Portal frame transportation manipulator

Abstract

The utility model provides a portal frame transportation manipulator, and belongs to the technical field of transportation equipment. The portal frame transportation manipulator comprises a main body and a steering mechanism, the steering mechanism comprises a connecting plate, supporting rods are installed at the four corners of the bottom end of the connecting plate, a fixing base is installed between the multiple supporting rods, a rotating shaft is rotationally connected into the fixing base, and the bottom end of the rotating shaft penetrates through the fixing base, extends to the outside and is provided with a transverse plate; clamping mechanisms are arranged on the two sides of the bottom end of the transverse plate, each clamping mechanism comprises a U-shaped base, rotating rods are rotationally connected to the two sides of the interior of each U-shaped base, a pair of clamping arms is arranged outside each rotating rod in a sleeving mode, and a clamping plate is installed between the pair of clamping arms; the output end of the air cylinder is fixedly connected with the upper end of the connecting plate, a plurality of sliding rods are movably inserted into the moving plate, the bottom ends of the sliding rods are fixedly connected with the upper end of the connecting plate, and a hollow plate is installed at the upper ends of the sliding rods.

Description

Technical Field

[0001] The utility model relates to the technical field of transportation equipment, and particularly relates to a gantry transportation manipulator. Background Art

[0002] A gantry manipulator is a fully automatic industrial equipment that adjusts the position of workpieces and realizes the trajectory movement of workpieces based on the right-angle X, Y, and Z coordinate systems. The control core is implemented by an industrial controller (such as PLC, motion control, etc.). By analyzing and processing various input (various sensors, buttons, etc.) signals through the controller, after certain logical judgments, execution commands are issued to each output component (relays, motor drivers, lights, etc.) to complete the combined movement between the X-axis, Y-axis, and Z-axis, thereby realizing a series of fully automatic operation processes.

[0003] Based on the above, the inventor found the following problems: The current gantry transportation manipulator usually has only one. When performing reciprocating transportation work, it needs to repeatedly move the path multiple times, thereby reducing the transportation efficiency.

[0004] Therefore, in view of this, research and improvement are carried out on the existing structure and deficiencies, and a gantry transportation manipulator is provided with the expectation of achieving a more practical value. Summary of the Utility Model

[0005] In order to solve the above technical problems, an embodiment of the utility model provides a gantry transportation manipulator, which is specifically realized through the following technical solutions:

[0006] A gantry transportation manipulator includes a main body and a steering mechanism. The steering mechanism includes a connecting plate. Support rods are installed at the four corners of the bottom end of the connecting plate. A fixed seat is installed between several support rods. A rotating shaft is rotatably connected inside the fixed seat. The bottom end of the rotating shaft penetrates through the fixed seat and extends to the outside, and a cross plate is installed. Clamping mechanisms are provided on both sides of the bottom end of the cross plate. The clamping mechanism includes a U-shaped seat. Rotating rods are rotatably connected on both sides inside the U-shaped seat. A pair of clamping arms are sleeved on the outside of a pair of rotating rods. A clamping plate is installed between a pair of clamping arms. The main body includes a gantry and a moving plate. A cylinder is installed on the upper end of the moving plate. The output end of the cylinder is fixedly connected to the upper end of the connecting plate. Several sliding rods are movably inserted inside the moving plate. The bottom ends of several sliding rods are fixedly connected to the upper end of the connecting plate, and a hollow plate is installed at the upper ends of several sliding rods.

[0007] Further, a worm gear is sleeved on the outside of the rotating shaft. A worm is rotatably connected inside the fixed seat near the worm gear. The worm and the worm gear are meshed with each other.

[0008] The beneficial effect of adopting the above further solution is that, through the coordinated use of the worm wheel and the worm, when the worm rotates, it is easy to realize the rotation of the worm wheel meshing with the worm, thereby rotating the rotating shaft and driving the cross plate to rotate.

[0009] Furthermore, a motor is installed on one side of the outer wall of the fixing seat, and the output end of the motor is connected to the worm through a coupling.

[0010] The beneficial effect of adopting the above further solution is that by setting up a motor, when the motor is started, it is easy to drive the worm to rotate.

[0011] Furthermore, hydraulic rods are installed on both sides of the upper end of the horizontal plate, and the output ends of the hydraulic rods extend through the U-shaped seat to the inside and are installed with I-shaped plates.

[0012] The beneficial effect of adopting the above further solution is that by setting a hydraulic rod, it is easy to realize the upward or downward movement of the I-shaped plate.

[0013] Furthermore, both ends of the I-shaped plate are hinged with connecting rods through pins, and one end of the connecting rod is hinged to the clamping arm through the pin.

[0014] The beneficial effect of adopting the above further solution is that by hingedly connecting the I-shaped plate and the connecting rod through a pin, and hingedly connecting the connecting rod and the clamping arm through a pin, when the I-shaped plate moves down, a pair of clamping arms will be opened, and the material will be positioned between the pair of clamping plates. Then, when the I-shaped plate moves up, the pair of clamping arms will be tightened, so that the pair of clamping plates can clamp the material, thereby facilitating subsequent transportation.

[0015] Furthermore, a pair of mounting seats are installed at the upper end of the gantry, and a first electric slide rail is installed at the upper end of each of the pair of mounting seats. The outer sides of the pair of first electric slide rails are slidably connected with a first electric slider, and a pair of moving seats are installed between the pair of first electric sliders.

[0016] The beneficial effect of adopting the above further solution is that, through the coordinated use of the first electric slide rail and the first electric slider, the lateral movement of a pair of movable seats can be easily achieved.

[0017] Furthermore, a second electric slide rail is installed on the upper end of a pair of the moving seats, a second electric slide rail is slidably connected to the outside of the second electric slide rail, and the upper ends of the second electric slide rail are connected to the bottom end of the moving plate.

[0018] The beneficial effect of adopting the above further solution is that the vertical movement of the movable plate can be easily achieved through the coordinated use of the second electric slide rail and the second electric slider.

[0019] The beneficial effects of the present utility model are as follows: A gantry transportation manipulator obtained by the above design in the present utility model. For this gantry transportation manipulator, by arranging a cylinder, when the cylinder is started, it is convenient to push the connecting plate to move stably downward under the action of the sliding rod, so that the clamping mechanism approaches the material. By arranging a pair of clamping mechanisms, it is convenient to clamp the material for subsequent transportation, and at the same time improve the transportation efficiency. By arranging a hydraulic rod, when the hydraulic rod pushes the I-shaped plate to move downward, a pair of clamping arms will be opened. At this time, the material is located between a pair of clamping plates. Then, the I-shaped plate is lifted by the hydraulic rod, and the pair of clamping arms are tightened, so as to facilitate the pair of clamping plates to clamp the material. After the clamping mechanism on one side of the bottom end of the cross plate clamps the material, by arranging a motor, when the motor is started, it is convenient to drive the worm to rotate, which is convenient to realize the rotation of the worm gear meshed with the worm, and then the rotating shaft rotates, driving the cross plate to rotate, so that the positions of the pair of clamping mechanisms are turned and swapped. Repeat the clamping steps so that the other clamping mechanism also clamps the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0021] Figure 1 FIG. is a three-dimensional structural diagram of a gantry transportation manipulator provided by the present utility model;

[0022] Figure 2 FIG. is a three-dimensional structural diagram of the mounting seat and the moving seat of a gantry transportation manipulator provided by the present utility model;

[0023] Figure 3 FIG. is a three-dimensional structural diagram of the steering mechanism of a gantry transportation manipulator provided by the present utility model;

[0024] Figure 4 FIG. is a three-dimensional structural diagram inside the fixed seat of a gantry transportation manipulator provided by the present utility model;

[0025] Figure 5 FIG. is a three-dimensional structural diagram of the clamping mechanism of a gantry transportation manipulator provided by the present utility model.

[0026] In the figure: 100, main body; 1001, gantry; 1002, mounting seat; 1003, first electric slide rail; 1004, first electric slider; 1005, moving seat; 1006, second electric slide rail; 1007, second electric slider; 1008, moving plate; 1009, cylinder; 1010, sliding rod; 1011, hollow plate; 200, steering mechanism; 2001, connecting plate; 2002, support rod; 2003, fixed seat; 2004, rotating shaft; 2005, cross plate; 2006, worm gear; 2007, worm; 2008, motor; 300, clamping mechanism; 3001, U-shaped seat; 3002, rotating rod; 3003, clamping arm; 3004, clamping plate; 3005, hydraulic rod; 3006, I-shaped plate; 3007, connecting rod. Detailed implementation manners

[0027] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0028] Therefore, the following detailed description of the embodiments of the present utility model provided in the drawings is not intended to limit the scope of the claimed present utility model, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model. Embodiment 1

[0029] The present utility model provides the following technical solutions: As Figures 1 - 5As shown in the figure, a gantry transport manipulator includes a main body 100 and a steering mechanism 200. The steering mechanism 200 includes a connecting plate 2001. Support rods 2002 are installed at the four corners of the bottom end of the connecting plate 2001. A fixing seat 2003 is installed between several support rods 2002. A rotating shaft 2004 is rotatably connected inside the fixing seat 2003. The bottom end of the rotating shaft 2004 penetrates through the fixing seat 2003 and extends to the outside, and a horizontal plate 2005 is installed. Clamping mechanisms 300 are provided on both sides of the bottom end of the horizontal plate 2005. The clamping mechanism 300 includes a U-shaped seat 3001. Rotating rods 3002 are rotatably connected to both sides inside the U-shaped seat 3001. A pair of clamping arms 3003 are sleeved on the outside of a pair of rotating rods 3002. A clamping plate 3004 is installed between a pair of clamping arms 3003. The main body 100 includes a gantry 1001 and a moving plate 1008. A cylinder 1009 is installed at the upper end of the moving plate 1008. The output end of the cylinder 1009 is fixedly connected to the upper end of the connecting plate 2001. A number of sliding rods 1010 are movably inserted inside the moving plate 1008. The bottom ends of a number of sliding rods 1010 are fixedly connected to the upper end of the connecting plate 2001, and the upper ends of a number of sliding rods 1010 are installed with a hollow plate 1011. By setting the cylinder 1009, when the cylinder 1009 is started, it is convenient to push the connecting plate 2001 to move steadily downward under the action of the sliding rods 1010, so that the clamping mechanism 300 approaches the material. By setting the rotating shaft 2004, when the rotating shaft 2004 rotates, it drives the horizontal plate 2005 to rotate, so that the positions of a pair of clamping mechanisms 300 are switched, so that a pair of clamping mechanisms 300 both clamp the material, which is convenient to improve the transportation efficiency. Embodiment 2

[0030] Refer to Figures 1 - 5As shown in the figure, a worm gear 2006 is sleeved outside the rotating shaft 2004. A worm 2007 is rotatably connected inside the fixed seat 2003 near the worm gear 2006. The worm 2007 meshes with the worm gear 2006. One side of the outer wall of the fixed seat 2003 is provided with a motor 2008. The output end of the motor 2008 is drivingly connected to the worm 2007 through a coupling. Hydraulic rods 3005 are installed on both sides of the upper end of the cross plate 2005. The output ends of the hydraulic rods 3005 penetrate through the U-shaped seat 3001 and extend to the inside, and an I-shaped plate 3006 is installed. Connecting rods 3007 are hinged to the outside of both ends of the I-shaped plate 3006 through pins. One end of each connecting rod 3007 is hinged to the clamping arm 3003 through a pin. By the combined use of the worm gear 2006 and the worm 2007, when the worm 2007 rotates, it is convenient to realize the rotation of the worm gear 2006 meshing with the worm 2007, and then the rotating shaft 2004 rotates, driving the cross plate 2005 to rotate. By setting the motor 2008, when the motor 2008 is started, it is convenient to drive the worm 2007 to rotate. By setting the hydraulic rods 3005, when the hydraulic rods 3005 push the I-shaped plate 3006 downward, the opening of a pair of clamping arms 3003 is realized. At this time, the material is located between a pair of clamping plates 3004, and then the I-shaped plate 3006 is lifted by the hydraulic rods 3005, and a pair of clamping arms 3003 are tightened, so as to facilitate the clamping of the material by a pair of clamping plates 3004. Embodiment III

[0031] Refer to Figures 1 - 5 As shown in the figure, a pair of mounting seats 1002 are installed at the upper end of the gantry 1001. A first electric slide rail 1003 is installed at the upper end of each of the pair of mounting seats 1002. A first electric slider 1004 is slidably connected to the outside of each of the pair of first electric slide rails 1003. A pair of moving seats 1005 are installed between the pair of first electric sliders 1004. A second electric slide rail 1006 is installed at the upper end of each of the pair of moving seats 1005. A second electric slider 1007 is slidably connected to the outside of each of the pair of second electric slide rails 1006. The upper ends of the pair of second electric sliders 1007 are connected to the bottom end of the moving plate 1008. By the combined use of the first electric slide rail 1003 and the first electric slider 1004, it is convenient to realize the lateral movement of a pair of moving seats 1005. By the combined use of the second electric slide rail 1006 and the second electric slider 1007, it is convenient to realize the vertical movement of the moving plate 1008.

[0032] Specifically, the working principle of this gantry transport manipulator is as follows: When in use, first start the cylinder 1009 to facilitate pushing the connecting plate 2001 to move steadily downward under the action of the slide bar 1010, so that the clamping mechanism 300 approaches the material. Then, through the hydraulic rod 3005 on one side of the cross plate 2005, when the hydraulic rod 3005 first pushes the I-shaped plate 3006 downward, a pair of clamping arms 3003 will be opened. At this time, the material is placed between a pair of clamping plates 3004. Then, the I-shaped plate 3006 is lifted by the hydraulic rod 3005, and a pair of clamping arms 3003 are tightened, so as to facilitate the pair of clamping plates 3004 to clamp the material. Then, start the motor 2008 to drive the worm 2007 to rotate. When the worm 2007 rotates, it is convenient to realize the rotation of the worm gear 2006 meshing with the worm 2007, and then the rotating shaft 2004 rotates, driving the cross plate 2005 to rotate, so that the positions of the pair of clamping mechanisms 300 are turned and swapped. Repeat the clamping steps so that the other clamping mechanism 300 also clamps the material, which is convenient to improve the transportation efficiency. Through the coordinated use of the first electric slide rail 1003 and the first electric slider 1004, it is convenient to realize the lateral movement of the pair of moving seats 1005. Through the coordinated use of the second electric slide rail 1006 and the second electric slider 1007, it is convenient to realize the vertical movement of the moving plate 1008 to transport the material.

[0033] It should be noted that for a gantry transport manipulator, the specific model specifications of the first electric slide rail 1003, the first electric slider 1004, the second electric slide rail 1006, the second electric slider 1007, the cylinder 1009, the motor 2008 and the hydraulic rod 3005 need to be selected and determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be elaborated in detail.

[0034] For a gantry transport manipulator, the power supply and its principle of the first electric slide rail 1003, the first electric slider 1004, the second electric slide rail 1006, the second electric slider 1007, the cylinder 1009, the motor 2008 and the hydraulic rod 3005 are clear to those skilled in the art and will not be described in detail here.

[0035] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A gantry transport manipulator, characterized in that: The invention comprises a main body (100) and a steering mechanism (200), wherein the steering mechanism (200) comprises a connecting plate (2001), support rods (2002) are installed at four corners of the bottom end of the connecting plate (2001), a fixing seat (2003) is installed between a plurality of the support rods (2002), a rotating shaft (2004) is rotatably connected inside the fixing seat (2003), the bottom end of the rotating shaft (2004) passes through the fixing seat (2003) and extends to the outside, and a transverse plate (2005) is installed thereon, and clamping mechanisms (300) are provided on both sides of the bottom end of the transverse plate (2005), and the clamping mechanism (300) comprises a U-shaped seat (3001), and both sides of the inside of the U-shaped seat (3001) are rotatably connected to rotating rods (3002), a pair of clamping arms (3003) are mounted on the outside of a pair of rotating rods (3002), a clamping plate (3004) is installed between the pair of clamping arms (3003), the main body (100) comprises a gantry (1001) and a movable plate (1008), a cylinder (1009) is installed on the upper end of the movable plate (1008), the output end of the cylinder (1009) is fixedly connected to the upper end of the connecting plate (2001), a plurality of sliding rods (1010) are movably inserted inside the movable plate (1008), the bottom ends of the plurality of sliding rods (1010) are fixedly connected to the upper end of the connecting plate (2001), and a hollow plate (1011) is installed on the upper ends of the plurality of sliding rods (1010).

2. A gantry transport manipulator according to claim 1, characterized in that: The rotating shaft (2004) is sleeved with a worm wheel (2006) on its exterior, and the interior of the fixed seat (2003) is rotatably connected to a worm (2007) near the worm wheel (2006), and the worm (2007) and the worm wheel (2006) are meshed with each other.

3. A gantry transport manipulator according to claim 2, characterized in that: A motor (2008) is installed on one side of the outer wall of the fixing seat (2003), and an output end of the motor (2008) is transmission-connected to the worm (2007) via a coupling.

4. The gantry transport manipulator according to claim 1, characterized in that: Hydraulic rods (3005) are installed on both sides of the upper end of the transverse plate (2005), and the output ends of the hydraulic rods (3005) extend through the U-shaped seat (3001) to the inside and are installed with I-shaped plates (3006).

5. A gantry transport manipulator according to claim 4, characterized in that: Both ends of the I-shaped plate (3006) are hingedly connected to connecting rods (3007) via pins, and one end of the connecting rod (3007) is hingedly connected to the clamping arm (3003) via the pin.

6. The gantry transport manipulator according to claim 1, characterized in that: A pair of mounting seats (1002) are installed at the upper end of the gantry (1001), a first electric slide rail (1003) is installed at the upper end of the pair of mounting seats (1002), a first electric slide block (1004) is slidably connected to the outside of the pair of first electric slide rails (1003), and a pair of moving seats (1005) are installed between the pair of first electric slide blocks (1004).

7. A gantry transport manipulator according to claim 6, characterized in that: A second electric slide rail (1006) is installed on the upper ends of a pair of the movable seats (1005), a second electric slide rail (1007) is slidably connected to the outside of a pair of the second electric slide rails (1006), and the upper ends of a pair of the second electric slide rails (1007) are interconnected with the bottom end of the movable plate (1008).

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