Gantry material taking and overturning mechanism

Abstract

The utility model relates to the technical field of gantry material taking, in particular to a gantry material taking turnover mechanism. Comprising a portal frame, an X-axis moving mechanism is arranged on the portal frame, a Z-axis moving mechanism is arranged on the X-axis moving mechanism, a clamping jaw fixing frame of a cross structure is arranged at the bottom of the Z-axis moving mechanism, transverse plates are arranged on all edges of the bottom of the clamping jaw fixing frame, vertical plates are arranged at the bottoms of the transverse plates, and vertical sliding rails are hinged to the ends, away from the transverse plates, of the vertical plates; one side of the vertical sliding rail is connected with the transverse plate through an overturning air cylinder, and a connecting plate is installed on the vertical sliding rail in a sliding mode. The four clamping jaw mechanisms are arranged to clamp four workpieces at the same time, rotation, overturning and displacement adjustment are conducted on the four workpieces respectively, workpiece station errors are eliminated, meanwhile, the X-axis moving mechanism and the Z-axis moving mechanism are used for controlling the whole set of clamping jaw mechanisms to move in the X-axis direction and the Z-axis direction respectively, transplanting work of the four workpieces is achieved at the same time, and the working efficiency is improved. And the working efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of gantry material taking, in particular to a gantry material taking and flipping mechanism. Background Art

[0002] The gantry material taking and flipping mechanism is an automated device widely used in industries such as mechanical manufacturing and material handling. Its basic function is to grasp, flip, and place workpieces through a mechanical or pneumatic system to meet different processing or transfer requirements. This mechanism usually has a high degree of automation and flexibility, which can improve production efficiency and reduce labor costs.

[0003] However, the currently used gantry material taking and flipping mechanism can only flip or displace and adjust one or two mechanical processing parts at the same time, resulting in low work efficiency. Therefore, it is necessary to propose a gantry material taking and flipping mechanism that can improve work efficiency. Summary of the Utility Model

[0004] Aiming at the deficiencies of the prior art, the utility model provides a gantry material taking and flipping mechanism that can solve the problem of low work efficiency in the prior art.

[0005] To achieve the above technical purpose, the utility model proposes the following technical solution: A gantry material taking and flipping mechanism includes a gantry frame. An X-axis moving mechanism is provided on the gantry frame. A Z-axis moving mechanism is provided on the X-axis moving mechanism. A cross-shaped jaw fixing frame is provided at the bottom of the Z-axis moving mechanism. Horizontal plates are arranged at the edges of the bottom of the jaw fixing frame. Vertical plates are provided at the bottom of the horizontal plates. One end of each vertical plate far away from the horizontal plate is hinged with a vertical slide rail. One side of the vertical slide rail is connected with the horizontal plate through a flipping cylinder. A connecting plate is slidably installed on the vertical slide rail. A lifting cylinder for driving the connecting plate to lift is provided at the bottom of the vertical slide rail. A jaw mechanism is connected to the bottom of the connecting plate through a rotating cylinder.

[0006] Further, the X-axis moving mechanism includes an X-axis linear guide rail, an X-axis rack, and a mounting seat slidably installed on the X-axis linear guide rail. The X-axis linear guide rail and the X-axis rack are both installed on the side surface of the gantry frame crossbeam. An X-axis driving motor is provided on the mounting seat. An X-axis gear meshing with the X-axis rack is installed at the output shaft end of the X-axis driving motor.

[0007] Further, the Z-axis moving mechanism includes a Z-axis linear guide rail slidably installed in the mounting seat. A Z-axis rack is provided on one side of the Z-axis linear guide rail. A Z-axis driving motor is installed on the outer side of the mounting seat. The output shaft end of the Z-axis driving motor passes through the mounting seat and is connected with a Z-axis gear meshing with the Z-axis rack.

[0008] Further, the cross plates are all slidably arranged at the bottom of the jaw fixing frame. The cross plates on a pair of symmetric sides at the bottom of the jaw fixing frame are driven by a first transmission belt, and a first servo motor for driving the first transmission belt is arranged on the jaw fixing frame; second transmission belts are arranged on the other two sides at the bottom of the jaw fixing frame, and the second transmission belts are connected to the cross plates on these sides. Second servo motors for respectively driving the second transmission belts to rotate are arranged on the jaw fixing frame.

[0009] Further, the jaw mechanism includes a left jaw, a right jaw, a support plate, and a double-headed clamping cylinder arranged on the support plate. The left jaw and the right jaw are both slidably mounted on the support plate, and the output ends of the double-headed clamping cylinder are respectively connected to the left jaw and the right jaw.

[0010] Compared with the prior art, the beneficial effects produced by the present utility model are as follows: The structure of the present utility model is novel, ingeniously conceived, and simple and convenient to operate. Compared with the prior art, it has the following advantages: The present utility model simultaneously clamps four workpieces through four jaw mechanisms, and respectively rotates, flips, and adjusts the displacement of the four workpieces to eliminate the workpiece station error. At the same time, the whole set of jaw mechanisms are controlled by the X-axis moving mechanism and the Z-axis moving mechanism to move in the X-axis and Z-axis directions respectively, so as to realize the transplanting work of the four workpieces at the same time, greatly improving the work efficiency; through the cooperation of the jaw fixing frame with structures such as the first servo motor and the first synchronous belt, the transplanting work of a single jaw mechanism is realized, improving the flexibility of the application of this structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is the overall structural schematic diagram of the present utility model;

[0012] Figure 2 is the bottom structural schematic diagram of the jaw fixing frame of the present utility model;

[0013] Figure 3 is the Figure 1 enlarged view of the structure at A in the present utility model;

[0014] Figure 4 is the Figure 1 enlarged view of the structure at B in the present utility model.

[0015] In the figure, 1 is the gantry; 2 is the X-axis moving mechanism; 21 is the X-axis linear guide rail; 22 is the X-axis rack; 23 is the mounting seat; 24 is the X-axis driving motor; 3 is the Z-axis moving mechanism; 31 is the Z-axis linear guide rail; 32 is the Z-axis rack; 33 is the Z-axis driving motor; 4 is the jaw fixing frame; 5 is the cross plate; 6 is the vertical plate; 7 is the vertical slide rail; 8 is the turning cylinder; 9 is the connecting plate; 10 is the lifting cylinder; 11 is the rotating cylinder; 12 is the jaw mechanism; 121 is the left jaw; 122 is the right jaw; 123 is the support plate; 124 is the double-headed clamping cylinder; 13 is the first transmission belt; 14 is the first servo motor; 15 is the second transmission belt; 16 is the second servo motor. Detailed implementation manners

[0016] The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.

[0017] As Figures 1-4 shown, the present invention provides a gantry material taking and turning mechanism, including a gantry 1. An X-axis moving mechanism 2 is provided on the gantry 1. A Z-axis moving mechanism 3 is provided on the X-axis moving mechanism 2. A cross-shaped jaw fixing frame 4 is provided at the bottom of the Z-axis moving mechanism 3. Cross plates 5 are slidably installed at each edge of the bottom of the jaw fixing frame 4. Vertical plates 6 are connected to the bottoms of the cross plates 5 by bolts. One end of the vertical plate 6 away from the cross plate 5 is hinged with a vertical slide rail 7. One side of the vertical slide rail 7 is connected to the cross plate 5 by a turning cylinder 8. Two ends of the turning cylinder 8 are respectively hinged with the vertical slide rail 7 and the cross plate 5. A connecting plate 9 is slidably installed on the vertical slide rail 7. A lifting cylinder 10 for driving the connecting plate 9 to lift is provided at the bottom of the vertical slide rail 7. The bottom of the connecting plate 9 is connected to a jaw mechanism 12 by a rotating cylinder 11. The rotating cylinder 11 is installed at the bottom of the connecting plate 9 by bolts.

[0018] As Figures 1-3As shown in the figure, the gripper fixing frame 4 with a cross structure can install four gripper mechanisms 12. The X-axis moving mechanism 2 simultaneously controls the displacement of the four gripper mechanisms 12 along the X-axis direction, and the Z-axis moving mechanism 3 simultaneously controls the displacement of the four gripper mechanisms 12 along the Z-axis direction, realizing the function of grasping, turning and transferring four workpieces, greatly improving the work efficiency. The gripper mechanism 12 holds the workpiece, and each gripper mechanism 12 can be controlled to rotate, displace and turn through the rotary cylinder 11, the lifting cylinder 10 and the turning cylinder 8 respectively. Specifically, the workpiece is driven to rotate by the turning cylinder 11, the gripper mechanism 12 is controlled to rise or fall by the lifting cylinder 10, and the gripper mechanism 12 is controlled to turn a certain angle by the turning cylinder 8 to adjust a single gripper mechanism 12, eliminate the product station error and improve the transfer effect. In the present utility model, most of the components are fixed by the detachable connection of bolts, which is convenient for its later maintenance and repair work.

[0019] The X-axis moving mechanism 2 includes an X-axis linear guide rail 21, an X-axis rack 22 and a mounting seat 23 slidably mounted on the X-axis linear guide rail 21. The X-axis linear guide rail 21 and the X-axis rack 22 are both mounted on the side surface of the crossbeam of the gantry 1. An X-axis driving motor 24 is provided on the mounting seat 23, and an X-axis gear meshing with the X-axis rack 22 is mounted at the output shaft end of the X-axis driving motor 24.

[0020] As Figure 3 shown, the mounting seat 23 is slidably mounted on the X-axis linear guide rail 21, and the mounting seat 23 is driven by the X-axis driving motor 24 to drive the Z-axis moving mechanism 3 to move along the X-axis direction, realizing the overall displacement of the gripper mechanism 12 at the bottom of the Z-axis moving mechanism 3 along the X-axis direction.

[0021] The Z-axis moving mechanism 3 includes a Z-axis linear guide rail 31 slidably mounted in the mounting seat 23. A Z-axis rack 32 is provided on one side of the Z-axis linear guide rail 31. A Z-axis driving motor 33 is mounted on the outer side of the mounting seat 23, and the output shaft end of the Z-axis driving motor 33 passes through the mounting seat 23 and is connected with a Z-axis gear meshing with the Z-axis rack 32.

[0022] As Figure 3 shown, the mounting seat 23 is of a hollow structure, and the Z-axis linear guide rail 31 is slidably connected with the inner wall of the mounting seat 23. Through the Z-axis rack 32, the Z-axis driving motor 33 drives the Z-axis linear guide rail 31 to slide up and down in the mounting seat 23 to drive the gripper mechanism 12, realizing the overall displacement of the gripper mechanism 12 along the Z-axis direction.

[0023] The cross plates 5 are all slidably arranged at the bottom of the jaw fixing frame 4. The cross plates 5 on both symmetric sides at the bottom of the jaw fixing frame 4 are driven by a first transmission belt 13, and a first servo motor 14 for driving the first transmission belt 13 is arranged on the jaw fixing frame 4; on the other two sides at the bottom of the jaw fixing frame 4, second transmission belts 15 are arranged, and the second transmission belts 15 are connected to the cross plates 5 on these sides, and second servo motors 16 for respectively driving the second transmission belts 15 are arranged on the jaw fixing frame 4.

[0024] As Figure 2 shown, synchronous wheels are installed on both symmetric sides at the bottom of the jaw fixing frame 4. The first transmission belt 13 is arranged between the two synchronous wheels. The output shaft end of the first servo motor 14 is connected to any one of the synchronous wheels. The first transmission belt 13 drives the jaw mechanism 12 at the bottom of the cross plate 5 to move along the jaw fixing frame 4. Similarly, a pair of synchronous wheels are also installed on the other two sides at the bottom of the jaw fixing frame 4. Each pair of synchronous wheels is connected by a second transmission belt 15. A second servo motor 16 is installed on one side of any synchronous wheel on the jaw fixing frame 4. By driving the synchronous wheel to rotate through the second servo motor 16, the second servo motor 16 drives the jaw mechanisms 12 at the bottoms of the other two cross plates 5 to move, and the transplanting work of a single jaw mechanism 12 can be controlled.

[0025] The jaw mechanism 12 includes a left jaw 121, a right jaw 122, a support plate 123, and a double-headed clamping cylinder 124 arranged on the support plate 123. The left jaw 121 and the right jaw 122 are both slidably installed on the support plate 123, and the output ends of the double-headed clamping cylinder 124 are respectively connected to the left jaw 121 and the right jaw 122.

[0026] As Figure 4 shown, the double-headed clamping cylinder 124 simultaneously drives the left jaw 121 and the right jaw 122 to move relatively or away from each other, so as to clamp and release the workpiece; the sides of the left jaw 121 and the right jaw 122 are slidably connected to the support plate 123, which can improve the stability when the left jaw 121 and the right jaw 122 move relatively or away from each other, and improve the stability of clamping.

[0027] Principle of use: First, the workpiece is clamped by the left jaw 121 and the right jaw 122. The rotary cylinder 11 can drive the clamped workpiece to rotate horizontally. The lifting cylinder 10 controls the up and down movement of the workpiece to adjust the height of picking and placing each workpiece. The flipping cylinder 8 controls the workpiece to flip by a certain angle. The first servo motor 14 and the second servo motor 16 can control the workpiece clamped by the jaw mechanism 12 to move at the bottom of the jaw fixing frame 4, which is convenient for controlling the transplanting of a single jaw mechanism 12. The X-axis drive motor 24 controls the four jaw mechanisms 12 to move a certain displacement along the X-axis direction, and the Z-axis drive motor 33 controls the four jaw mechanisms 12 to move along the Z-axis direction to adjust the overall height of the entire jaw mechanism 12, so as to control the entire set of jaw mechanisms.

[0028] 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 means 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 material reclaiming and turning mechanism, comprising a gantry frame (1), characterized in that: An X-axis moving mechanism (2) is provided on the gantry (1), a Z-axis moving mechanism (3) is provided on the X-axis moving mechanism (2), a cross-structured clamping frame (4) is provided at the bottom of the Z-axis moving mechanism (3), a horizontal plate (5) is provided at each side of the bottom of the clamping frame (4), a vertical plate (6) is provided at the bottom of the horizontal plate (5), a vertical slide rail (7) is hinged at one end of the vertical plate (6) away from the horizontal plate (5), one side of the vertical slide rail (7) is connected to the horizontal plate (5) through a tilting cylinder (8), a connecting plate (9) is slidably mounted on the vertical slide rail (7), a lifting cylinder (10) for driving the connecting plate (9) to lift is provided at the bottom of the vertical slide rail (7), and a clamping mechanism (12) is connected to the bottom of the connecting plate (9) through a rotating cylinder (11).

2. A gantry material reclaiming and turning mechanism according to claim 1, characterized in that: The X-axis moving mechanism (2) comprises an X-axis linear guide rail (21), an X-axis rack (22) and a mounting seat (23) slidably mounted on the X-axis linear guide rail (21); the X-axis linear guide rail (21) and the X-axis rack (22) are both mounted on the side of the crossbeam of the gantry (1); an X-axis driving motor (24) is provided on the mounting seat (23); an X-axis gear meshing with the X-axis rack (22) is mounted on the output shaft end of the X-axis driving motor (24).

3. A gantry material reclaiming and turning mechanism according to claim 2, characterized in that: The Z-axis moving mechanism (3) comprises a Z-axis linear guide rail (31) slidably mounted in a mounting seat (23); a Z-axis rack (32) is provided on one side of the Z-axis linear guide rail (31); a Z-axis drive motor (33) is mounted on the outer side of the mounting seat (23); and an output shaft end of the Z-axis drive motor (33) passes through the mounting seat (23) and is connected to a Z-axis gear meshing with the Z-axis rack (32).

4. A gantry material reclaiming and turning mechanism according to claim 1, characterized in that: The transverse plates (5) are slidably arranged at the bottom of the clamping jaw fixing frame (4); the transverse plates (5) on two symmetrical sides of the bottom of the clamping jaw fixing frame (4) are driven by a first transmission belt (13); the clamping jaw fixing frame (4) is provided with a first servo motor (14) for driving the first transmission belt (13); the other two sides of the bottom of the clamping jaw fixing frame (4) are provided with a second transmission belt (15); the second transmission belt (15) is connected to the transverse plates (5) on the side; the clamping jaw fixing frame (4) is provided with a second servo motor (16) for driving the second transmission belt (15) to rotate.

5. The gantry material reclaiming and turning mechanism according to claim 1 is characterized in that: The clamping jaw mechanism (12) comprises a left clamping jaw (121), a right clamping jaw (122), a support plate (123), and a double-head clamping cylinder (124) arranged on the support plate (123); the left clamping jaw (121) and the right clamping jaw (122) are both slidably mounted on the support plate (123); and the output end of the double-head clamping cylinder (124) is respectively connected to the left clamping jaw (121) and the right clamping jaw (122).

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