Large-bearing gantry manipulator

Abstract

The utility model discloses a large-bearing-capacity gantry manipulator which comprises a fixed guide rail, a cross beam, a cantilever, a lifting device, a walking device and a lifting cross arm, and lifting and horizontal walking of a hooking device are controlled, so that carrying of a workpiece bearing basket is completed. The mechanical arm is stable in structure, the bearing capacity of the mechanical arm is larger, safety is higher, and then production efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical hand technical field, especially a kind of big load type gantry mechanical hand. BACKGROUND

[0002] Mechanical hand is a kind of some action functions that can imitate human hand and arm, to grasp, transport object or operate tool according to fixed program, automatic operation device. It can replace the heavy labor of human to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy department. In the production process of solar cell, graphite boat, quartz boat is used to carry silicon wafer, the carrying of graphite boat and quartz boat is usually completed by cantilever type mechanical hand. However, cantilever type mechanical hand has small carrying capacity, needs multiple carrying, and affects production efficiency.

[0003] As the utility model patent with the announcement number CN 219768265 U discloses a cantilever type mechanical hand, including base, the top surface one side of base is fixedly installed with controller, the top surface middle of base is fixedly installed with support column, the top surface of support column is fixedly installed with mounting disc, the top surface of mounting disc is equipped with cantilever beam, and the cantilever beam is installed with the clamping device for clamping object containing clamp jaw. The mechanical hand can be adjusted according to the height and length of object, so that the working range of mechanical hand is increased, but its cantilever structure and clamping object by clamp jaw lead to small carrying capacity of the mechanical hand. UTILITY MODEL CONTENT

[0004] To solve the above problems, the utility model provides a big load type gantry mechanical hand, stable structure, large carrying capacity.

[0005] The utility model solves the technical scheme of the above problems as follows:

[0006] A big load type gantry mechanical hand, including gantry and installation in the lifting device of the gantry, the gantry includes fixed guide rail and the crossbeam based on the guide rail is arranged, and the both ends of the crossbeam are slidably connected with the fixed guide rail;It also includes a pair of cantilever fixedly arranged in the two end portions of the crossbeam;The lifting device includes rotatably fixedly arranged above or upper part of the cantilever lifting drive shaft, chain wheel arranged on the lifting drive shaft, lifting crossarm movably arranged below or lower part of the cantilever and the hooking device for hooking workpiece carrying basket hung on the lifting crossarm;The lifting crossarm is connected with the chain wheel lifting by chain segment.

[0007] As preferred, the portal frame further comprises a vertically arranged hanging panel and a horizontally arranged base plate, the hanging panel is in sliding connection with the fixed guide rail, and the base plate is in fixed connection with the hanging panel and provides a mounting position of the cantilever.

[0008] As preferred, the mechanical arm further comprises a walking device, the walking device comprises a walking motor mounted on the base plate, a walking driving shaft connected to an output shaft of the walking motor, a driving gear arranged at an end of the walking driving shaft, and a walking wheel mounted on the hanging panel, and further comprises a rack and a rail arranged based on the fixed guide rail, the driving gear is in engagement with the rack, and the walking wheel is in rolling connection with the rail.

[0009] As preferred, the rail is made of ultra-high molecular weight polyethylene (UPE) with a molecular weight higher than 1.5 million.

[0010] As preferred, the walking device further comprises a driven gear arranged on the same horizontal line of the driving gear, and the driven gear is in engagement with the rack.

[0011] As preferred, the walking driving shaft comprises a first walking driving shaft and a second walking driving shaft separate from the first walking driving shaft, and the lifting driving shaft comprises a first lifting driving shaft and a second lifting driving shaft separate from the first lifting driving shaft.

[0012] As preferred, the walking driving shaft comprises a first walking driving shaft and a second walking driving shaft connected to and synchronous with the first walking driving shaft, and the lifting driving shaft comprises a first lifting driving shaft and a second lifting driving shaft connected to and synchronous with the first lifting driving shaft.

[0013] As preferred, the lifting device further comprises a worm gear reduction motor, and the lifting driving shaft is connected to an output shaft of the worm gear reduction motor.

[0014] As preferred, the lifting device further comprises a limiting frame sleeved on the cantilever for preventing the lifting cross arm from shaking, the limiting frame is in fixed connection with the lifting cross arm, and the limiting frame is in lifting connection with the chain wheel through a chain segment.

[0015] As preferred, the hooking device comprises a pair of hook plates arranged oppositely, the hook plate comprises a hooking port arranged at an upper portion of the hook plate for hooking the lifting cross arm and a hook portion arranged at a lower portion of the hook plate.

[0016] As preferred, the lifting device further comprises a transverse limiting piece mounted on the cantilever, and the transverse limiting piece is connected with the hook plate.

[0017] The utility model has the following beneficial effects:

[0018] The utility model discloses a big carrying type gantry mechanical hand, including fixed guide rail, crossbeam, cantilever, hoisting device, travelling device and hoisting crossarm, the lifting and horizontal travel of control hooking device are completed the carrying of workpiece bearing basket's handling, the mechanical hand structure is stable, makes the carrying capacity of mechanical hand bigger, and the security is higher, and further helps the production efficiency of promotion. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The utility model discloses a big carrying type gantry mechanical hand, including fixed guide rail, crossbeam, cantilever, hoisting device, travelling device and hoisting crossarm, the lifting and horizontal travel of control hooking device are completed the carrying of workpiece bearing basket's handling, the mechanical hand structure is stable, makes the carrying capacity of mechanical hand bigger, and the security is higher, and further helps the production efficiency of promotion.

[0020] Figure 2 The utility model discloses a big carrying type gantry mechanical hand, including fixed guide rail, crossbeam, cantilever, hoisting device, travelling device and hoisting crossarm, the lifting and horizontal travel of control hooking device are completed the carrying of workpiece bearing basket's handling, the mechanical hand structure is stable, makes the carrying capacity of mechanical hand bigger, and the security is higher, and further helps the production efficiency of promotion.

[0021] Figure 3 The utility model discloses a big carrying type gantry mechanical hand, including fixed guide rail, crossbeam, cantilever, hoisting device, travelling device and hoisting crossarm, the lifting and horizontal travel of control hooking device are completed the carrying of workpiece bearing basket's handling, the mechanical hand structure is stable, makes the carrying capacity of mechanical hand bigger, and the security is higher, and further helps the production efficiency of promotion.

[0022] Figure 4 The utility model discloses a big carrying type gantry mechanical hand, including fixed guide rail, crossbeam, cantilever, hoisting device, travelling device and hoisting crossarm, the lifting and horizontal travel of control hooking device are completed the carrying of workpiece bearing basket's handling, the mechanical hand structure is stable, makes the carrying capacity of mechanical hand bigger, and the security is higher, and further helps the production efficiency of promotion.

[0023] Figure 5 The utility model discloses a big carrying type gantry mechanical hand, including fixed guide rail, crossbeam, cantilever, hoisting device, travelling device and hoisting crossarm, the lifting and horizontal travel of control hooking device are completed the carrying of workpiece bearing basket's handling, the mechanical hand structure is stable, makes the carrying capacity of mechanical hand bigger, and the security is higher, and further helps the production efficiency of promotion.

[0024] Fig. 11 - fixed guide rail, 12 - hanging interface board, 13 - base plate, 14 - crossbeam, 2 - cantilever, 31 - travelling motor, 32 - travelling drive shaft, 33 - driving gear, 34 - rack, 35 - driven gear, 36 - travelling wheel, 37 - rail strip, 41 - worm gear and worm reduction motor, 42 - hoisting drive shaft, 43 - sprocket, 44 - chain segment, 45 - hoisting crossarm, 46 - limit frame, 47 - transverse limit strip, 5 - hooking device, 51 - hanging interface, 52 - hook part, 6 - workpiece bearing basket. DETAILED DESCRIPTION

[0025] In order to make the utility model's purpose, technical scheme and advantage more clear and clear, combine embodiment, this utility model is further detailed, should understand, the specific embodiment described here is only to explain the utility model, instead of all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor are all in the utility model protection range.

[0026] A big carrying type gantry mechanical hand, such as Figure 1As shown, the mechanical arm comprises a gantry, the gantry comprises a pair of horizontally arranged fixed guide rails 11 and a pair of cross beams 14 arranged based on the fixed guide rails 11, two ends of the cross beams 14 are in sliding connection with the fixed guide rails 11. A hanging panel 12 and a base plate 13 are arranged between the pair of cross beams 14, the base plate 13 is horizontally arranged, the hanging panel 12 is vertically arranged and fixedly connected with the base plate 13, and the hanging panel 12 is in sliding connection with the fixed guide rails 11. The mechanical arm further comprises a pair of cantilevers 2, the cantilevers 2 are fixedly arranged at two ends of the cross beams 14 and are installed below the base plate 13.

[0027] The mechanical arm further comprises a lifting device for lifting the workpiece. The lifting device comprises a lifting drive shaft 42, a chain wheel 43, a chain segment 44 and a lifting cross arm 45. The lifting drive shaft 42 is rotatably fixedly installed above or at an upper portion of the cantilever 2, when installed above, the lifting drive shaft 42 is not connected with the cantilever 2, and when installed at the upper portion, the lifting drive shaft 42 is connected with the cantilever 2. The chain wheel 43 is two in number and is installed on the lifting drive shaft 42. The lifting cross arm 45 is movably arranged below or at a lower portion of the cantilever 2 and is connected with the chain wheel 43 through the chain segment 44 and can be lifted and lowered. A hooking device 5 is hung at the lifting cross arm 45, and the hooking device 5 is used for hanging the workpiece carrying basket 6.

[0028] The hooking device 5 comprises a pair of hook plates arranged oppositely, a hanging port 51 is arranged at an upper portion of the hook plate and is used for hanging the hook plate on the lifting cross arm 45, and a hook portion 52 is arranged at a lower portion of the hook plate and is used for hanging the workpiece carrying basket 6.

[0029] The lifting device further comprises a limiting frame 46 and a transverse limiting piece 47, wherein the limiting frame 46 is sleeved on the cantilever 2 and is fixedly connected with the lifting cross arm 45 to prevent the lifting cross arm 45 from shaking, and the limiting frame 46 is in lifting connection with the chain wheel 43 through the chain segment 44. The transverse limiting piece 47 is installed on the cantilever 2 and is connected with the hook plate and is used for preventing the hook plate from shaking.

[0030] The lifting drive shaft 42 comprises a first lifting drive shaft and a second lifting drive shaft, the two can be separately arranged, at this time they can rotate asynchronously, the two can also be connected and rotate synchronously. In the embodiment, the first lifting drive shaft and the second lifting drive shaft are integrally connected to form the lifting drive shaft 42, one end of the lifting drive shaft 42 is installed on the hanging panel 12, and the other end is connected with a worm gear deceleration motor 41, and the worm gear deceleration motor 41 is installed on the base plate 13.

[0031] The mechanical hand further comprises a walking device for horizontally carrying the workpiece. The walking device comprises a walking motor 31, a walking driving shaft 32, a rack 34, a driving gear 33, a walking wheel 36, etc. The walking motor 31 is installed on the base plate 13, the walking driving shaft 32 is connected with the output shaft of the walking motor 31, and the driving gear 33 is installed at the end of the walking driving shaft 32. The rack 34 is installed on the fixed guide rail 11, the driving gear 33 is engaged with the rack 34, at this time, the driving gear 33 is below the fixed guide rail 11, the driven gear 35 is arranged at the same horizontal line of the driving gear 33, the driven gear 35 is installed on the hanging panel 12 and engaged with the rack 34, so as to improve the stability of the walking device. The rail 37 is arranged above the fixed guide rail 11, the walking wheel 36 is installed on the hanging panel 12 and in rolling connection with the rail 37. The shape of the rail 37 matches the shape of the rolling edge of the walking wheel 36, such as a V-shaped rail 37 and a rectangular rail 37, so as to ensure that the walking wheel 36 can stably roll on the rail 37 and prevent deviation, further improving the stability of the walking device. The material of the rail 37 can be ultra-high molecular weight polyethylene, which is more lubricating and more corrosion-resistant.

[0032] The walking driving shaft 32 comprises a first walking driving shaft and a second walking driving shaft, which can be separately arranged, at this time, they can operate asynchronously, or they can be connected to jointly constitute the walking driving shaft 32, at this time, they operate synchronously. In the embodiment, the first walking driving shaft and the second walking driving shaft are connected through the walking motor 31 and operate synchronously. At this time, the walking motor 31 can be a double-output speed reducer.

[0033] The large-bearing type gantry mechanical hand disclosed in the embodiment has the following running mode:

[0034] The workpiece bearing basket 6 is hung on the hooking device 5, when it needs to be carried, the worm gear speed reducer motor 41 is started to drive the lifting driving shaft 42 to rotate, and then drive the sprocket 43 to rotate, under the transmission of the chain segment 44, the limiting frame 46 and the lifting cross arm 45 are lifted, at this time, the hooking device 5 and the workpiece bearing basket 6 are lifted synchronously; the double-output speed reducer is started, the driving gear 33 and the driven gear 35 rotate along the rack 34, the walking wheel 36 rolls synchronously, and then the hooking device 5 and the workpiece bearing basket 6 walk, and the carrying of the object is completed.

Claims

1. A large-load-bearing gantry manipulator, comprising a gantry and a lifting device mounted on the gantry, wherein the gantry comprises a fixed guide rail (11) and a crossbeam (14) arranged based on the guide rail, and both ends of the crossbeam (14) are slidably connected to the fixed guide rail (11); characterized in that: It also includes a pair of cantilevers (2) fixedly arranged at the two ends of the beam (14); the lifting device includes a lifting drive shaft (42) rotatably fixedly arranged above or on the upper part of the cantilever (2), a sprocket (43) arranged on the lifting drive shaft (42), a lifting cross arm (45) movably arranged below or on the lower part of the cantilever (2), and a hooking device (5) hung on the lifting cross arm (45) for hanging a workpiece carrying basket (6); the lifting cross arm (45) is connected to the sprocket (43) for lifting and lowering via a chain segment (44).

2. A large-load-bearing gantry manipulator according to claim 1, characterized in that: The gantry also includes a vertically arranged hanging panel (12) and a horizontally arranged base plate (13), wherein the hanging panel (12) is slidably connected to the fixed guide rail (11), and the base plate (13) is fixedly connected to the hanging panel (12) and provides a mounting position for the cantilever (2).

3. A large-load-bearing gantry manipulator according to claim 2, characterized in that: The manipulator further includes a walking device, which includes a walking motor (31) mounted on the base plate (13), a walking drive shaft (32) connected to the output shaft of the walking motor (31), a driving gear (33) arranged at the end of the walking drive shaft (32), and a walking wheel (36) mounted on the hanging panel (12), and further includes a rack (34) and a rail (37) arranged based on the fixed guide rail (11), the driving gear (33) is engaged with the rack (34), and the walking wheel (36) is rollingly connected to the rail (37).

4. A large-load-bearing gantry manipulator according to claim 3, characterized in that: The traveling device further comprises a driven gear (35) arranged on the same horizontal line as the driving gear (33), and the driven gear (35) is meshed with the rack (34).

5. The large-load-bearing gantry manipulator according to claim 3, characterized in that: The travel drive shaft (32) includes a first travel drive shaft and a second travel drive shaft separated from the first travel drive shaft; the lifting drive shaft (42) includes a first lifting drive shaft and a second lifting drive shaft separated from the first lifting drive shaft.

6. The large-load-bearing gantry manipulator according to claim 3, characterized in that: The travel drive shaft (32) includes a first travel drive shaft and a second travel drive shaft connected to and synchronized with the first travel drive shaft; the lifting drive shaft (42) includes a first lifting drive shaft and a second lifting drive shaft connected to and synchronized with the first lifting drive shaft.

7. The large-load-bearing gantry manipulator according to claim 1, characterized in that: The lifting device further comprises a worm gear reduction motor (41), and the lifting drive shaft (42) is connected to the output shaft of the worm gear reduction motor (41).

8. The large-load-bearing gantry manipulator according to claim 1, characterized in that: The lifting device further comprises a limit frame (46) sleeved on the cantilever (2) for preventing the lifting cross arm (45) from shaking, the limit frame (46) being fixedly connected to the lifting cross arm (45), and the limit frame (46) being connected to the sprocket (43) in a lifting manner via a chain segment (44).

9. The large-load-bearing gantry manipulator according to claim 1, characterized in that: The hooking device (5) comprises a pair of hook plates arranged opposite to each other, wherein the hook plates comprise a hooking interface (51) arranged at the upper portion of the hook plates for hooking the lifting cross arm (45), and a hook portion (52) arranged at the lower portion of the hook plates.

10. The large-load-bearing gantry manipulator according to claim 9, characterized in that: The lifting device further comprises a transverse limiting member (47) mounted on the cantilever (2), and the transverse limiting member (47) is connected to the hook plate.

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