Gantry type manual transplanting mechanism
By designing the X-axis, Y-axis and Z-axis mechanisms in the gantry manual transplanting mechanism and using coded displacement sensors for real-time monitoring, the problem of difficulty in real-time monitoring of the placement of items in the prior art is solved, and the accurate placement of items is achieved and position errors are prevented.
Patent Information
- Application Number
- CN202421924821.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-09
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-08-09
AI Technical Summary
The existing gantry-type manual transporter is difficult to monitor the placement of items in real time during the item handling process, which can easily lead to incorrect placement of items when workers are tired.
A gantry manual transplanting mechanism is designed, using X-axis, Y-axis and Z-axis mechanisms in combination, and the position of the item is monitored in real time through the X-axis pull-line coded displacement sensor, Y-axis pull-line coded displacement sensor and Z-axis pull-line coded displacement sensor.
It realizes the pick-up and placement of items in any position, and monitors the placement of items in real time to ensure that items are accurately placed in the designated position, playing a role in preventing stupidity and errors.
Smart Images
Figure CN222906907U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of gantry transplanting machines, in particular to a gantry manual transplanting mechanism. Background Art
[0002] A gantry transfer machine is a special device for changing the conveying direction or placing angle of goods. It transfers goods from one position to another to achieve the purpose of handling goods in places with limited floor space or danger. It has the characteristics of saving floor space, large load-bearing capacity, simple structure, stability and reliability, and is widely used in logistics, industrial production and other places.
[0003] For example, when using the current gantry manual transfer machine to transfer an item from one position A to another position B, due to the industry characteristics, workers need to do a lot of repetitive labor, and it is easier to place the item in the wrong position when fatigued. At present, the current gantry manual transfer machine does not monitor the item placement position information in real time, so it cannot confirm whether the item is accurately placed at B. Therefore, a gantry manual transplanting mechanism that can monitor the item placement position in real time is needed. Summary of the Utility Model
[0004] Aiming at the deficiencies of the prior art, the utility model provides a gantry manual transplanting mechanism that can realize the picking and placing of workpieces at any position and monitor the position information.
[0005] To achieve the above technical purpose, the utility model proposes the following technical solution: A gantry manual transplanting mechanism includes a tooling fixing plate, an X-axis mechanism, a Y-axis mechanism and a Z-axis mechanism. The X-axis mechanism includes an X-axis linear slide rail and an X-direction pulley group slidably arranged in the X-axis linear slide rail. One side of the end of the X-axis linear slide rail is connected with an X-direction wire-pulling type coded displacement sensor. The Y-axis mechanism includes Y-axis linear slide rails respectively arranged at both ends of the X-axis linear slide rail. The X-axis linear slide rail is slidably installed at the bottom of the Y-axis linear slide rail through a Y-direction pulley group. The outside of the end of the Y-axis linear slide rail is installed with a Y-direction wire-pulling type coded displacement sensor. The wire outlet end of the Y-direction wire-pulling type coded displacement sensor is connected with the X-axis linear slide rail through a connecting frame. The Z-axis mechanism includes a Z-axis linear guide rail and a Z-axis support rail. The Z-axis linear guide rail is sleeved in the Z-axis support rail and connected with the Z-axis support rail through a Z-direction double slider. The Z-axis support rail is connected with the X-direction pulley group through a mounting frame. A Z-direction wire-pulling type coded displacement sensor is arranged on the Z-axis support rail. The tooling fixing plate is connected with the lower end of the Z-axis linear guide rail through a support seat. The wire outlet end of the Z-direction wire-pulling type coded displacement sensor is connected with the support seat.
[0006] Further, there are two sets of X-axis linear sliding rails. The mounting bracket includes a connecting plate and a U-shaped frame provided at the bottom of the connecting plate. The X-direction pulley groups are connected by the connecting plate. The Z-axis support rail is sleeved in the U-shaped frame and is limited in the U-shaped frame by a limiting plate.
[0007] Further, a labor-saving balancer is provided on the Z-axis support rail, and the wire outlet end of the labor-saving balancer is connected to the support seat.
[0008] Further, a lower limit block is installed at the lower part of the Z-axis linear guide rail, and an upper limit block is installed at the top of the Z-axis linear guide rail.
[0009] Further, an X-direction cable carrier is installed at the top of the X-axis linear sliding rail, and a Y-direction cable carrier is provided at the top of the Y-axis linear sliding rail at one end away from the Y-direction wire-pulling type coded displacement sensor.
[0010] Further, guide rails are provided in both the X-axis linear sliding rail and the Y-axis linear sliding rail. Two sets of limiting mechanisms are slidably connected to the guide rails. The limiting mechanism includes a limiting plate, and a limiting block is connected to the bottom of the limiting plate by a locking screw.
[0011] Compared with the prior art, the beneficial effects produced by the present utility model are as follows: The overall mechanism design and layout of the present utility model are simple and compact, and the installation, commissioning, maintenance, and repair operations are more convenient. Compared with the prior art, it has the following advantages: Through the coordinated use of the X-axis mechanism, Y-axis mechanism, and Z-axis mechanism, the manual positioning and picking of items can be realized; Through the X-direction wire-pulling type coded displacement sensor, Y-direction wire-pulling type coded displacement sensor, and Z-direction wire-pulling type coded displacement sensor, the position where the item is placed can be monitored in real time to confirm whether the item is accurately placed at the specified position, playing a role in preventing mistakes and errors. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 is the overall structural schematic diagram of the present utility model;
[0013] Figure 2 is the sectional structural schematic diagram of the Y-axis linear sliding rail of the present utility model;
[0014] Figure 3 is the structural schematic diagram of the X-direction pulley group of the present utility model;
[0015] Figure 4 is the structural schematic diagram of the Y-direction pulley group of the present utility model;
[0016] Figure 5 is the structural schematic diagram of the Z-axis linear guide rail of the present utility model.
[0017] In the figure, 1 is a tooling fixing plate; 2 is an X-axis mechanism; 21 is an X-axis linear slide rail; 22 is an X-direction pulley group; 23 is an X-direction wire-pulling type coded displacement sensor; 24 is an X-direction armored chain; 3 is a Y-axis mechanism; 31 is a Y-axis linear slide rail; 32 is a Y-direction pulley group; 33 is a Y-direction wire-pulling type coded displacement sensor; 34 is a Y-direction armored chain; 4 is a Z-axis mechanism; 41 is a Z-axis linear guide rail; 42 is a Z-axis support rail; 43 is a Z-direction double slider; 44 is a Z-direction wire-pulling type coded displacement sensor; 5 is a connecting frame; 6 is a mounting frame; 61 is a connecting plate; 62 is a U-shaped frame; 63 is a limiting plate; 7 is a support seat; 8 is a labor-saving balancer; 9 is a lower limit block; 10 is an upper and lower limit block; 11 is a guide rail; 12 is a limiting plate; 13 is a locking screw; 14 is a limit block. Detailed implementation mode
[0018] The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.
[0019] As Figure 1 shown, the present invention provides a gantry-type manual transplanting mechanism, including a tooling fixing plate 1, an X-axis mechanism 2, a Y-axis mechanism 3 and a Z-axis mechanism 4. The X-axis mechanism 2 includes an X-axis linear slide rail 21 and an X-direction pulley group 22 slidably arranged in the X-axis linear slide rail 21. One side of the end of the X-axis linear slide rail 21 is connected with an X-direction wire-pulling type coded displacement sensor 23. The Y-axis mechanism 3 includes Y-axis linear slide rails 31 respectively arranged at both ends of the X-axis linear slide rail 21 and perpendicular to the X-axis linear slide rail 21. The X-axis linear slide rail 21 is slidably installed at the bottom of the Y-axis linear slide rail 31 through a Y-direction pulley group 32. The outside of the end of the Y-axis linear slide rail 31 is installed with a Y-direction wire-pulling type coded displacement sensor 33. The wire outlet end of the Y-direction wire-pulling type coded displacement sensor 33 is connected with the X-axis linear slide rail 21 through a connecting frame 5. The Z-axis mechanism 4 includes a Z-axis linear guide rail 41 and a Z-axis support rail 42 arranged at the bottom of the X-axis linear slide rail 21. The Z-axis linear guide rail 41 is sleeved in the Z-axis support rail 42 and connected through a Z-direction double slider 43. One side of the Z-direction double slider 43 is slidably connected with the Z-axis linear guide rail 41, and the other side of the Z-direction double slider 43 is connected with the Z-axis support rail 42 through a bolt. The Z-axis support rail 42 is connected with the X-direction pulley group 22 through a mounting frame 6. A Z-direction wire-pulling type coded displacement sensor 44 is arranged on the Z-axis support rail 42. The tooling fixing plate 1 is connected with the lower end of the Z-axis linear guide rail 41 through a support seat 7. The wire outlet end of the Z-direction wire-pulling type coded displacement sensor 44 is connected with the support seat 7.
[0020] As Figure 1As shown in the figure, the Z-axis linear guide rail 41 slides up and down in the Z-axis support rail 42 through the Z-direction double slider 43, driving the object at the bottom of the tooling fixing plate 1 to perform a linear motion in the Z-axis direction. The displacement of the object in the Z-axis direction is monitored by the Z-direction wire-pulling type coded displacement sensor 44. The Z-axis support rail 42 moves on the Y-axis linear slide rail 31 through the mounting bracket 6 and the X-direction pulley group 22, driving the object to perform a linear motion on the X-axis linear slide rail 21. The displacement of the object in the X-axis direction is monitored by the X-direction wire-pulling type coded displacement sensor 23. The X-axis linear slide rail 21 is slidably installed in the Y-axis linear slide rail 31 through the Y-direction pulley group 32, so that the X-axis linear slide rail 21 moves along the Y-axis linear slide rail 31. The X-axis linear slide rail 21 indirectly drives the object to perform a linear motion in the Y-axis direction. The displacement of the object in the Y-axis direction is monitored by the Y-direction wire-pulling type coded displacement sensor 33. In this embodiment, the power sources of the object in the X-axis, Y-axis and Z-axis are all provided manually, realizing the manual positioning and picking and placing operations of the object. In this embodiment, it also includes a PLC controller and a warning light. The output ends of the X-direction wire-pulling type coded displacement sensor 23, the Y-direction wire-pulling type coded displacement sensor 33 and the Z-direction wire-pulling type coded displacement sensor 44 are respectively electrically connected to the input end of the PLC controller. The output end of the PLC controller is electrically connected to the input end of the warning light. The X-direction wire-pulling type coded displacement sensor 23, the Y-direction wire-pulling type coded displacement sensor 33 and the Z-direction wire-pulling type coded displacement sensor 44 can monitor the positions of X, Y and Z, and transmit the detected actual position information of the object to the PLC controller. The PLC controller compares the detected information with the set position information. If it exceeds the set position range, the warning light alarms, reminding the worker that the position is incorrect. Then the worker adjusts the position of the object until the warning light stops, so as to ensure the placement position of the object, playing the role of anti-fooling and anti-mistake. In the present utility model, the connection methods between components are mostly detachable connections, having the characteristics of convenient installation, debugging, maintenance and repair operations. For example, the X-direction wire-pulling type coded displacement sensor 23, the Y-direction wire-pulling type coded displacement sensor 33, the Z-direction wire-pulling type coded displacement sensor 44, the Z-axis support rail 42 and the Z-direction double slider 43, as well as the connecting bracket 5, etc. are all connected by bolts in a detachable manner.
[0021] There are two groups of the X-axis linear slide rails 21. The mounting bracket 6 includes a "return" type connecting plate 61 and a U-shaped frame 62 arranged at the bottom of the connecting plate 61. The X-direction pulley groups 22 are connected through the connecting plate 61. The Z-axis support rail 42 is sleeved in the U-shaped frame 62 and is limited in the U-shaped frame 62 by a limiting plate 63.
[0022] As Figure 4 shown in the figure, the connecting plate 61 and the U-shaped frame 62 are connected by screws, which can tightly limit the Z-axis support rail 42 in the U-shaped frame 62, improving the stability of the Z-axis support rail 42 moving on the X-axis linear slide rail 21, and at the same time facilitating installation and disassembly.
[0023] An effort-saving balancer 8 is provided on the Z-axis support rail 42, and the wire outlet end of the effort-saving balancer 8 is connected to the support base 7.
[0024] As Figure 1 shown, when the transported item is heavy, the effort-saving balancer 8 reduces or offsets the gravity of the load, making it easier for the operator to move the item along the Y-axis, thereby reducing the labor intensity. At the same time, it prevents tool damage or operation errors caused by overheavy or uneven loads, improving work efficiency and safety.
[0025] A lower limit block 9 is installed at the lower part of the Z-axis linear guide rail 41, and an upper limit block 10 is installed at the top of the Z-axis linear guide rail 41.
[0026] As Figure 5 shown, both the lower limit block 9 and the upper limit block 10 are detachably installed on the Z-axis linear guide rail 41 by screws, and the maximum displacement value of the item along the Y-axis can be adjusted.
[0027] An X-direction drag chain 24 is installed at the top of the X-axis linear slide rail 21, and a Y-direction drag chain 34 is provided at the top of the Y-axis linear slide rail 31 at one end away from the Y-direction wire-pulling type coded displacement sensor 33.
[0028] As Figure 1 shown, the X-direction drag chain 24 and the Y-direction drag chain 34 can protect the cables during the operation of the X-axis and the Y-axis respectively.
[0029] Guide rails 11 are provided inside both the X-axis linear slide rail 21 and the Y-axis linear slide rail 31. Two groups of limiting mechanisms are slidably connected to the guide rails 11. The limiting mechanism includes a limiting plate 12, and a limiting block 14 is connected to the bottom of the limiting plate 12 by a locking screw 13.
[0030] As Figure 2 shown, when the X-direction pulley block 22 slides inside the X-axis linear slide rail 21, the sliding distance of the X-direction pulley block 22 inside the X-axis linear slide rail 21 is limited by the limiting blocks 14 at both ends of the X-direction pulley block 22; similarly, the sliding distance of the Y-direction pulley block 32 inside the X-axis linear slide rail 31 is limited by the limiting blocks 14 at both ends of the Y-direction pulley block 32; the limiting block 14 on the guide rail 11 can be conveniently adjusted and fixed by the locking screw 13.
[0031] Principle of use: A suction cup is connected to the bottom of the tooling fixing plate 1. When placing an item from point A to point B, first input the position range information of point B on the PLC controller. Manually drive the Z-axis support rail 42 to move along the Z-axis linear guide rail 41 and the X-axis linear slide rail 21 respectively. The X-axis linear slide rail 21 moves along the Y-axis linear slide rail 31, so that the suction cup at the bottom of the tooling fixing plate 1 moves to the position of the item and sucks up the item. Similarly, move the item in the direction of position B. When placing the item, the trigger signal is activated, and the X-direction wire-drawing type coded displacement sensor 23, the Y-direction wire-drawing type coded displacement sensor 33, and the Z-direction wire-drawing type coded displacement sensor 44 respectively monitor the displacements in the X, Y, and Z directions to monitor the actual position information of the item. Then, transmit the monitored position information to the PLC controller. The PLC controller compares the received information with the set position information (the position range information of point B). If it exceeds the set position range, the warning light alarms. Then, manually adjust the position of the item until it is adjusted within the set position range, and the warning light stops alarming to ensure the position of the item, that is, to ensure that the item is transferred to point B.
[0032] The specific embodiments described herein are merely illustrative of the spirit of the present utility model. Those skilled in the art to which the present utility model pertains can make various modifications or supplements to the described specific embodiments or use similar methods to replace them, but will not deviate from the spirit of the present utility model or exceed the scope defined by the appended claims.
Claims
1. A gantry type manual transplanting mechanism, characterized in that: The invention comprises a tooling fixing plate (1), an X-axis mechanism (2), a Y-axis mechanism (3) and a Z-axis mechanism (4); the X-axis mechanism (2) comprises an X-axis linear slide rail (21) and an X-axis pulley block (22) slidably arranged in the X-axis linear slide rail (21); an X-axis pulley type encoding displacement sensor (23) is connected to one side of the end of the X-axis linear slide rail (21); the Y-axis mechanism (3) comprises Y-axis linear slide rails (31) respectively arranged at both ends of the X-axis linear slide rail (21); the X-axis linear slide rail (21) is slidably installed on the bottom of the Y-axis linear slide rail (31) via the Y-axis pulley block (32); a Y-axis pulley type encoding displacement sensor (33) is installed on the outer side of the end of the Y-axis linear slide rail (31); and the Y-axis pulley type encoding displacement sensor (33) is installed on the outer side of the end of the Y-axis linear slide rail (31); and the Y-axis pulley type encoding displacement sensor (33) is installed on the outer side of the end of the Y-axis linear slide rail (31). The outlet end of the sensor (33) is connected to the X-axis linear guide rail (21) via a connecting frame (5); the Z-axis mechanism (4) comprises a Z-axis linear guide rail (41) and a Z-axis support rail (42); the Z-axis linear guide rail (41) is sleeved inside the Z-axis support rail (42) and connected to the Z-axis support rail (42) via a Z-direction double slider (43); the Z-direction support rail (42) is connected to the X-direction pulley block (22) via a mounting frame (6); a Z-direction pull-wire type encoding displacement sensor (44) is provided on the Z-direction support rail (42); the tooling fixing plate (1) is connected to the lower end of the Z-direction linear guide rail (41) via a support seat (7); and the outlet end of the Z-direction pull-wire type encoding displacement sensor (44) is connected to the support seat (7).
2. A gantry type manual transplanting mechanism according to claim 1, characterized in that: The X-axis linear slide rails (21) are provided with two groups, the mounting frame (6) comprises a connecting plate (61) and a U-shaped frame (62) arranged at the bottom of the connecting plate (61), the X-axis pulley groups (22) are connected by the connecting plate (61), and the Z-axis support rail (42) is sleeved in the U-shaped frame (62) and is limited in position in the U-shaped frame (62) by a limiting plate (63).
3. A gantry type manual transplanting mechanism according to claim 1, characterized in that: A labor-saving balancer (8) is provided on the Z-axis support rail (42), and an outlet end of the labor-saving balancer (8) is connected to the support seat (7).
4. A gantry type manual transplanting mechanism according to claim 1, characterized in that: A lower limit block (9) is installed at the bottom of the Z-axis linear guide rail (41), and an upper limit block (10) is installed at the top of the Z-axis linear guide rail (41).
5. The gantry type manual transplanting mechanism according to claim 1, characterized in that: An X-axis tank chain (24) is installed on the top of the X-axis linear slide rail (21), and a Y-axis tank chain (34) is installed on the top of the Y-axis linear slide rail (31) at one end away from the Y-axis pull-wire type encoding displacement sensor (33).
6. A gantry type manual transplanting mechanism according to claim 1, characterized in that: A guide rail (11) is provided inside the X-axis linear slide rail (21) and the Y-axis linear slide rail (31). Two sets of limit mechanisms are slidably connected to the guide rail (11). The limit mechanisms include a limit plate (12). The bottom of the limit plate (12) is connected to a limit block (14) via a locking screw (13).