Automatic gantry material taking mechanism

Abstract

The utility model relates to the technical field of gantry material taking, in particular to an automatic gantry material taking mechanism. Comprising an adjusting base and four gantry stand columns installed on the adjusting base, a transverse rod is arranged on the top between every two adjacent gantry stand columns, an X-axis moving mechanism is arranged on any two symmetrical transverse rods in a sliding mode, and each X-axis moving mechanism comprises a rectangular frame, an X-axis rack and an X-axis driving motor arranged on the frame; the two ends of the frame are installed on the transverse rod in a sliding mode, and the X-axis rack is arranged on the transverse rod. The X-axis displacement and the Y-axis displacement adopt structures such as gears and racks to control displacement strokes, compared with a servo module in the prior art, the strokes can be specified at will and are convenient to take and place, and the equipment cost is greatly reduced; and in the clamping mechanism, through mutual cooperative use of a transmission rack, an upper gear, a lower gear, a left rack, a right rack and other structures, the clamping range of a left clamping jaw and a right clamping jaw can be enlarged, and the clamping mechanism can be suitable for clamping large-size objects.

Description

Technical Field

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

[0002] The gantry material taking mechanism is an automated device widely used in industrial production to move materials from one position to another designated position. Its basic function is to grasp and place workpieces through a mechanical or pneumatic system to meet different processing or transfer requirements.

[0003] In the prior art, the gantry material taking mechanism generally uses a servo module to control the stroke. Due to the disadvantages of the servo module such as stroke limitation, complex structure, and high cost, to avoid the above technical problems, it is necessary to propose an automatic gantry material taking mechanism to overcome the defects in the prior art. Summary of the Utility Model

[0004] Aiming at the deficiencies of the prior art, the utility model provides an automatic gantry material taking mechanism, aiming to solve the problems of fixed stroke, complex structure, and high cost caused by using a servo module in the prior art.

[0005] To achieve the above technical purpose, the utility model proposes the following technical solution: an automatic gantry material taking mechanism, including an adjustment base and four gantry columns installed on the adjustment base. A crossbar is provided at the top between adjacent two gantry columns. An X-axis moving mechanism is slidably arranged on any two symmetric crossbars. The X-axis moving mechanism includes a rectangular frame, an X-axis rack, and an X-axis driving motor arranged on the frame. Both ends of the frame are slidably installed on the crossbar. The X-axis rack is arranged on the crossbar. The output end of the X-axis driving motor is connected with an X-axis gear meshing with the X-axis rack; a Y-axis moving mechanism is slidably arranged on the frame. The Y-axis moving mechanism includes a rectangular slide plate, a Y-axis rack, and a Y-axis driving motor arranged at the top of the slide plate. The bottoms of both sides of the slide plate are slidably connected with both sides of the frame. The Y-axis rack is arranged in the middle of the frame and at the bottom of the slide plate. The output shaft end of the Y-axis driving motor is installed with a Y-axis gear meshing with the Y-axis rack; a Z-axis moving mechanism is arranged on the slide plate, and a clamping mechanism is arranged at the lower part of the Z-axis moving mechanism.

[0006] Further, the Z-axis moving mechanism includes a Z-axis cylinder arranged on the slide plate, and the piston rod of the Z-axis cylinder passes through the slide plate and is connected with the clamping mechanism.

[0007] Further, the clamping mechanism includes a connecting plate, a support plate, a driving cylinder, a transmission rack, an upper gear, a lower gear, a left clamping jaw and a right clamping jaw. The connecting plate is installed above the support plate through a short column. A rotating shaft is rotatably installed in the middle of the support plate. The upper gear and the lower gear are respectively installed at the upper and lower ends of the rotating shaft. The transmission rack is slidably installed on the support plate and meshes with the upper gear. The driving cylinder is arranged on one side of the transmission rack. The left clamping jaw and the right clamping jaw are respectively slidably connected to the bottom of the support plate through a left sliding plate and a right sliding plate. The left sliding plate and the right sliding plate are respectively provided with a left rack and a right rack that mesh with the lower gear and are opposed to each other.

[0008] Further, preloading mechanisms are arranged at the four corners of the bottom of the support plate. The preloading mechanism includes a spring, a preloading rod, a preloading block arranged at the bottom of the preloading rod, and a limiting sleeve arranged on the support plate. One end of the preloading rod away from the preloading block passes through the spring and the limiting sleeve and is connected with a limiting block.

[0009] Further, a rack limiting seat is arranged on the support plate and on the side of the transmission rack away from the driving cylinder.

[0010] Further, drag chains are arranged on one side of each of the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism.

[0011] Further, the adjusting base includes a bottom plate adapted to the number of gantry columns. Support frames are arranged between the bottoms of every two of the four gantry columns. The bottom plate is arranged at the bottom of the support frames and is connected with the support frames through anchor bolts.

[0012] Further, guide rods are slidably installed at the four corners of the sliding plate. One end of the guide rod is connected with the connecting plate, and the other end of the guide rod is connected with a limiting plate.

[0013] Further, X-axis limiting seats are arranged at both ends of the upper cross bar of the X-axis moving mechanism, and Y-axis limiting seats are arranged at both ends of the frame.

[0014] 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. Compared with the prior art, it has the following advantages: In the present utility model, both the X-axis displacement and the Y-axis displacement adopt structures such as gears and racks to control the displacement stroke. The stroke can be arbitrarily specified compared with the servo module of the prior art, which is convenient for picking and placing, and greatly reduces the equipment cost; Through the mutual cooperation of structures such as the transmission rack, the upper gear, the lower gear, the left rack, and the right rack in the clamping mechanism, the clamping range of the left clamping jaw and the right clamping jaw can be increased, and it can be applicable to the clamping of large-sized articles. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the overall structural schematic diagram of the present utility model;

[0016] Figure 2 is a schematic structural view of the clamping mechanism of the present utility model;

[0017] Figure 3 is a schematic bottom view structural view of the clamping mechanism of the present utility model;

[0018] Figure 4 is the present utility model Figure 1 magnified view of the structure at position A in;

[0019] Figure 5 is the present utility model Figure 1 magnified view of the structure at position B in.

[0020] In the figure, 1, adjusting base; 11, bottom plate; 12, support frame; 13, anchor bolt; 2, gantry column; 3, cross bar; 4, X-axis moving mechanism; 41, frame; 42, X-axis rack; 43, X-axis driving motor; 44, X-axis limit seat; 5, Y-axis moving mechanism; 51, sliding plate; 52, Y-axis rack; 53, Y-axis driving motor; 54, Y-axis limit seat; 6, Z-axis moving mechanism; 61, Z-axis cylinder; 62, guide rod; 63, limit plate; 7, clamping mechanism; 71, connecting plate; 72, support plate; 73, driving cylinder; 74, transmission rack; 75, upper gear; 76, lower gear; 77, left jaw; 78, right jaw; 79, left sliding plate; 710, right sliding plate; 711, left rack; 712, right rack; 713, limit seat; 8, preloading mechanism; 81, spring; 82, preloading rod; 83, preloading block; 84, limit sleeve; 85, limit block; 9, drag chain. Specific embodiments

[0021] The following are specific embodiments of the present utility model, and the technical solutions of the present utility model are further described in conjunction with the accompanying drawings, but the present utility model is not limited to these embodiments.

[0022] As Figure 1-5As shown in the figure, the utility model provides an automatic gantry material taking mechanism, which includes an adjusting base 1 and four gantry columns 2 installed on the adjusting base 1. A cross bar 3 is connected to the top between adjacent two gantry columns 2 by bolt parts. An X-axis moving mechanism 4 is slidably arranged on any two symmetric cross bars 3. The X-axis moving mechanism 4 includes a rectangular frame 41, an X-axis rack 42 and an X-axis driving motor 43 arranged on the frame 41. Both ends of the frame 41 are slidably installed on the cross bar 3. The X-axis rack 42 is installed on the cross bar 3 by bolt parts. The output end of the X-axis driving motor 43 is connected with an X-axis gear meshing with the X-axis rack 42; A Y-axis moving mechanism 5 is slidably arranged on the frame 41. The Y-axis moving mechanism 5 includes a rectangular slide plate 51, a Y-axis rack 52 and a Y-axis driving motor 53 arranged on the top of the slide plate 51. The bottoms of both sides of the slide plate 51 are slidably connected with both sides of the frame 41. The Y-axis rack 52 is installed in the middle of the frame 41 and located at the bottom of the slide plate 51 by bolt parts. The output shaft end of the Y-axis driving motor 53 is installed with a Y-axis gear meshing with the Y-axis rack 52; A Z-axis moving mechanism 6 is arranged on the slide plate 51, and the lower part of the Z-axis moving mechanism 6 is connected with a clamping mechanism 7 in a detachable manner.

[0023] As Figure 1 , Figure 4 and Figure 5 shown, the bottoms of both ends of the frame 41 are slidably connected with the cross bar 3 through slide rails. The slide rails are installed on the cross bar 3 by bolt parts. The direction in which the frame 41 slides along the cross bar 3 is the X-axis direction. By starting the X-axis driving motor 43 to drive the X-axis gear to rotate, under the action of the X-axis rack 42, the X-axis gear drives the frame 41 to slide along the cross bar 3, realizing the displacement of the clamping mechanism 7 in the X-axis direction; The bottom of the slide plate 51 is slidably installed on the frame 41 through slide rails. The direction in which the slide plate 51 slides on the frame 41 is the Y-axis direction. The displacement principle of the clamping mechanism 7 in the Y-axis is the same as that in the X-axis displacement principle, that is, the Y-axis driving motor 53 drives the Y-axis gear to rotate. Under the action of the Y-axis rack 52, the Y-axis gear drives the slide plate 51 and the clamping mechanism 7 to displace in the Y-axis direction. In the utility model, both the X-axis displacement and the Y-axis displacement adopt structures such as gears and racks to control the stroke, and the stroke can be arbitrarily specified compared with the servo module of the prior art. The overall structure is simple, the taking and placing are convenient, and the equipment cost is greatly reduced. Moreover, in this mechanism, the connection methods between parts mostly adopt the detachable method of bolt parts, so the installation, disassembly and later maintenance are also relatively convenient.

[0024] The Z-axis moving mechanism 6 includes a Z-axis cylinder 61 arranged on the slide plate 51. The piston rod of the Z-axis cylinder 61 passes through the slide plate 51 and is connected with a connecting plate 71.

[0025] As Figure 1 and Figure 4As shown, the clamping mechanism 7 is driven to move up and down in the Z-axis direction by the Z-axis cylinder 61, and the driving direction of the Z-axis cylinder 61 is the Z-axis direction.

[0026] The clamping mechanism 7 includes a connecting plate 71, a support plate 72, a driving cylinder 73, a transmission rack 74, an upper gear 75, a lower gear 76, a left clamping jaw 77 and a right clamping jaw 78. The connecting plate 71 is installed above the support plate 72 through a short column. A rotating shaft is rotatably installed in the middle of the support plate 72 through a bearing. The upper gear 75 and the lower gear 76 are respectively installed at the upper and lower ends of the rotating shaft. The transmission rack 74 is slidably installed on the support plate 72 and meshes with the upper gear 75. That is, a slideway is provided on one side of the support plate 72, and the transmission rack 74 is slidably installed in the slideway through a slider, so that the transmission rack 74 can slide in the slideway. The driving cylinder 73 is arranged on one side of the transmission rack 74 to drive the transmission rack 74 to move. The left clamping jaw 77 and the right clamping jaw 78 are respectively slidably connected to the bottom of the support plate 72 through a left slide plate 79 and a right slide plate 710. The left slide plate 79 and the right slide plate 710 are respectively connected by bolts with a left rack 711 and a right rack 712 that mesh with the lower gear 76 and are opposed to each other.

[0027] As Figure 2 and Figure 3 shown, the article is clamped by the clamping mechanism 7. That is, the driving cylinder 73 is used to drive the transmission rack 74 to slide. The transmission rack 74 drives the lower gear 76 to rotate under the action of the upper gear 75. The rotation of the lower gear 76 drives the left rack 711 and the right rack 712 that mesh with the lower gear 76 to move relatively or away from each other. When the left rack 711 and the right rack 712 move relatively, under the action of the left slide plate 79 and the right slide plate 710, the left clamping jaw 77 and the right clamping jaw 78 are driven to move relatively to clamp the article. According to the specified placement position of the article, under the action of the X-axis moving mechanism 4, the Y-axis moving mechanism 5 and the Z-axis moving mechanism 6, the clamping mechanism 7 drives the article to move to the specified position. In the clamping mechanism 7 of the present utility model, the use of the gear and rack transmission method to clamp the article helps to improve the reliability and stability of the entire clamping mechanism 7. At the same time, the stroke can be enlarged through the rack to clamp larger articles, achieving the purpose of increasing the size of the clamped articles.

[0028] Preloading mechanisms 8 are provided at the four corners of the bottom of the support plate 72. The preloading mechanism 8 includes a spring 81, a preloading rod 82, a preloading block 83 provided at the bottom of the preloading rod 82, and a limit sleeve 84 provided on the support plate 72. One end of the preloading rod 82 far from the preloading block 83 passes through the spring 81 and the limit sleeve 84 and is connected with a limit block 85.

[0029] As Figure 3As shown, the preloading mechanism 8 can fix the item before the clamping mechanism 7 clamps it, preventing the item from moving and affecting the clamping effect. Specifically, the preloading block 83 presses the item, and the preloading rod 82 slides in the limit sleeve 84 under the action of the spring 81 to compress the item, while avoiding direct hard contact between the preloading block 83 and the item, which may affect the quality of the item.

[0030] On the support plate 72 and on the side of the transmission rack 74 away from the driving cylinder 73, a rack limit seat 713 is detachably connected by a bolt member.

[0031] As Figure 1 shown, the transmission rack 74 can be prevented from sliding out of the slideway by the rack limit seat 713.

[0032] A drag chain 9 is provided on one side of each of the X-axis moving mechanism 4, the Y-axis moving mechanism 5, and the Z-axis moving mechanism 6.

[0033] As Figure 1 shown, the drag chain 9 can be used to protect and guide components such as cables, thus avoiding damage caused by external environmental factors (such as friction, impact, etc.).

[0034] Guide rods 62 are slidably installed at the four corners of the sliding plate 51. One end of each guide rod 62 is connected to the connecting plate 71, and the other end of the guide rod 62 is connected to a limit plate 63.

[0035] As Figure 1 shown, the stability of the clamping mechanism 7 moving up and down on the Z-axis can be ensured by the guide rods 62, and the guide rods 62 can be prevented from sliding out of the sliding plate 51 by the limit plates 63.

[0036] The adjusting base 1 includes a bottom plate 11 that is adapted to the number of gantry columns 2. Support frames 12 are provided between the bottoms of the four gantry columns 2 in pairs, and the bottom plate 11 is disposed at the bottom of the support frames 12 and is connected to the support frames 12 by anchor bolts 13.

[0037] As Figure 1 shown, when the installation ground is uneven, the levelness of the installation of the gantry material taking mechanism can be maintained by adjusting the anchor bolts 13.

[0038] X-axis limit seats 44 are provided at both ends of the upper crossbar 3 of the X-axis moving mechanism 4, and Y-axis limit seats 54 are provided at both ends of the frame 41.

[0039] As Figure 4 and Figure 5As shown in the figure, the X-axis limiting seat 44 can prevent the frame 41 from sliding out of the slide rail, and the Y-axis limiting seat 54 can prevent the slide plate 41 from sliding out of the slide rail. The X-axis limiting seat 44 and the Y-axis limiting seat 54 are respectively fixed on the cross bar 3 and the frame 41 by bolt members, which facilitates the removal of the X-axis limiting seat 44 and the Y-axis limiting seat 54 to facilitate the installation and removal of the frame 51 and the slide plate 51.

[0040] Principle of use: When the clamping mechanism 7 is in a certain position, the Z-axis cylinder 61 is started. The piston rod of the Z-axis cylinder 61 drives the clamping mechanism 7 to move downward until the pre-pressure block 83 presses the article. At the same time, the driving cylinder 73 is started to drive the left rack 711 and the right rack 712 to move relatively, driving the left jaw 77 and the right jaw 78 to move relatively to clamp the article. The piston rod of the Z-axis cylinder 61 contracts to drive the article to move upward. At the same time, the X-axis driving motor 43 and the Y-axis driving motor 53 are started. The Y-axis driving motor 53 drives the Y-axis gear to rotate. Under the action of the Y-axis rack 52, the Y-axis gear drives the slide plate 51 and the clamped article to move in the Y-axis direction. The X-axis driving motor 43 drives the X-axis gear to rotate. Under the action of the X-axis rack 42, the X-axis gear drives the frame 41 to slide along the cross bar 3, realizing the movement of the clamped article in the X-axis direction until it moves to the specified position. The driving cylinder 73 drives the left rack 711 and the right rack 712 to move away from each other, driving the left jaw 77 and the right jaw 78 to move away from each other to release the article, realizing the process of taking and placing materials.

[0041] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention 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 invention or exceed the scope defined by the appended claims.

Claims

1. An automatic gantry material taking mechanism, characterized in that: The invention comprises an adjustment base (1) and four gantry columns (2) mounted on the adjustment base (1); a cross bar (3) is provided at the top between two adjacent gantry columns (2); an X-axis moving mechanism (4) is slidably provided on any two symmetrical cross bars (3); the X-axis moving mechanism (4) comprises a rectangular frame (41), an X-axis rack (42) and an X-axis driving motor (43) arranged on the frame (41); both ends of the frame (41) are slidably mounted on the cross bar (3); the X-axis rack (42) is arranged on the cross bar (3); and the output end of the X-axis driving motor (43) is connected to an X-axis gear meshing with the X-axis rack (42); A Y-axial moving mechanism (5) is slidably arranged on the frame (41), the Y-axial moving mechanism (5) comprising a rectangular slide plate (51), a Y-axial rack (52) and a Y-axial driving motor (53) arranged on the top of the slide plate (51), the bottoms of both sides of the slide plate (51) are slidably connected to both sides of the frame (41), the Y-axial rack (52) is arranged in the middle of the frame (41) and at the bottom of the slide plate (51), and a Y-axial gear meshing with the Y-axial rack (52) is installed on the output shaft end of the Y-axial driving motor (53); a Z-axial moving mechanism (6) is arranged on the slide plate (51), and a clamping mechanism (7) is arranged at the bottom of the Z-axial moving mechanism (6).

2. The automatic gantry material taking mechanism according to claim 1, characterized in that: The Z-axial moving mechanism (6) comprises a Z-axial cylinder (61) arranged on the slide plate (51), and a piston rod of the Z-axial cylinder (61) passes through the slide plate (51) and is connected to the clamping mechanism (7).

3. The automatic gantry material taking mechanism according to claim 1, characterized in that: The clamping mechanism (7) comprises a connecting plate (71), a supporting plate (72), a driving cylinder (73), a transmission rack (74), an upper gear (75), a lower gear (76), a left clamping jaw (77) and a right clamping jaw (78). The connecting plate (71) is mounted above the supporting plate (72) via a short column. A rotating shaft is rotatably mounted in the middle of the supporting plate (72). The upper gear (75) and the lower gear (76) are respectively mounted at the upper and lower ends of the rotating shaft. The transmission rack (71) is mounted on the upper and lower ends of the rotating shaft. 4) slidably mounted on the support plate (72) and meshing with the upper gear (75), the driving cylinder (73) is arranged on one side of the transmission rack (74), the left clamping jaw (77) and the right clamping jaw (78) are slidably connected to the bottom of the support plate (72) through the left slide plate (79) and the right slide plate (710), respectively, and the left slide plate (79) and the right slide plate (710) are respectively provided with a left rack (711) and a right rack (712) meshing with the lower gear (76) and opposing each other.

4. The automatic gantry material taking mechanism according to claim 3 is characterized in that: Pre-pressing mechanisms (8) are provided at the four corners of the bottom of the support plate (72), the pre-pressing mechanism (8) comprising a spring (81), a pre-pressing rod (82), a pre-pressing block (83) arranged at the bottom of the pre-pressing rod (82), and a limiting sleeve (84) arranged on the support plate (72), and one end of the pre-pressing rod (82) away from the pre-pressing block (83) passes through the spring (81) and the limiting sleeve (84) to connect to the limiting block (85).

5. The automatic gantry material taking mechanism according to claim 3 is characterized in that: A rack limiting seat (713) is provided on the support plate (72) and located on a side of the transmission rack (74) away from the driving cylinder (73).

6. The automatic gantry material taking mechanism according to claim 1, characterized in that: A drag chain (9) is provided on one side of the X-axis moving mechanism (4), the Y-axis moving mechanism (5) and the Z-axis moving mechanism (6).

7. The automatic gantry material taking mechanism according to claim 1, characterized in that: The adjustment base (1) comprises a base plate (11) whose number matches that of the gantry columns (2); a support frame (12) is arranged between two of the bottoms of the four gantry columns (2); the base plate (11) is arranged at the bottom of the support frame (12) and is connected to the support frame (12) via anchor bolts (13).

8. The automatic gantry material taking mechanism according to claim 1, characterized in that: Guide rods (62) are slidably mounted at the four corners of the slide plate (51); one end of the guide rod (62) is connected to the connecting plate (71), and the other end of the guide rod (62) is connected to the limiting plate (63).

9. The automatic gantry material taking mechanism according to claim 1, characterized in that: Both ends of the upper crossbar (3) of the X-axis moving mechanism (4) are provided with X-axis limit seats (44), and both ends of the frame (41) are provided with Y-axis limit seats (54).

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