Portal frame type manipulator

Abstract

The utility model discloses a portal frame type mechanical arm which comprises a cross beam. The lifting hook mechanism comprises a fixed lifting hook, a movable lifting hook and a rotary driving device; the fixed lifting hook is vertically arranged below one side of the cross beam, and a supporting block protruding towards one side of the movable lifting hook is arranged at the bottom of the fixed lifting hook; the movable lifting hook comprises a vertical arm and a transverse arm, the upper part of the vertical arm is rotatably connected to the other side of the cross beam, one end of the transverse arm is connected with the lower end of the vertical arm, and the other end of the transverse arm is lapped on the supporting block; the rotary driving device is fixed with the cross beam and is in transmission connection with the vertical arm; the number of the lifting hook mechanisms is two, and the two lifting hook mechanisms are arranged in the length direction of the cross beam in a spaced mode. The movable lifting hook rotates under the action of the rotary driving device, so that the other end of the transverse arm is in lap joint with the supporting block, after lap joint, a closed inverted gantry structure can be formed, the axle is limited in the inverted gantry structure, and the problem that the axle falls off can be effectively avoided.

Description

Technical Field

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

[0002] In the rail transit industry, for the axles of dedicated wheel-rail transmission technologies, such as the axles of vehicles like bullet trains, locomotives, freight cars, passenger cars, subways, etc., during the axle maintenance process, it is necessary to transport the axles from one process to another, and at this time, a manipulator is used.

[0003] As Figure 5 shown, the existing manipulator is provided with a pair of claws 8. When the two claws 8 approach each other, it is called "closing" or "holding", and when the two claws 8 move away from each other, it is called "opening" or "spreading". When closing and holding, the axle 7 can be clamped, but the bottoms of the two claws 8 in the closed state are in a non-closed state, and the weight of the axle 7 acting on the closed claws 8 has a tendency to separate the claws 8, easily causing accidents such as axle deviation and axle dropping. Summary of the Utility Model

[0004] Therefore, the utility model provides a gantry manipulator to solve the problems of easy axle deviation and / or axle dropping when the existing manipulator "grasps and transports" the axle.

[0005] In order to achieve the above object, the utility model provides the following technical solutions:

[0006] A gantry manipulator, comprising:

[0007] A cross beam;

[0008] A hook mechanism, the hook mechanism includes a fixed hook, a moving hook and a rotary driving device; the fixed hook is vertically arranged below one side of the cross beam, and a supporting block protruding towards one side of the moving hook is arranged at the bottom of the fixed hook; the moving hook includes a vertical arm and a horizontal arm, the upper part of the vertical arm is rotatably connected to the other side of the cross beam, one end of the horizontal arm is connected to the lower end of the vertical arm, and the other end of the horizontal arm is used for lapping on the supporting block; the rotary driving device is fixed to the cross beam and is in transmission connection with the vertical arm;

[0009] Wherein, there are two hook mechanisms, and the two hook mechanisms are arranged at intervals along the length direction of the cross beam.

[0010] Further, the gantry manipulator further includes a pressing shaft mechanism, the pressing shaft mechanism includes a power telescopic device and a pressing block, the body part of the power telescopic device is fixed at the end of the cross beam, the telescopic part of the power telescopic device telescopically moves vertically, and the pressing block is fixed at the bottom of the telescopic part;

[0011] There are two pressing mechanisms, and the two pressing mechanisms are respectively arranged at both ends of the cross beam.

[0012] Furthermore, a V-shaped support for positioning the axle is arranged on the upper side surface of the transverse arm.

[0013] Furthermore, the gantry robot further includes a lifting mechanism. The main body part of the lifting mechanism is arranged vertically, the lifting part of the lifting mechanism is movably arranged on the main body part of the lifting mechanism, and the lifting part of the lifting mechanism can move along the extending direction of the main body part of the lifting mechanism. The lower end of the lifting part of the lifting mechanism is connected to the cross beam.

[0014] Furthermore, the gantry robot further includes a transverse movement mechanism. The main body part of the transverse movement mechanism is arranged horizontally in a direction perpendicular to the cross beam. The transverse movement part of the transverse movement mechanism is movably arranged on the main body part of the transverse movement mechanism, and the transverse movement part of the transverse movement mechanism can move along the extending direction of the main body part of the transverse movement mechanism. The main body part of the lifting mechanism is fixed on the transverse movement part of the transverse movement mechanism.

[0015] Furthermore, the gantry robot further includes a handling mechanism. The main body part of the handling mechanism extends in the direction from one process to another process. The handling part of the handling mechanism is movably arranged on the main body part of the handling mechanism, and the handling part of the handling mechanism can move along the extending direction of the main body part of the handling mechanism. The main body part of the transverse movement mechanism is fixed on the handling part of the handling mechanism.

[0016] The utility model has the following advantages:

[0017] The moving hook rotates under the action of the rotary drive device, so that the other end of the transverse arm is lapped on the supporting block. After lapping, a closed inverted gantry structure can be formed, and the axle is limited in the inverted gantry structure, which can effectively avoid the problem of the axle falling off.

[0018] The above summary is only for the purpose of the specification and is not intended to be limiting in any way. In addition to the above-described illustrative aspects, embodiments, and features, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can be obtained by extension based on the provided drawings without creative efforts.

[0020] The structures, proportions, sizes, etc. illustrated in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementation conditions of the present utility model. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present utility model.

[0021] Figure 1 It is a partial structural schematic diagram of a gantry manipulator provided by an embodiment of the present utility model;

[0022] Figure 2 It is a structural schematic diagram of a gantry manipulator provided by an embodiment of the present utility model;

[0023] Figure 3 It is a side view structural schematic diagram of a gantry manipulator after grasping an axle provided by an embodiment of the present utility model;

[0024] Figure 4 It is a side view structural schematic diagram of a gantry manipulator when not grasping an axle provided by an embodiment of the present utility model;

[0025] Figure 5 It is a structural schematic diagram of a manipulator provided in the background art of the present utility model.

[0026] In the figure: 1 - handling mechanism, 2 - transverse movement mechanism, 3 - lifting mechanism, 4 - cross beam, 41 - fixing plate, 42 - flange, 5 - hook mechanism, 51 - fixed hook, 511 - supporting block, 52 - moving hook, 521 - vertical arm, 522 - horizontal arm, 523 - V-shaped support, 53 - rotation driving device, 6 - pressing shaft mechanism, 61 - power telescopic device, 62 - pressing block, 7 - axle, 8 - claw. Detailed implementation manners

[0027] In the following, only some exemplary embodiments are briefly described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary in nature rather than restrictive.

[0028] As Figures 1-4 shown, this embodiment provides a gantry manipulator, including a cross beam 4 and a hook mechanism 5.

[0029] The cross beam 4 is arranged along the X-axis direction. A connecting plate is arranged at the end of the cross beam 4 along the Y-axis direction for installing the hook mechanism 5. Specifically, the connecting plate at least includes a fixing plate 41 arranged horizontally; optionally, the fixing plate 41 passes through the bottom of the cross beam 4 and extends out of both sides of the cross beam 4 along the Y-axis direction. The position of the fixing plate 41 at the bottom of the cross beam 4 can be connected to the cross beam 4 by bolts or fixed by welding; optionally, one end of the fixing plate 41 is welded and fixed to the side of the cross beam 4 and is reinforced by rib plates (a kind of vertical plate, also called a reinforcing plate), and the rib plates are respectively welded and fixed to the fixing plate 41 and the side of the cross beam 4.

[0030] The hook mechanism 5 includes a fixed hook 51, a movable hook 52 and a rotary driving device 53. The fixed hook 51 and the movable hook 52 are distributed on both sides of the cross beam 4 along the Y-axis direction, and the rotary driving device 53 is on the same side as the movable hook 52. There are two hook mechanisms 5, and the two hook mechanisms 5 are arranged at intervals along the length direction of the cross beam 4. The fixed hook 51 is vertically arranged below one side of the cross beam 4; optionally, the fixed hook 51 is a steel column with a circular cross section, and the upper end is connected to the fixing plate 41 by thread, or connected to the fixing plate 41 by bolts, or fixed in a welding form. A supporting block 511 protruding towards the side of the movable hook 52 is arranged at the bottom of the fixed hook 51; optionally, the two movable hooks 52 share one supporting block 511, and at this time the supporting block 511 is a beam or a plate. The movable hook 52 is in an L shape and includes a vertical arm 521 and a horizontal arm 522. The upper part of the vertical arm 521 is rotatably connected to the other side of the cross beam 4. One end of the horizontal arm 522 is connected to the lower end of the vertical arm 521, and the other end of the horizontal arm 522 is used for lapping on the supporting block 511; optionally, the horizontal arm 522 and the vertical arm 521 are integrally formed; optionally, a disc is installed after the upper part of the vertical arm 521 passes through a transverse plate, and a thrust bearing is arranged between the disc and the fixing plate 41; optionally, a gear is installed at the upper end of the vertical arm 521 and is in transmission connection with the rotary driving device 53 through the gear. The rotary driving device 53 is fixed to the fixing plate 41 on the side of the cross beam 4 and is in transmission connection with the vertical arm 521; optionally, the rotary driving device 53 can adopt a servo motor, a stepping motor, a pneumatic motor, a hydraulic motor, etc., and is connected to the gear installed at the upper end of the vertical arm 521 through a gearbox or a gear case.

[0031] When the rotary drive device 53 operates, the vertical arm 521 rotates forward or backward, driving the horizontal arm 522 closer to or farther from the fixed hook 51. When the end of the horizontal arm 522 is lapped on the supporting block 511, the fixed hook 51 and the movable hook 52 form an inverted gantry structure, which is also the state for grasping the axle 7. The end of the axle 7 is supported on the horizontal arm 522, and the movement along the Y-axis direction is restricted by the fixed hook 51 and the vertical arm 521 to prevent the axle 7 from falling. When the horizontal arm 522 moves away from the fixed hook 51, during downward or upward movement, the axle 7 can be relatively moved between the fixed hook 51 and the vertical arm 521 or moved out from between the fixed hook 51 and the vertical arm 521.

[0032] In this embodiment, the gantry manipulator further includes two pressing mechanisms 6, which are respectively arranged at both ends of the cross beam 4. The pressing mechanism 6 includes a power telescopic device 61 and a pressing block 62. The power telescopic device 61 uses a device such as a cylinder, a hydraulic cylinder or a linear motor that can provide a linear thrust. The body part (the immovable part, such as the cylinder block of the cylinder) of the power telescopic device 61 is fixed at the end of the cross beam 4 (referring to one end along the X-axis direction), and the telescopic part (the movable part, such as the piston rod of the cylinder) of the power telescopic device 61 telescopically moves along the vertical (Z-axis direction) (in this application, the telescopic part can extend downward), and the pressing block 62 is fixed at the bottom of the telescopic part. When the axle 7 is located in the inverted gantry structure, the pressing block 62 moves downward under the action of the power telescopic device 61 and finally presses on the axle 7, so that the axle 7 can be locked in the inverted gantry structure, ensuring that the axle 7 does not roll during transportation, improving stability and safety, and can also grasp eccentric and overweight axles 7.

[0033] In this embodiment, a V-shaped support 523 for positioning the axle 7 is arranged on the upper side surface of the horizontal arm 522. Optionally, the middle part of the horizontal arm 522 is recessed downward, and two support plates are installed in the recess, and the two support plates are arranged in a V shape. The axle 7 is located within the V-shaped support 523 under the action of its own weight, improving the stability during transportation.

[0034] In this embodiment, the gantry manipulator further includes a handling mechanism 1, a transverse movement mechanism 2, and a lifting mechanism 3. All three are linear movement mechanisms, which can adopt linear modules or linear mechanisms driven by gears and racks. The specific structures of the three are prior art and will not be elaborated here. The body part of the handling mechanism 1 extends in the direction from one process to another (i.e., extends along the X-axis direction). The handling part of the handling mechanism 1 is movably arranged on the body part of the handling mechanism 1, and the handling part of the handling mechanism 1 can move along the extension direction of the body part of the handling mechanism 1 (for example, driven by a motor, a pneumatic motor, a hydraulic motor, etc.). The body part of the transverse movement mechanism 2 is horizontally arranged in a direction perpendicular to the cross beam 4 (i.e., along the Y-axis direction), and the body part of the transverse movement mechanism 2 is fixed on the handling part of the handling mechanism 1. The transverse movement part of the transverse movement mechanism 2 is movably arranged on the body part of the transverse movement mechanism 2, and the transverse movement part of the transverse movement mechanism 2 can move along the extension direction of the body part of the transverse movement mechanism 2 (for example, driven by a motor, a pneumatic motor, a hydraulic motor, etc.). The body part of the lifting mechanism 3 is vertically arranged (i.e., arranged along the Z-axis direction), and the body part of the lifting mechanism 3 is fixed on the transverse movement part of the transverse movement mechanism 2. The lifting part of the lifting mechanism 3 is movably arranged on the body part of the lifting mechanism 3, and the lifting part of the lifting mechanism 3 can move along the extension direction of the body part of the lifting mechanism 3. The lower end of the lifting part of the lifting mechanism 3 is connected to the upper side of the middle part of the cross beam 4 through a flange 42. In this way, movement in the X, Y, and Z directions can be achieved, facilitating the grasping and movement of the axle 7.

[0035] In the description of this specification, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying 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 construed as a limitation to this application.

[0036] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality" means two or more, unless otherwise specifically defined.

[0037] In this application, unless otherwise clearly defined and limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] In this application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0039] The above disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure of this application, the components and settings of specific examples are described above. Of course, they are only examples and are not intended to limit this application. In addition, this application may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0040] As mentioned above, the above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of various changes or substitutions, and these should all be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. A gantry type manipulator, characterized in that: include: beam; A hook mechanism, the hook mechanism comprising a fixed hook, a movable hook and a rotation drive device; The fixed hook is vertically arranged below one side of the cross beam, and a support block protruding toward one side of the moving hook is arranged at the bottom of the fixed hook; the moving hook comprises a vertical arm and a horizontal arm, the upper part of the vertical arm is rotatably connected to the other side of the cross beam, one end of the horizontal arm is connected to the lower end of the vertical arm, and the other end of the horizontal arm is used to overlap the support block; the rotation drive device is fixed to the cross beam and is transmission-connected to the vertical arm; There are two hook mechanisms, and the two hook mechanisms are spaced apart along the length direction of the beam.

2. The gantry type manipulator according to claim 1, characterized in that: The gantry type manipulator also includes a pressing mechanism, which includes a power telescopic device and a pressing block, the main body of the power telescopic device is fixed to the end of the beam, the telescopic part of the power telescopic device is telescopic in the vertical direction, and the pressing block is fixed to the bottom of the telescopic part; There are two axle-holding mechanisms, which are respectively arranged at two ends of the crossbeam.

3. The gantry type manipulator according to claim 1, characterized in that: The upper side of the transverse arm is provided with a V-shaped support for positioning the axle.

4. The gantry type manipulator according to claim 1, characterized in that: The gantry-type manipulator also includes a lifting mechanism, the main body of the lifting mechanism is vertically arranged, the lifting part of the lifting mechanism is movably arranged on the main body of the lifting mechanism, and the lifting part of the lifting mechanism can move along the extension direction of the main body of the lifting mechanism, and the lower end of the lifting part of the lifting mechanism is connected to the crossbeam.

5. The gantry type manipulator according to claim 4, characterized in that: The gantry-type manipulator also includes a transverse movement mechanism, a main body of the transverse movement mechanism is laterally arranged in a direction perpendicular to the crossbeam, a transverse movement portion of the transverse movement mechanism is movably arranged on the main body of the transverse movement mechanism, and the transverse movement portion of the transverse movement mechanism can move along the extension direction of the main body of the transverse movement mechanism, and the main body of the lifting mechanism is fixed on the transverse movement portion of the transverse movement mechanism.

6. The gantry type manipulator according to claim 5, characterized in that: The gantry-type robot also includes a conveying mechanism, a main body of the conveying mechanism extends in a direction from one process to another process, the conveying part of the conveying mechanism is movably arranged on the main body of the conveying mechanism, and the conveying part of the conveying mechanism can move along the extension direction of the main body of the conveying mechanism, and the main body of the transverse movement mechanism is fixed on the conveying part of the conveying mechanism.

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