) is arranged parallel to the first axial direction; and / or, The coupling shaft assembly (32) comprises a fixing seat (321) and a coupling shaft (322); the fixing seat (321) is connected to the second motion mechanism (22), and the axis of the coupling shaft (322) is arranged perpendicular to the second axial direction.

10. A production equipment, characterized in that: The production equipment comprises the gantry structure according to any one of claims 1 to 9.

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