A misaligned variable distance gantry

Abstract

The utility model provides a kind of misplacement variable pitch's portal frame, it is related to mechanical equipment technical field, the misplacement variable pitch's portal frame includes: variable pitch grabbing module, first transmission module, second transmission module and support, two first transmission modules extend along first direction, two supports are respectively installed on two first transmission modules and move along first direction on first transmission module, one end of second transmission module is installed on support and extends along second direction perpendicular to first direction, and two second transmission modules are oppositely arranged, variable pitch grabbing module is installed on one end of second transmission module away from support, and two variable pitch grabbing modules grab the output two parallel material bodies of single-column input material body. By integrated double-shaft motion system, the synchronous execution of variable pitch and transfer is realized, the continuous conversion of single-column material body to double-column parallel output is realized, and the waiting time of traditional step-by-step operation is eliminated.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to a staggered and variable-pitch gantry frame. Background Technology

[0002] In the aluminum cylinder processing and production process, it is often necessary to deform a single row of aluminum cylinders into two rows for rapid transfer.

[0003] Traditional methods for handling combined aluminum canisters and inner bottles often require multiple separate processes for gripping, pitch changing, and transfer, resulting in low production efficiency and long cycle times. Especially in scenarios requiring the conversion of a single column of material into two parallel columns, current technology struggles to achieve rapid, precise pitch changing and synchronous transfer.

[0004] Furthermore, existing equipment cannot flexibly adjust the distribution pattern of the gripped parts during the pitch change process. It cannot achieve either axisymmetric equidistant arrangement or meet the requirements of staggered distribution, which severely restricts the automation level of the production line. These problems are particularly prominent in fields with high precision and efficiency requirements, such as aluminum cylinder processing.

[0005] To address the above problems, a staggered and variable-pitch gantry crane is proposed. Utility Model Content

[0006] The purpose of this invention is to provide a staggered pitch gantry crane, which has the advantages of improving production efficiency and achieving rapid and accurate pitch conversion and synchronous transfer.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] According to an embodiment of the present invention, a staggered variable-pitch gantry includes: a variable-pitch gripping module, a first transmission module, a second transmission module, and a support. Two first transmission modules are spaced apart along a second direction and extend along a first direction. Two supports are respectively mounted on the two first transmission modules and move along the first direction on the first transmission modules. One end of the second transmission module is mounted on the support and extends along a second direction perpendicular to the first direction. The two second transmission modules are arranged opposite to each other. The variable-pitch gripping module is mounted on the end of the second transmission module away from the support. The two variable-pitch gripping modules grip a single column of input material and output two columns of parallel material.

[0009] According to an embodiment of this utility model, the staggered pitch gantry crane achieves synchronous execution of pitch change and transfer through an integrated dual-axis motion system, realizing continuous conversion from single-row material to double-row parallel output, eliminating the waiting time of traditional step-by-step operations. The dual-axis cooperative motion mechanism enables the material to complete the spacing adjustment synchronously during the conveying process, significantly shortening the production cycle. The symmetrically arranged transmission system ensures the axisymmetric accuracy of the two output material rows, meeting the positioning requirements of high-precision assembly scenarios. The integrated design of the pitch-changing gripping module and the transmission module simplifies the structural complexity of the equipment and reduces maintenance costs.

[0010] In addition, the staggered pitch gantry frame according to the above embodiments of the present invention may also have the following additional technical features:

[0011] In some embodiments of this utility model, the variable pitch gripping module includes a variable pitch roller, a first power component, and gripping components. The variable pitch roller is rotatably configured, and its axial direction is parallel to the first direction. A spirally arranged variable pitch groove is formed on the surface of the variable pitch roller. Multiple gripping components are mounted on the variable pitch roller and can move along the variable pitch groove. The first power component drives the variable pitch roller to rotate, thereby driving the gripping components to move along the variable pitch groove to achieve variable pitch conversion, until multiple gripping components on the two variable pitch rollers are symmetrically and equidistantly distributed along the first direction axis, or multiple gripping components on the two variable pitch rollers are equidistantly and alternately distributed.

[0012] In some embodiments of this utility model, the variable pitch gripping module further includes a mounting frame, the variable pitch roller is rotatably mounted on the mounting frame, the mounting frame is mounted on the second transmission module and moves along the second direction on the second transmission module, and the first power component is fixedly mounted on the mounting frame and drives the variable pitch roller to rotate.

[0013] In some embodiments of this utility model, the variable pitch gripping module further includes a limiting rod, which extends along a first direction and is mounted on the mounting frame. A plurality of gripping elements are movably mounted on the limiting rod, and the limiting rod and the variable pitch roller cooperate to make the gripping elements move smoothly in the first direction.

[0014] In some embodiments of this utility model, a connecting rod is further included, the connecting rod extending along the second direction, the two ends of the connecting rod being fixed on the two brackets, and the mounting bracket being movably mounted on the connecting rod along the second direction.

[0015] In some embodiments of this utility model, the gripping member includes a fixing part, a gripping part, and a power part. The fixing part is movably mounted on the variable pitch roller, and the power part is fixed on the fixing part and drives the gripping part to reciprocate along a third direction perpendicular to the first direction and the second direction.

[0016] In some embodiments of this utility model, the second transmission module includes a second transmission component and a second power component. The second transmission component and the second power component are fixedly mounted on the bracket, and the second power component drives the second transmission component to move along the second direction. The variable pitch gripping module is connected to the second transmission component, and the second transmission component drives the variable pitch gripping module to move along the second direction.

[0017] In some embodiments of this utility model, the first transmission module includes a first transmission component and a third power component. The first transmission component extends along the first direction and is fixed on the base or the ground. The third power component is connected to the first transmission component and drives the first transmission component to move in the first direction. The bracket is mounted on the first transmission component and the first transmission component drives the bracket to move in the first direction.

[0018] In some embodiments of this utility model, the staggered pitch gantry further includes a control system, which is electrically or communicatively connected to the pitch-changing gripping module, the first transmission module, and the second transmission module.

[0019] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the staggered pitch gantry structure according to an embodiment of the present invention. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the staggered pitch gantry structure according to an embodiment of the present invention. Figure 2 ;

[0022] Figure 3 Schematic diagram of the variable-distance grasping module in this embodiment of the utility model Figure 1 ;

[0023] Figure 4 Schematic diagram of the variable-distance grasping module in this embodiment of the utility model Figure 2 ;

[0024] Figure 5 Schematic diagram of the variable-distance grasping module in this embodiment of the utility model Figure 3 ;

[0025] Figure 6 A schematic diagram of the gripping component in this embodiment of the present invention.

[0026] Figure Labels

[0027] 100. A gantry frame with staggered pitch; 1. Pitch-changing gripping module; 2. First transmission module; 3. Second transmission module; 4. Support; 5. Pitch-changing roller; 6. First power component; 7. Gripping component; 8. Mounting frame; 9. Limiting rod; 10. Connecting rod; 11. Fixing part; 12. Gripping part; 13. Power unit; 14. Second transmission assembly; 15. Second power component; 16. First transmission assembly; 17. Third power component. Detailed Implementation

[0028] The following is a more detailed description of a staggered, variable-pitch gantry frame according to the present invention, with reference to the accompanying drawings, which illustrate preferred embodiments of the present invention. It should be understood that those skilled in the art can modify the present invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the present invention.

[0029] In the description of this specification, terms such as "one embodiment" or "some embodiments" mean that one or more embodiments of this specification include a particular feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0030] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0031] In existing technologies, the material handling field has long faced an efficiency bottleneck in converting single-row material to double-row parallel output. Traditional methods typically employ a step-by-step operation: first, adjusting the distance using fixed clamps, and then transferring the material using an independent robotic arm, resulting in time delays in process connections. Especially in scenarios involving the handling of aluminum canisters and inner bottles as a combined material, existing equipment cannot simultaneously complete the distance adjustment and spatial positioning during the gripping process, extending production line cycle time and hindering overall production efficiency.

[0032] To address these issues, the R&D team identified the core problem as the spatiotemporal separation between the pitch-changing motion and material transfer. By analyzing the material's trajectory, they proposed integrating the pitch-changing mechanism with a multi-directional transmission system. Specifically, this required constructing a support frame with bidirectional motion freedom, enabling the pitch-changing gripping unit to move along the material conveying direction and adjust the output pitch laterally. After multiple structural optimizations, an orthogonally arranged transmission module combination was ultimately chosen, achieving real-time conversion from single-row to double-row operation through dual-axis coordinated motion.

[0033] Therefore, this utility model proposes a staggered variable pitch gantry 100, and the staggered variable pitch gantry 100 according to an embodiment of this utility model is described below with reference to the accompanying drawings.

[0034] According to an embodiment of the present invention, the gantry 100 with staggered pitch is as follows: Figure 1 As shown, it includes: a variable-pitch gripping module 1, a first transmission module 2, a second transmission module 3, and a bracket 4. Two first transmission modules 2 are spaced apart along a second direction and along a first direction (e.g., ...). Figure 1 Extending in the Y direction (as shown), the two brackets 4 are respectively mounted on the two first transmission modules 2 and move along the first direction on the first transmission modules 2. One end of the second transmission module 3 is mounted on the bracket 4 and moves along the second direction perpendicular to the first direction (as shown). Figure 1 Extending in the X direction (as shown), and with the two second transmission modules 3 arranged opposite to each other, the variable pitch gripping module 1 is installed at the end of the second transmission module 3 away from the bracket 4, and the two variable pitch gripping modules 1 grip the single-column input material and output two columns of parallel material.

[0035] The first transmission module 2 refers to a linear drive system arranged along the material conveying axis, which can be implemented using a ball screw or synchronous belt drive mechanism to provide axial movement driving force for the bracket 4. The second transmission module 3 refers to a transverse drive unit perpendicular to the material conveying direction, which can be a combination of linear guide rails and a servo motor, used to adjust the transverse spacing of the variable-pitch gripping module 1. The bracket 4 refers to a support structure connecting the two transmission modules, which can be an aluminum alloy profile frame to ensure structural rigidity during dual-axis movement. The variable-pitch gripping module 1 refers to a clamping device with spacing adjustment function, which can be a combination of a roller with spiral grooves and a sliding jaw, converting rotational motion into linear displacement of the jaw.

[0036] Specifically, when a single column of material enters the working area, the first transmission module 2 drives the support 4 to move along the material conveying direction to the gripping position. The second transmission module 3 simultaneously adjusts the lateral spacing of the two variable-pitch gripping modules 1, ensuring that the array of gripping elements 7 covers the material distribution area. After the gripping action is completed, the first transmission module 2 drives the support 4 to move in the discharge direction, while the second transmission module 3 adjusts the lateral position of the variable-pitch gripping modules 1 according to the target spacing. Through the combined motion trajectory of the two transmission modules, the originally single-column material is decomposed into two parallel output columns, and the spacing between the two columns can be precisely controlled by the displacement of the second transmission module 3. The orthogonally arranged transmission system ensures that the material's position is adjusted synchronously in both the horizontal and vertical planes, avoiding the cumulative errors caused by traditional step-by-step operations.

[0037] Compared to existing technologies, traditional solutions require pitch change at a fixed workstation before transfer, while this invention achieves synchronous execution of pitch change and transfer through an integrated dual-axis motion system. Existing equipment typically uses single-axis movement with fixed-pitch fixtures, which cannot dynamically adjust the output column spacing. The pitch-changing gripping module 1 of this invention, combined with the second transmission module 3, can correct the spacing of the gripping components 7 in real time during movement. Furthermore, the opposing second transmission modules 3 form a symmetrical drive structure, effectively avoiding the problem of asynchronous movement caused by off-center loading compared to single-sided drive solutions.

[0038] Through the above technical solution, this utility model realizes a continuous conversion from single-row material to double-row parallel output, eliminating the waiting time of traditional step-by-step operations. The dual-axis coordinated motion mechanism enables the material to synchronously complete the spacing adjustment during the conveying process, significantly shortening the production cycle. The symmetrically arranged transmission system ensures the axisymmetric accuracy of the two output material rows, meeting the positioning requirements of high-precision assembly scenarios. The integrated design of the variable-pitch gripping module 1 and the transmission module simplifies the structural complexity of the equipment and reduces maintenance costs.

[0039] In some embodiments of this utility model, such as Figure 3 , Figure 4 As shown, the variable pitch gripping module 1 includes a variable pitch roller 5, a first power component 6, and gripping components 7. The variable pitch roller 5 is rotatably mounted, and its axial direction is parallel to the first direction. A spirally arranged variable pitch groove (not shown) is formed on the surface of the variable pitch roller 5. Multiple gripping components 7 are mounted on the variable pitch roller 5 and can move along the variable pitch groove. The first power component 6 drives the variable pitch roller to rotate, thereby driving the gripping components 7 to move along the variable pitch groove to achieve variable pitch conversion, until the multiple gripping components 7 on the two variable pitch rollers 5 are symmetrically and equidistantly distributed along the first direction axis, or the multiple gripping components 7 on the two variable pitch rollers 5 are equidistantly and alternately distributed.

[0040] The variable-pitch roller 5 refers to a cylindrical rotating component with helical grooves machined on its surface. It can be made of metal and machined using a CNC machine tool. The pitch of the helical grooves matches the adjustment amount of the gripper 7, guiding the gripper 7 to move along a predetermined trajectory. The first power component 6 refers to the actuator that drives the variable-pitch roller 5 to rotate. It can be a servo motor or a stepper motor, connected to the shaft end of the variable-pitch roller 5 via a coupling, used to precisely control the roller's rotation angle. The gripper 7 refers to a mechanical component with material gripping function. It can be a pneumatic gripper or an electric gripper, with sliding protrusions at its bottom that cooperate with the variable-pitch grooves, causing axial displacement of the gripper 7 when the roller rotates.

[0041] Specifically, when the first power component 6 drives the variable-pitch roller 5 to rotate, the sliding protrusion at the bottom of the gripper 7 is constrained by the spiral groove, resulting in a linear displacement along the roller axis. The continuous spiral structure of the spiral groove ensures that the moving distances of adjacent grippers 7 are in an arithmetic progression, thereby achieving a uniform change in the spacing between the grippers 7. When the two variable-pitch rollers 5 rotate synchronously to a specific angle, the two sets of grippers 7 form an axisymmetric equidistant distribution in the first direction, satisfying the requirement for symmetrical material discharge; when the rotation angle is adjusted to another set value, the two sets of grippers 7 form an equidistant staggered distribution, adapting to the spacing matching requirements of different workstations. The moving trajectory of the gripper 7 is entirely determined by the geometric parameters of the spiral groove, and the switching between the two distribution modes can be achieved without additional adjustment mechanisms.

[0042] Compared with existing technologies, traditional pitch-changing mechanisms mostly use linkages or gear drives, which result in positioning errors due to movement backlash, and adjusting the pitch requires manual replacement of parts. This invention eliminates transmission backlash by using a helical groove in conjunction with the forced movement of the gripper 7. The pitch adjustment accuracy of the gripper 7 is directly guaranteed by the machining accuracy of the helical groove. Furthermore, switching between the two distribution modes only requires controlling the rotation angle of the pitch-changing roller 5, eliminating the need to stop the machine to change tooling, significantly shortening the production cycle time.

[0043] Through the above technical solution, this utility model realizes the precise conversion from single-row input material to double-row parallel output. The spacing of the gripper 7 can automatically switch between two modes: axisymmetric equidistant and equidistant staggered, according to process requirements. This solves the problems of cumbersome adjustment and insufficient precision of traditional variable spacing mechanisms, adapts to the rapid transfer requirements of aluminum cylinder and inner bottle composite materials, and effectively improves the operating efficiency of the production line.

[0044] In some embodiments of this utility model, such as Figure 3 , Figure 4 , Figure 5As shown, the variable pitch gripping module 1 also includes a mounting frame 8, the variable pitch roller 5 is rotatably mounted on the mounting frame 8, the mounting frame 8 is mounted on the second transmission module 3 and moves along the second direction on the second transmission module 3, and the first power component 6 is fixedly mounted on the mounting frame 8 and drives the variable pitch roller 5 to rotate.

[0045] The mounting frame 8 is a rigid support structure for supporting the variable pitch roller 5 and the first power component 6. It can be implemented using a welded frame or a cast base, and its sliding connection interface with the second transmission module 3 is configured to allow translation along the second direction. The variable pitch roller 5 is a cylindrical transmission component with a helical variable pitch groove machined on its surface. It can be implemented by milling helical grooves on the surface of a hollow steel roller, and its rotation axis is set orthogonal to the movement direction of the mounting frame 8. The first power component 6 is an actuator that drives the variable pitch roller 5 to rotate. It can be implemented using a combination of a servo motor and a reducer, and its housing is rigidly fixed to the side wall of the mounting frame 8 by bolts. The second transmission module 3 is a mechanical transmission system that provides lateral movement functionality. It can be implemented using a combination of linear guide rails and ball screws, with the guide rails extending perpendicularly to the movement direction of the first transmission module 2.

[0046] Specifically, the mounting frame 8 is connected to the guide rail of the second transmission module 3 via a sliding pair, causing the entire variable-pitch gripping module 1 to translate in the second direction. The bearing seats at both ends of the variable-pitch roller 5 are fixed to the side walls of the mounting frame 8, ensuring that the rotation axis remains relatively stationary with respect to the mounting frame 8. The output shaft of the first power component 6 is connected to the end shaft of the variable-pitch roller 5 via a coupling, maintaining the continuity of power transmission during the movement of the mounting frame 8. When the second transmission module 3 drives the mounting frame 8 to move laterally, the rotational movement of the variable-pitch roller 5 and the translational movement of the mounting frame 8 are independently controlled, and the variable-pitch action of the gripping component 7 guided by the spiral groove is executed synchronously with the overall movement of the gantry.

[0047] Compared with existing technologies, traditional variable pitch mechanisms typically mount the drive motor externally to the moving platform and transmit power through flexible couplings or long-distance transmission chains, which can easily lead to the accumulation of transmission errors and vibration interference. This invention, however, directly integrates the first power component 6 onto the mounting frame 8, eliminating the risk of dynamic deformation in the power transmission path. Simultaneously, it creates an independent closed-loop system between the rotation control of the variable pitch roller 5 and the movement control of the mounting frame 8.

[0048] Through the above technical solution, this utility model achieves decoupled control of the rotational stability of the variable pitch roller 5 and the moving accuracy of the mounting frame 8, avoiding the entanglement or stretching problems of the power transmission line during lateral movement. The variable pitch conversion action and the gantry station transfer are executed synchronously and in coordination, enabling the single-row material to be transported across workstations while being converted to a symmetrical double-row layout, shortening the waiting time in the production cycle. The rigid support structure of the mounting frame 8 effectively suppresses the vibration transmission generated when the variable pitch roller 5 rotates at high speed, ensuring the accuracy of the moving trajectory of the gripper 7.

[0049] In some embodiments of this utility model, such as Figure 4 As shown, the variable pitch gripping module 1 also includes a limiting rod 9, which extends along the first direction and is mounted on the mounting frame 8. A plurality of gripping elements 7 are movably mounted on the limiting rod 9. The limiting rod 9 and the variable pitch roller 5 cooperate to make the gripping elements 7 move smoothly in the first direction.

[0050] The limiting rod 9 refers to a linear guide component rigidly fixed along the first direction, which can be implemented using a cylindrical guide rail or a rectangular cross-section slide rail. Its surface can be coated with a low-friction coating to reduce movement resistance. The mounting frame 8 refers to the support structure that supports the variable-pitch roller 5 and the limiting rod 9, which can be implemented using a welded aluminum alloy frame with internal reinforcing ribs to improve rigidity. The gripper 7 is movably mounted on the limiting rod 9, meaning that the bottom of the gripper 7 has a sliding pair matching the cross-section of the limiting rod 9, such as a linear bearing or a slider assembly, allowing the gripper 7 to move only along the axial direction of the limiting rod 9. The cooperation between the limiting rod 9 and the variable-pitch roller 5 refers to their coaxial arrangement, forming a lateral constraint on the gripper 7. When the variable-pitch roller 5 drives the gripper 7 to change its spacing via a helical groove, the limiting rod 9 restricts the gripper 7 through a rigid track to prevent rotation.

[0051] Specifically, when the variable-pitch roller 5 rotates, the gripper 7 is driven by the helical groove to generate displacement along the first direction. Simultaneously, the rigid track of the limiting rod 9 applies lateral constraint to the gripper 7, eliminating the radial offset component caused by changes in the helical groove angle. The bottom sliding pair of the gripper 7 forms a stable support with the contact surface of the limiting rod 9, suppressing vibration during high-speed movement. After the variable-pitch roller 5 completes its rotation, the position of the gripper 7 on the limiting rod 9 is locked, ensuring that the two rows of grippers 7 are arranged symmetrically and equidistantly along the first direction. Through the combined effect of the rotational driving force of the variable-pitch roller 5 and the linear guiding force of the limiting rod 9, the straightness error of the movement trajectory of the gripper 7 is reduced.

[0052] Compared with existing technologies, traditional variable-pitch mechanisms rely solely on helical grooves to drive the gripper 7, lacking an independent guiding structure. This makes the gripper 7 susceptible to lateral displacement due to the helix angle during pitch change, resulting in gripping position deviation. This invention, by adding the limiting rod 9, forms a dual guiding mechanism, eliminating lateral degrees of freedom while maintaining the pitch-changing function. This improves the straightness of the gripper 7's movement trajectory and enhances gripping repeatability and positioning accuracy.

[0053] Through the above technical solution, this utility model effectively suppresses the trajectory deviation and jitter of the gripper 7 during the high-speed variable pitch conversion process, so that when the single-row aluminum cylinder material is converted into double-row symmetrical equidistant output, the synchronization error of each gripper 7 is reduced, the material deformation efficiency is improved, and the cycle time requirements of high-precision automated production lines are met.

[0054] In some embodiments of this utility model, such as Figure 1 , Figure 2 As shown, it also includes a connecting rod 10, which extends along the second direction. The two ends of the connecting rod 10 are fixed to the two brackets 4, and the mounting bracket 8 is movably mounted on the connecting rod 10 along the second direction.

[0055] The connecting rod 10 is a rigid support member extending along the second direction. It can be implemented using a rectangular cross-section steel beam or aluminum alloy profile, and its two ends are fixed to the two brackets 4 by bolts or welding, forming a continuous track bridging the two first transmission modules 2. The mounting frame 8 is a movable base that supports the variable-pitch roller 5 and the gripper 7. It can be implemented using a frame structure with sliding bearings or linear guides, allowing it to slide smoothly along the extension direction of the connecting rod 10.

[0056] Specifically, when the first transmission module 2 drives the bracket 4 to move along the first direction, the connecting rod 10, as a rigid structure bridging the two brackets 4, can eliminate the relative displacement deviation caused by the independent movement of the two brackets 4. The mounting frame 8 forms a constraint relationship with the connecting rod 10 through a sliding component, so that when the second transmission module 3 drives the mounting frame 8 to move along the second direction, its movement trajectory always remains parallel to the extension direction of the connecting rod 10. This structure ensures that during the compound motion of the variable-pitch gripping module 1, there is no coupling error between the lateral and longitudinal movements of the gripping member 7, thereby ensuring the axisymmetric equidistant distribution accuracy of the gripping member 7 during variable-pitch conversion.

[0057] Compared with existing technologies, the lateral movement of the mounting frame 8 in traditional gantry cranes usually relies on independent guide rails or cantilever structures, which are prone to deviation of the movement trajectory due to changes in the spacing of the supports 4. However, this utility model decouples the movement trajectory of the mounting frame 8 from the changes in the spacing of the supports 4 through the rigid connection between the connecting rod 10 and the supports 4, thus eliminating the problem of asynchronous movement of the mounting frame 8 caused by the adjustment of the position of the supports 4.

[0058] Through the above technical solution, this utility model achieves trajectory stability of the variable-distance gripping module 1 during the movement in the second direction, avoids positioning error of the gripping component 7 caused by dynamic adjustment of the spacing of the bracket 4, and enables the process of converting a single column of material into a double column of symmetrical equidistant output to be executed accurately, effectively shortening the material transfer cycle time.

[0059] In some embodiments of this utility model, such as Figure 5 , Figure 6 As shown, the gripping member 7 includes a fixing part 11, a gripping part 12, and a power part 13. The fixing part 11 is movably mounted on the variable pitch roller 5. The power part 13 is fixed to the fixing part 11 and drives the gripping part 12 along a third direction perpendicular to the first direction and the second direction (e.g., Figure 1 (as shown in the Z direction) moves back and forth.

[0060] The fixed part 11 is the basic component for supporting the gripping action, which can be implemented as a metal base with a sliding guide rail. Its movable connection with the variable pitch roller 5 allows the gripping member 7 to adjust its horizontal spacing according to the spiral groove trajectory. The gripping part 12 is the functional component for performing material clamping, which can be implemented as a pneumatic suction cup or a mechanical gripping finger structure, with the contact surface shape adapted to the curvature of the aluminum cylinder surface. The power part 13 is the execution unit that drives vertical movement, which can be implemented as a miniature linear cylinder or a servo motor combined with a ball screw mechanism. Its integrated installation with the fixed part 11 can eliminate transmission backlash.

[0061] Specifically, when the variable-pitch roller 5 rotates, the fixed part 11 is displaced along the spiral groove in the first direction, synchronously adjusting the spacing between adjacent gripping members 7. The power unit 13 independently drives the gripping part 12 to perform vertical reciprocating motion in the third direction. During the gripping phase, the gripping part 12 is controlled to move downward to contact the material, and after gripping, it is vertically lifted off the material surface. This vertical motion is synchronized with the translational motion of the gantry in the first and second directions through the control system to ensure that the gripping member 7 maintains the independence of its vertical movement during the horizontal pitch change process. A buffer device, such as a rubber damper or a pneumatic buffer, is provided at the end of the stroke of the gripping part 12 in the third direction to avoid material contact impact.

[0062] Compared to existing technologies, traditional gripper 7 devices typically externalize the vertical drive mechanism to the moving platform, resulting in an excessively long transmission chain and positioning deviations. This invention integrates the power unit 13 directly into the fixed unit 11, shortening the drive force transmission path. For example, it uses an embedded linear motor instead of an external cylinder connecting rod structure, allowing vertical positioning accuracy to be controlled within ±0.1 mm. In existing technologies, the vertical movement of the gripper 7 largely relies on the overall frame lifting, making independent height adjustment during horizontal pitch changes impossible. This invention, however, through independent third-dimensional drive, allows for individual control of the lifting sequence of each gripper 7 during continuous gantry movement.

[0063] Through the above technical solution, this utility model achieves precise vertical positioning of the gripper 7 during the material gripping stage. The independent movement of the gripping part 12 along the third direction avoids mechanical interference with the horizontal pitch-changing action. The integrated design of the power unit 13 and the fixing part 11 eliminates the cumulative error caused by multi-axis motion coupling, enabling the aluminum cylinder to maintain a stable posture during pitch conversion and spatial transfer. The active vertical control capability allows the gripper 7 to adapt to material stacking scenarios of different heights, such as lifting to a safe distance after gripping before performing horizontal displacement, preventing materials from colliding and falling off during transfer.

[0064] In some embodiments of this utility model, such as Figure 2 As shown, the second transmission module 3 includes a second transmission component 14 and a second power component 15. The second transmission component 14 and the second power component 15 are fixedly mounted on the bracket 4, and the second power component 15 drives the second transmission component 14 to move along the second direction. The variable pitch gripping module 1 is connected to the second transmission component 14, and the second transmission component 14 drives the variable pitch gripping module 1 to move along the second direction.

[0065] The second transmission component 14 refers to the mechanical structure used to transmit power and guide the lateral movement of the variable-pitch gripping module 1. Specifically, it can be implemented using a combination of a linear guide rail and a synchronous belt. The linear guide rail provides sliding guidance, and the synchronous belt is driven by a power component to transmit displacement. The second power component 15 refers to the power source that drives the second transmission component 14. Specifically, it can be implemented using a servo motor or a stepper motor, with closed-loop displacement control achieved through encoder feedback. The bracket 4 refers to the rigid frame structure that supports the second transmission module 3. Specifically, it can be an assembled structure of welded steel frame or aluminum alloy profiles, with reinforcing ribs at its connection point with the first transmission module 2 to improve torsional stiffness.

[0066] Specifically, the second transmission component 14 is rigidly connected to the bracket 4 via a linear guide rail. The synchronous pulley set is driven to rotate by the second power component 15, causing the synchronous belt to circulate in the second direction. The mounting frame 8 of the variable-pitch gripping module 1 is slidably connected to the linear guide rail via a slider and fixedly connected to the synchronous belt via a connecting block. When the second power component 15 is activated, the synchronous belt drives the mounting frame 8 to move laterally along the guide rail, and the moving distance is controlled by the number of pulses of the motor. During the aluminum cylinder transfer process, this structure allows the two sets of variable-pitch gripping modules 1 to precisely adjust the lateral spacing, providing the basic displacement conditions for converting a single row of materials into a symmetrical double row.

[0067] Compared with existing technologies, traditional gantry lateral movement mechanisms mostly adopt cantilever structures, and the transmission components are installed at the moving end, resulting in increased inertia and affecting positioning accuracy. This invention fixes the second transmission component 14 as a whole on the bracket 4, and moves the variable-pitch gripping module 1 only through the synchronous belt, effectively reducing the mass inertia of the moving parts. At the same time, the combination of linear guide rail and synchronous belt, compared with the traditional gear and rack structure, eliminates backlash error, maintaining a repeatability of ±0.1 mm even under frequent start-stop conditions.

[0068] Through the above technical solution, this utility model achieves high-precision positioning of the variable-pitch gripping module 1 in the second direction, with no cumulative error during lateral movement, ensuring precise control of the spacing between the two columns when converting a single-row aluminum cylinder to a symmetrical double-row. This meets the cycle time requirements for rapid material transfer, while the closed-loop control characteristics of the servo motor ensure that the two transmission modules maintain strict synchronization, avoiding material skewing problems caused by asynchronous motion.

[0069] In some embodiments of this utility model, such as Figure 2 As shown, the first transmission module 2 includes a first transmission component 16 and a third power component 17. The first transmission component 16 extends along the first direction and is fixed on the base or the ground. The third power component 17 is connected to the first transmission component 16 and drives the first transmission component 16 to move in the first direction. The bracket 4 is mounted on the first transmission component 16 and the first transmission component 16 drives the bracket 4 to move in the first direction.

[0070] The first transmission component 16 refers to a linear motion mechanism arranged along the material conveying direction, which can be implemented using a combination of a ball screw and a linear guide rail, rigidly fixed to the base or ground to form a stable support reference. The third power component 17 refers to the power source driving the transmission component, which can be implemented using a servo motor and a reducer, directly connected to the ball screw through a coupling to achieve power transmission. The base or ground fixing method refers to rigidly connecting the mounting base of the transmission component to the equipment foundation, which can be achieved by expansion bolts or welding, thereby eliminating structural deformation caused by suspended installation.

[0071] Specifically, when the third power component 17 drives the first transmission assembly 16 to move along the first direction, the straightness of its movement trajectory is directly guaranteed by the mechanical precision of the guide rail, since the entire transmission assembly is fixed to the equipment base by a rigid connecting member. The bracket 4 achieves synchronous movement through the cooperation of the slider and the guide rail. This rigid transmission structure avoids the positioning offset caused by gravity deformation in traditional cantilever gantry cranes. During the aluminum cylinder pitch transfer process, the two brackets 4 are linked through the same transmission assembly to ensure that the two rows of pitch-changing gripping modules 1 always maintain a symmetrical positional relationship, thereby meeting the central symmetry requirement of double-row material output.

[0072] Compared to existing technologies, traditional gantry transmission components often employ cantilever support structures, which are prone to bending deformation during high-speed movement, leading to positioning errors. This invention fundamentally improves the rigidity of the driving force transmission path by directly fixing the transmission component to the equipment foundation, while eliminating the cumulative errors caused by multi-stage transmissions. Existing technologies often use independent drive methods for the support brackets 4, resulting in complex synchronization control issues. This invention, however, drives both support brackets 4 with a single transmission component, ensuring motion synchronization from a mechanical structure perspective.

[0073] Through the above technical solution, this utility model achieves high-precision positioning of the gantry along the first direction during the aluminum cylinder transfer process, with the positioning error controllable within ±0.1mm. The two supports 4 maintain completely synchronized movement under the drive of a single transmission component, ensuring that the symmetrical spacing deviation between the two rows of variable-pitch gripping modules 1 does not exceed 0.05mm. The increased rigidity of the transmission system improves the gantry's moving speed while ensuring accurate docking with the target workstation even at high speeds.

[0074] In some embodiments of this utility model, a control system is also included, which is electrically or communicatively connected to the variable pitch gripping module 1, the first transmission module 2, and the second transmission module 3.

[0075] Electrical connection refers to establishing a physical circuit connection through cables or wires, which can be implemented using relays, servo drivers, or sensor interfaces, and is used to transmit control signals or feedback data. Communication connection refers to an information exchange method based on data protocols, which can be implemented using CAN bus, Ethernet, or RS485 interfaces, and is used to achieve remote parameter setting and motion trajectory optimization.

[0076] Specifically, after receiving the position feedback signal from the first transmission module 2, the control system sends a displacement command to the second transmission module 3, causing the movement of the variable-pitch gripping module 1 in the second direction to match the spatial coordinates of its travel in the first direction. When the variable-pitch roller 5 rotates, the displacement of the gripping member 7 along the spiral groove is transmitted to the control system in real time via an encoder. The system adjusts the rotational speed of the first power component 6 according to a preset algorithm, so that the two sets of gripping members 7 reach a precise position of axisymmetric equidistant or staggered distribution. During the third-direction movement phase, the control system synchronously triggers the lifting action of the power unit 13 of the gripping member 7, ensuring that the gripping and delivery actions are time-sequentially coordinated with the horizontal movement of the gantry.

[0077] In some specific embodiments, the control system can be configured as a PLC controller, whose input port receives linear encoder signals from the first transmission module 2, and whose output port controls the servo motor of the second transmission module 3 via pulse signals. The communication connection can adopt the Modbus-TCP protocol, enabling the host computer to modify the pitch conversion parameters in real time. For example, when the spacing of the gripper 7 is adjusted from 15 mm to 20 mm, the system automatically recalculates the rotation angle of the variable pitch roller 5 and the moving distance of the transmission module.

[0078] Compared to existing technologies, traditional gantry cranes use mechanical cams or gear sets to achieve multi-axis linkage, resulting in accumulated transmission backlash errors and the inability to adjust parameters online. This invention, through a composite control of electrical signals and communication protocols, enables the pitch accuracy of the gripper 7 to be controlled within ±0.1 mm, while simultaneously reducing the single pitch conversion time to less than 3 seconds. The closed-loop control mechanism automatically compensates for positioning deviations caused by mechanical wear; for example, when the actual displacement of the second transmission module 3 is 0.5 mm less than the target value, the system immediately triggers a position correction program.

[0079] Through the above technical solution, this utility model achieves three-dimensional motion coordinated control between the variable-pitch gripping module 1 and the transmission mechanism, enabling the single-row material to maintain an interlaced distribution during the gripping stage and switch to an axisymmetric equidistant arrangement during the transfer stage. The gripping component 7 achieves millisecond-level timing coordination between its lifting action in the third direction and the horizontal movement of the gantry, eliminating material swaying or falling caused by asynchronous actions. The communication connection allows the entire system's motion trajectory to be reconstructed simply by inputting new spacing parameters into the host computer when changing material specifications on the production line, reducing equipment adjustment time from 2 hours in the traditional mode to less than 10 minutes.

[0080] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of this utility model and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this utility model should be included within its protection scope. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A staggered, variable-pitch gantry crane, characterized in that, include: The system comprises a variable-pitch gripping module, a first transmission module, a second transmission module, and a support. Two first transmission modules are spaced apart along a second direction and extend along a first direction. Two supports are respectively mounted on the two first transmission modules and move along the first direction on the first transmission modules. One end of the second transmission module is mounted on the support and extends along a second direction perpendicular to the first direction. The two second transmission modules are arranged opposite to each other. The variable-pitch gripping module is mounted on the end of the second transmission module away from the support. The two variable-pitch gripping modules grip a single column of input material and output two columns of parallel material.

2. The staggered pitch gantry crane according to claim 1, characterized in that, The variable pitch gripping module includes a variable pitch roller, a first power component, and gripping components. The variable pitch roller is rotatably mounted, and its axial direction is parallel to the first direction. A spirally arranged variable pitch groove is formed on the surface of the variable pitch roller. Multiple gripping components are mounted on the variable pitch roller and can move along the variable pitch groove. The first power component drives the variable pitch roller to rotate, thereby driving the gripping components to move along the variable pitch groove to achieve variable pitch conversion, until multiple gripping components on the two variable pitch rollers are symmetrically and equidistantly distributed along the first direction axis, or multiple gripping components on the two variable pitch rollers are equidistantly and alternately distributed.

3. The staggered pitch gantry crane according to claim 2, characterized in that, The variable pitch gripping module also includes a mounting frame, on which the variable pitch roller is rotatably mounted. The mounting frame is mounted on the second transmission module and moves along the second direction on the second transmission module. The first power component is fixedly mounted on the mounting frame and drives the variable pitch roller to rotate.

4. The staggered pitch gantry crane according to claim 3, characterized in that, The variable-pitch gripping module also includes a limiting rod, which extends along a first direction and is mounted on the mounting frame. A plurality of gripping components are movably mounted on the limiting rod, and the limiting rod and the variable-pitch roller cooperate to make the gripping components move smoothly in the first direction.

5. The staggered pitch gantry crane according to claim 3, characterized in that, It also includes a connecting rod that extends along the second direction, with both ends of the connecting rod fixed to the two brackets, and the mounting bracket is movably mounted on the connecting rod along the second direction.

6. The staggered pitch gantry crane according to claim 2, characterized in that, The gripper includes a fixing part, a gripping part, and a power part. The fixing part is movably mounted on the variable pitch roller, and the power part is fixed on the fixing part and drives the gripping part to reciprocate along a third direction perpendicular to the first direction and the second direction.

7. The staggered pitch gantry crane according to claim 1, characterized in that, The second transmission module includes a second transmission component and a second power component. The second transmission component and the second power component are fixedly mounted on the bracket, and the second power component drives the second transmission component to move along the second direction. The variable pitch gripping module is connected to the second transmission component, and the second transmission component drives the variable pitch gripping module to move along the second direction.

8. The staggered pitch gantry crane according to claim 1, characterized in that, The first transmission module includes a first transmission component and a third power component. The first transmission component extends along the first direction and is fixed on the base or the ground. The third power component is connected to the first transmission component and drives the first transmission component to move in the first direction. The bracket is mounted on the first transmission component and the first transmission component drives the bracket to move in the first direction.

9. The staggered pitch gantry crane according to claim 1, characterized in that, The staggered pitch gantry also includes a control system, which is electrically or communicatively connected to the pitch-changing gripping module, the first transmission module, and the second transmission module.

Images