Gantry sky rail for hanging double robots upside down

Abstract

The utility model relates to a gantry sky rail with double upside-down hanging robots, which comprises two supporting legs, a main beam is mounted at the tops of the supporting legs, two X-axis moving devices are arranged on two sides of the top of the main beam, Y-axis moving devices are arranged on the X-axis moving devices, Z-axis moving devices are arranged on the Y-axis moving devices, each X-axis moving device comprises a moving seat, and each moving seat is provided with a Z-axis moving device. The longitudinal section of the moving seat is of an n-shaped structure, a horizontal plate of the moving seat is located above the main beam, vertical plates of the moving seat are located on the two sides of the main beam, a first driving motor is installed on the side portion of one vertical plate of the moving seat, a first gear is installed on a driving shaft of the first driving motor, and the first gear is meshed with the first rack; the first rack is installed on the side portion of the main beam, and the Y-axis moving device is installed on the top of the moving base. And simultaneous front and back welding can be realized for the same welding seam.

Description

Technical Field

[0001] The utility model relates to the field of welding robots, and particularly to a gantry overhead rail with inverted double robots. Background Art

[0002] With the development of automation, many dangerous jobs have gradually been replaced by robots. Welding robots are used for welding, which improves work efficiency. For some medium and thick plate industries with a large number of long welds, the welding efficiency of a single robot is relatively low; for the butt welding of the front and back sides of the same weld, it cannot be achieved. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the utility model provides a gantry overhead rail with inverted double robots.

[0004] The technical solution of the utility model is realized as follows: A gantry overhead rail with inverted double robots includes two legs. The top of the legs is provided with a main beam. On both sides of the top of the main beam, there are two X-axis moving devices. Each X-axis moving device is provided with a Y-axis moving device, and each Y-axis moving device is provided with a Z-axis moving device. The X-axis moving device includes a moving seat. The longitudinal section of the moving seat is a portal-shaped structure. The horizontal plate of the moving seat is located above the main beam, and the vertical plates of the moving seat are located on both sides of the main beam. A driving motor one is installed on the side of one of the vertical plates of the moving seat. A gear one is installed on the driving shaft of the driving motor one. The gear one meshes with a rack one. The rack one is installed on the side of the main beam. The Y-axis moving device is installed on the top of the moving seat.

[0005] The Y-axis moving device includes a Y-axis cantilever fixedly connected to the top of the moving seat. One end of the Y-axis cantilever extends away from the main beam. The Y-axis cantilever is perpendicular to the main beam. Two spaced slide rails one are arranged along the length direction of the inner side of the Y-axis cantilever. A rack two is arranged between the two slide rails one. Slide blocks one are slidably arranged on the slide rails one. The end face of the slide block one is fixedly connected to a slide plate. A driving motor two is installed on the outer side of the slide plate. The rotating shaft of the driving motor two is connected to a gear two. The gear two meshes with the rack two.

[0006] The Z-axis moving device is installed on the side of the slide plate. The Z-axis moving device includes two spaced slide blocks two fixed on the slide plate. The outside of the slide block two is slidably provided with a slide rail two. The slide rail two is fixedly connected to a vertically arranged lifting arm. A rack three is installed on the side of the lifting arm close to the moving seat. The rack three meshes with a gear three. The gear three is installed on a driving motor three. The driving motor three is fixedly installed on the slide plate.

[0007] On both sides of the main beam and above the rack one, there are slide rails three. The outside of the slide rail three is slidably provided with slide blocks three. The slide blocks three are fixedly connected to the inner side face of the moving seat.

[0008] Flexible bellows covers are fixedly connected to both ends of the Y-axis cantilever and located on both sides of the first slide rail, and buffers are fixedly connected to both ends of the slide plate.

[0009] The third gear is a helical gear, and the third rack is a helical rack.

[0010] The technical solution of the present utility model has the following positive effects: The present utility model is provided with two X-axis moving devices, a Y-axis moving device and a Z-axis moving device, which can drive two welding robots to work simultaneously, realizing welding of two welding robots on one weld seam at the same time; the third gear is a helical gear, and the third rack is a helical rack; the load-bearing capacity is increased; the flexible bellows cover and the buffer play the role of a buffer pad. Description of the Drawings

[0011] Figure 1 It is the main structural schematic front view of the present utility model.

[0012] Figure 2 It is the side view of the present utility model.

[0013] Figure 3 It is the three-dimensional structural schematic diagram of the present utility model.

[0014] Figure 4 is Figure 2 the enlarged structural schematic diagram of part A of Detailed Embodiment

[0015] As Figures 1-4 shown, a gantry overhead rail for inverted double robots includes two legs 1, the top of the legs 1 is provided with a main beam 2, both sides of the top of the main beam 2 are provided with two X-axis moving devices, Y-axis moving devices are arranged on the X-axis moving devices, and Z-axis moving devices are arranged on the Y-axis moving devices. The X-axis moving device includes a moving seat 3, the longitudinal section of the moving seat 3 is a portal structure, the horizontal plate of the moving seat 3 is located above the main beam 2, the vertical plates of the moving seat 3 are located on both sides of the main beam 2, a driving motor 1 4 is installed on the side of one of the vertical plates of the moving seat 3, a gear 1 5 is installed on the driving shaft of the driving motor 1 4, the gear 1 5 meshes with a rack 1 6, and the rack 1 6 is installed on the side of the main beam 2. The Y-axis moving device is installed on the top of the moving seat 3.

[0016] Specifically, the welding robot is located at the bottom of the lifting arm 16. The welding robot is not shown in the figure. Two welding robots can move along the main beam 2 through the X-axis moving device, enabling a weld seam to be welded simultaneously from both ends towards the middle, improving work efficiency. For the operation of welding both sides of a weld seam: the X-axis moving device positions the two welding robots on both sides of a weld seam, and the Y-axis moving device drives the welding robots to perform welding on both sides of the same weld seam. The working process of the X-axis moving device is as follows: The driving motor 1 starts, driving the gear 1 to rotate. The gear 1 meshes with the rack 1, and the rack 1 is fixed, thereby driving the gear 1 to move on the rack 1, and thus enabling the moving seat 3 to move along the rack 1.

[0017] The Y-axis moving device includes a Y-axis cantilever 7 fixedly connected to the top of the moving seat 3. One end of the Y-axis cantilever 7 extends away from the main beam 2. The Y-axis cantilever 7 and the main beam 2 are perpendicularly arranged. Two spaced slide rails 1 are provided on the inner side of the Y-axis cantilever 7 along its length direction. A rack 2 is provided between the two slide rails 1. Slide blocks 1 are slidably arranged on the slide rails 1. The end face of the slide block 1 is fixedly connected to a slide plate 11. A driving motor 2 is installed on the outer side of the slide plate 11. The rotating shaft of the driving motor 2 is connected to a gear 2, and the gear 2 meshes with the rack 2.

[0018] Specifically, when the driving motor 2 starts, it drives the gear 2 to rotate. The gear 2 meshes with the rack 2, and the rack 2 is fixed. The gear 2 moves in the Y direction along the rack 2, thereby driving the slide plate 11 to move along the Y-axis cantilever 7, and thus realizing the Y-direction movement of the welding robot. The slide rails 1 remain stationary, and the slide blocks 1 move with the slide plate 11. The slide blocks 1 and the slide rails 1 play a guiding role.

[0019] The Z-axis moving device is installed on the side of the slide plate 11. The Z-axis moving device includes two spaced slide blocks 2 fixedly arranged on the slide plate 11. The outside of the slide block 2 is slidably provided with a slide rail 2. The slide rail 2 is fixedly connected to a vertically arranged lifting arm 16. A rack 3 is installed on one side of the lifting arm 16 close to the moving seat 3. The rack 3 meshes with a gear 3, and the gear 3 is installed on a driving motor 3. The driving motor 3 is fixedly installed on the slide plate 11.

[0020] Specifically, when the driving motor 3 starts, it drives the gear 3 to rotate. The driving motor 3 remains stationary, and the rack 3 meshing with the gear 3 moves in the Z direction. The lifting arm 16 fixedly connected to the rack 3 also moves in the Z direction. The slide blocks 2 also remain stationary, and the slide rail 2 cooperating with the slide blocks 2 moves up and down along the slide blocks 2. The slide blocks 2 and the slide rail 2 play a guiding role.

[0021] On both sides of the main beam 2 and above the first rack 6, a third slide rail 20 is installed. A third slider 21 is slidably arranged outside the third slide rail 20, and the third slider 21 is fixedly connected to the inner side surface of the moving seat 3; the third slider 21 and the third slide rail 20 achieve guiding in the X-axis direction.

[0022] Flexible bellows 22 are fixedly connected to both ends of the first slide rail 10 on the Y-axis cantilever 7, and buffers 23 are fixedly connected to both ends of the slide plate 11; the flexible bellows 22 and the buffers 23 function as cushions.

[0023] The third gear 18 is a helical gear, and the third rack 17 is a helical rack; specifically, the load-bearing capacity of using helical gears is stronger.

Claims

1. A gantry overhead rail for hanging double robots, comprising two legs, with a main beam installed on the top of the legs, characterized in that: Two X-axis moving devices are arranged on both sides of the top of the main beam, and the X-axis moving devices are each provided with a Y-axis moving device, and the Y-axis moving devices are each provided with a Z-axis moving device. The X-axis moving device includes a moving seat, and the longitudinal section of the moving seat is a gate-shaped structure. The horizontal plate of the moving seat is located above the main beam, and the vertical plates of the moving seat are located on both sides of the main beam. A driving motor 1 is installed on the side of one of the vertical plates of the moving seat, and a gear 1 is installed on the driving shaft of the driving motor 1. The gear 1 is meshed with a rack 1, and the rack 1 is installed on the side of the main beam. The Y-axis moving device is installed on the top of the moving seat.

2. The gantry rail for an inverted dual robot according to claim 1, characterized in that: The Y-axis moving device includes a Y-axis cantilever fixedly connected to the top of the moving seat, one end of the Y-axis cantilever extends in a direction away from the main beam, the Y-axis cantilever and the main beam are arranged perpendicular to each other, the inner side surface of the Y-axis cantilever is provided with two spaced-apart slide rails 1 along its length direction, a rack 2 is arranged between the two slide rails 1, a slider 1 is slidably arranged on the slide rail 1, the end surface of the slider 1 is fixedly connected to the slide plate, the outer side surface of the slide plate is installed with a driving motor 2, the rotating shaft of the driving motor 2 is connected with a gear 2, and the gear 2 is meshed with the rack 2.

3. The gantry rail for an inverted dual robot according to claim 2, characterized in that: The Z-axis moving device is installed on the side of the slide board, and the Z-axis moving device includes two sliders 2 fixed on the slide board and arranged at intervals. The outer side of the slider 2 is slidingly provided with a slide rail 2, and the slide rail 2 is fixedly connected with a vertically arranged lifting arm. A rack 3 is installed on the side of the lifting arm close to the moving seat, and the rack 3 is meshed with a gear 3. The gear 3 is installed on a driving motor 3, and the driving motor 3 is fixedly installed on the slide board.

4. The gantry rail for an inverted dual robot according to claim 1, characterized in that: Slide rails 3 are installed on both sides of the main beam and above the rack 1. Slide blocks 3 are slidably arranged outside the slide rails 3. The slide blocks 3 are fixedly connected to the inner side surface of the moving seat.

5. The gantry rail for an inverted dual robot according to claim 1, characterized in that: A flexible accordion cover is fixedly connected to both ends of the Y-axis cantilever and the slide rail, and a buffer is fixedly connected to both ends of the slide plate.

6. The gantry rail for an inverted dual robot according to claim 3, characterized in that: Gear three is a helical gear, and rack three is a helical rack.

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