A gantry handling apparatus
By adopting a gear and rack transmission structure in gantry-type material handling equipment, the problems of positioning accuracy and reliability during transmission are solved, achieving high-precision and low-cost material handling and improving the stability and reliability of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ANHUI BAOLUNDE INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-09-18
- Publication Date
- 2026-07-21
AI Technical Summary
Existing gantry-type material handling equipment suffers from reduced positioning accuracy and poor reliability during transmission, especially under heavy loads or frequent start-stop conditions. Synchronous belt drives are prone to slippage, while ball screw drives are costly and their stability is affected by the weight of the screw itself.
It adopts a gear and rack transmission structure for horizontal and vertical movement. Combined with servo or stepper motor drive, it achieves precise positioning and high stability, reducing manufacturing and maintenance costs.
It achieves high-precision and reliable material handling, improves the operational stability and positioning accuracy of the equipment, and meets the lean requirements of automated production.
Smart Images
Figure CN224530474U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a handling device, and more particularly to a truss-type handling device. Background Technology
[0002] Gantry handling equipment, also known as gantry robots or Cartesian coordinate robots, is a type of automated equipment widely used in automated production lines, warehousing and logistics, and material handling. It primarily achieves the gripping, transporting, and placement of workpieces or materials through linear movement in the X, Y, and Z Cartesian coordinate directions. Existing gantry handling equipment typically includes a fixed gantry structure and a working unit that can move on the gantry, integrating lifting and clamping mechanisms.
[0003] When realizing the horizontal and vertical movement of gantry-type material handling equipment, various transmission methods are typically employed, such as synchronous belt drives, ball screw drives, or rack and pinion drives. While synchronous belt drives are relatively inexpensive and operate smoothly, they are prone to slippage or stretching deformation under heavy loads or frequent start-stop conditions, leading to decreased positioning accuracy and affecting the reliability of material handling. Ball screw drives, although highly accurate, have a complex structure, resulting in higher manufacturing and maintenance costs. Furthermore, in long-stroke applications, the screw's own weight can cause sagging, affecting transmission stability. Therefore, designing a gantry-type material handling equipment with a simple and reliable transmission structure, precise positioning, and cost-effectiveness to meet the growing demands of automated lean manufacturing is a technical problem that needs to be solved by those skilled in the art. Utility Model Content
[0004] The main objective of this invention is to provide a truss-type handling device to solve the problems raised in related technologies.
[0005] To achieve the above objectives, according to one aspect of the present invention, a truss-type handling device is provided, comprising a truss body as a basic support structure, a movable support frame movably mounted on the truss body, a lifting part mounted on the movable support frame, a translation part mounted on the movable support frame, and a clamping part mounted at the bottom end of the lifting part; a lifting part mounting frame is fixedly mounted on the movable support frame, the lifting part is installed inside the lifting part mounting frame, the clamping part clamps an object, and the object is lifted and lowered under the action of the lifting part; the translation part drives the lifting part and the clamping part to move horizontally, thereby completing the handling of the object.
[0006] Furthermore, the truss body includes two sets of vertical support frames at the front and rear. A horizontal support frame is fixed to the top of the vertical support frame. The two horizontal support frames are fixedly connected by a connecting frame. A first guide rail is fixedly installed on the surface of each horizontal support frame. A first slider is fixedly installed at the bottom of the movable support frame, directly opposite the position of each first guide rail. The first slider is slidably mounted on the first guide rail.
[0007] Furthermore, the lifting unit includes two vertical connecting rods and a horizontal connecting rod fixed to the top of the two vertical connecting rods.
[0008] Furthermore, the lifting unit also includes two second guide rails fixed to the side walls of the lifting unit mounting frame and a second slider that is slidably mounted on the second guide rails. The vertical connecting rod and the second slider are fixed. A first rack is fixedly installed on the horizontal connecting rod, and a first gear that meshes with the rack is provided on one side.
[0009] Furthermore, the lifting unit also includes a first motor fixed on the lifting unit mounting frame. A drive shaft is fixed on the output shaft of the first motor, and the end of the drive shaft is fixed to a first gear. The first motor drives the first gear to rotate, thereby causing the first rack, horizontal connecting rod, and vertical connecting rod to move vertically.
[0010] Furthermore, the translation unit includes a second motor, which is fixedly mounted on the movable support frame via a motor mounting bracket, and a second gear is fixed to the end of the output shaft of the second motor.
[0011] Furthermore, the translation part also includes a second rack fixed between the two connecting frames. The second rack meshes with the second gear, and the second motor drives the second gear to rotate, thereby causing the movable support frame and its lifting and clamping parts to move horizontally.
[0012] Furthermore, the clamping part includes a clamping part frame, the clamping part frame and the end of the vertical connecting rod are fixed, a third guide rail is fixed at the middle position of the clamping part frame, a third motor is fixedly installed at the center position of the third guide rail, a third slider is also slidably provided on the third guide rail, and a clamping block is fixedly installed on the third slider.
[0013] Furthermore, the clamping part also includes an intermediate connecting member rotatably disposed at the center of the bottom of the third guide rail. The output shaft of the third motor is fixed to the intermediate connecting member. The intermediate connecting member is spindle-shaped, with connecting rods rotatably mounted at both ends. The end of the connecting rod away from the intermediate connecting member is rotatably mounted on the third slider.
[0014] Compared with existing technologies, this invention has the following advantages: By employing a gear and rack transmission method in both the horizontally moving translation section and the vertically moving lifting section, this invention achieves bidirectional precise positioning drive. This gear and rack transmission structure is simple and compact, with relatively low manufacturing and maintenance costs. Simultaneously, the rigid meshing between the gear and rack ensures no slippage or missed steps during transmission, guaranteeing high-precision positioning and high repeatability of the moving support frame in the horizontal direction and the clamping part in the vertical direction. This improves the overall stability and reliability of the equipment, better meeting the application requirements for precise material handling and placement in automated production. Attached Figure Description
[0015] Figure 1 This is one of the overall structural schematic diagrams of this utility model; Figure 2 This is the second schematic diagram of the overall structure of this utility model; Figure 3 This is a schematic diagram of the lifting part and clamping part of this utility model; Figure 4 This utility model Figure 2 Enlarged schematic diagram of the structure at point A in the middle; Figure 5 This is one of the schematic diagrams of the clamping part of this utility model (top view). Figure 6 This is the second schematic diagram of the clamping part of this utility model (view from below).
[0016] Figure label: 1. Vertical support frame; 2. Horizontal support frame; 3. Connecting frame; 4. First guide rail; 5. First slider; 6. Movable support frame; 7. Lifting part mounting frame; 8. Lifting part; 81. Vertical connecting rod; 82. Horizontal connecting rod; 83. Second guide rail; 84. Second slider; 85. First rack; 86. First gear; 87. First motor; 88. Drive shaft; 9. Translation part; 91. Second motor; 92. Motor fixing frame; 93. Second gear; 94. Second rack; 10. Clamping part; 101. Clamping part frame; 102. Third guide rail; 103. Third motor; 104. Third slider; 105. Clamping block; 106. Intermediate connecting piece; 107. Connecting rod. Detailed Implementation
[0017] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.
[0018] Please see the appendix Figures 1 to 6This embodiment provides a truss-type handling device, including a truss body as a basic support structure. The truss body includes two sets of vertical support frames 1, with the bottom of each vertical support frame 1 fixed to the ground or equipment foundation to ensure the stability of the overall structure. A horizontal support frame 2 is fixedly connected to the top of each set of vertical support frames 1. To enhance the rigidity and stability of the entire truss body, at least one connecting frame 3 is used to fix and connect two opposing horizontal support frames 2. A first guide rail 4 is fixedly installed along the length of the upper or side surface of each horizontal support frame 2.
[0019] A movable support frame 6 is horizontally movably mounted on the truss body. Specifically, at the bottom of the movable support frame 6, a first slider 5 is fixedly installed corresponding to the position of each first guide rail 4. Each first slider 5 slides with the corresponding first guide rail 4, thereby enabling the movable support frame 6 to perform smooth and precise reciprocating linear motion on the horizontal support frame 2 along the guide of the first guide rail 4. This double-guide rail support structure ensures the stability and torsional resistance of the movable support frame 6 during movement.
[0020] The mobile support frame 6 is equipped with a lifting unit 8 for vertical movement and a translation unit 9 for horizontal movement. To facilitate the installation and stable operation of the lifting unit 8, a lifting unit mounting frame 7 is specially fixedly installed on the mobile support frame 6, and the main structure of the lifting unit 8 is installed inside the lifting unit mounting frame 7.
[0021] The lifting unit 8 is used to drive the clamping unit 10 at its bottom to move up and down. The lifting unit 8 includes two spaced vertical connecting rods 81, the tops of which are fixedly connected to the two ends of a horizontal connecting rod 82, forming an inverted U-shaped rigid structure. In order to guide the lifting unit 8 to perform precise vertical movement, second guide rails 83 are fixedly installed on the two opposite inner side walls of the lifting unit mounting frame 7, and second sliders 84 matching the second guide rails 83 are fixedly installed on the outer side of each vertical connecting rod 81. The second sliders 84 slide on the second guide rails 83, thereby ensuring that the lifting unit 8 performs stable vertical reciprocating movement inside the lifting unit mounting frame 7.
[0022] The driving mechanism of the lifting unit 8 adopts a rack and pinion transmission. Specifically, a first rack 85 is fixedly installed on the horizontal connecting rod 82, with the teeth of the first rack 85 facing vertically to one side. A first motor 87 is fixedly installed on the lifting unit mounting frame 7, and a drive shaft 88 is fixedly connected to the output shaft of the first motor 87. A first gear 86 is fixedly installed at the end of the drive shaft 88, and the first gear 86 is meshed with the first rack 85. When the first motor 87 (e.g., a servo motor or a stepper motor) is working, it drives the drive shaft 88 and the first gear 86 to rotate. Due to the meshing relationship between the first gear 86 and the first rack 85, the rotation of the fixed first gear 86 will drive the first rack 85 to move in the vertical direction, thereby driving the horizontal connecting rod 82 and the vertical connecting rod 81 fixed to it to move vertically in sync, ultimately realizing the lifting control of the clamping part 10 installed at the bottom end of the vertical connecting rod 81.
[0023] The translation unit 9 is used to drive the entire movable support frame 6 to move horizontally on the truss body. The translation unit 9 also uses a rack and pinion drive. Specifically, a second rack 94 is fixedly installed between the two connecting frames 3, parallel to the first guide rail 4. A second motor 91 is fixedly installed on the movable support frame 6 via a motor mounting bracket 92. A second gear 93 is fixed to the end of the output shaft of the second motor 91, and the second gear 93 meshes with the fixed second rack 94. When the second motor 91 is working, it drives the second gear 93 to rotate. Since the second rack 94 is fixed, the rotating second gear 93 will "roll" along the length of the second rack 94, thereby driving the entire movable support frame 6, which is fixed to it, and the lifting unit 8 and clamping unit 10 carried on it, to move horizontally along the direction of the first guide rail 4.
[0024] The clamping part 10 is installed at the bottom end of the lifting part 8 and is used to clamp or release the target object. The clamping part 10 includes a clamping part frame 101, which is fixedly connected to the ends of two vertical connecting rods 81. A third guide rail 102 is fixedly fixed horizontally at the middle position of the clamping part frame 101. A third motor 103 is fixedly installed at the center position of the third guide rail 102. At least two third sliders 104 are symmetrically slidably arranged on the third guide rail 102, and a clamping block 105 is fixedly installed on each third slider 104, with the clamping surfaces of the two clamping blocks 105 facing each other.
[0025] The driving mechanism of the clamping part 10 is a linkage mechanism that converts rotational motion into linear motion. Specifically, an intermediate connecting member 106 is rotatably provided at the center of the bottom of the third guide rail 102. This intermediate connecting member 106 is fixedly connected to the output shaft of the third motor 103 and rotates synchronously thereafter. In this embodiment, the intermediate connecting member 106 is preferably spindle-shaped or rhomboid. At its symmetrical ends, a connecting rod 107 is rotatably mounted via a pin. The other end of each connecting rod 107 is rotatably mounted on the corresponding third slider 104. When the third motor 103 drives the intermediate connecting member 106 to rotate (for example, from a horizontal state to a vertical state), the two ends of the intermediate connecting member 106 change their distance from the central axis, thereby pushing or pulling the two third sliders 104 apart via the connecting rods 107. This causes the two third sliders 104 to move synchronously towards or away from each other along the third guide rail 102, thereby driving the two clamping blocks 105 to perform clamping or releasing actions on the object.
[0026] The workflow of the truss-type handling equipment in this embodiment is as follows: First, start the second motor 91, drive the second gear 93 to move along the second rack 94, and move the movable support frame 6 horizontally above the target object.
[0027] Next, the first motor 87 is started, driving the first gear 86 to rotate, causing the first rack 85 to drive the entire lifting part 8 and clamping part 10 to descend until the clamping block 105 reaches the appropriate height.
[0028] Then, the third motor 103 is started, driving the intermediate connecting piece 106 to rotate, which pulls the two third sliders 104 to move towards each other through the connecting rod 107, so that the clamping block 105 clamps the object.
[0029] After clamping is completed, the first motor 87 is started in reverse, causing the clamping part 10 to lift the object to a safe height.
[0030] Finally, the second motor 91 is started again to drive the mobile support frame 6 to move horizontally to the target position, and then the lifting part 8 descends and the clamping part 10 releases, completing a complete handling operation.
[0031] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.
Claims
1. A truss-type handling equipment, comprising a truss body as a basic support structure, characterized in that: A movable support frame (6) is installed horizontally on the truss body. A lifting part (8) is installed on the movable support frame (6). A translation part (9) is also installed on the movable support frame (6). A clamping part (10) is installed at the bottom of the lifting part (8). A lifting part mounting frame (7) is fixedly installed on the movable support frame (6). The lifting part (8) is installed inside the lifting part mounting frame (7). The clamping part (10) clamps the object and lifts and lowers it under the drive of the lifting part (8). The translation part (9) drives the lifting part (8) and the clamping part (10) to move horizontally to complete the transportation of the object.
2. The truss-type handling equipment according to claim 1, characterized in that, The truss body includes two sets of vertical support frames (1) at the front and rear. A horizontal support frame (2) is fixed on the top of the vertical support frame (1). The two horizontal support frames (2) are fixedly connected by a connecting frame (3). A first guide rail (4) is fixedly installed on the surface of each horizontal support frame (2). A first slider (5) is fixedly installed on the bottom of the movable support frame (6) at the position opposite to each first guide rail (4). The first slider (5) is slidably mounted on the first guide rail (4).
3. The truss-type handling equipment according to claim 2, characterized in that, The lifting unit (8) includes two vertical connecting rods (81) and a horizontal connecting rod (82) fixed to the top of the two vertical connecting rods (81).
4. The truss-type handling equipment according to claim 3, characterized in that, The lifting unit (8) also includes two second guide rails (83) fixed on the two side walls of the lifting unit mounting frame (7) and a second slider (84) slidably mounted on the second guide rails (83). The vertical connecting rod (81) and the second slider (84) are fixed. A first rack (85) is fixedly installed on the horizontal connecting rod (82), and a first gear (86) meshing with it is provided on one side of the first rack (85).
5. The truss-type handling equipment according to claim 4, characterized in that, The lifting unit (8) also includes a first motor (87) fixed on the lifting unit mounting frame (7). A drive shaft (88) is fixed on the output shaft of the first motor (87). The end of the drive shaft (88) is fixed to the first gear (86). The first motor (87) drives the first gear (86) to rotate, thereby driving the first rack (85), the horizontal connecting rod (82), and the vertical connecting rod (81) to move vertically.
6. The truss-type handling equipment according to claim 5, characterized in that, The translation part (9) includes a second motor (91), which is fixedly mounted on the movable support frame (6) by a motor mounting bracket (92). A second gear (93) is fixed at the end of the output shaft of the second motor (91).
7. The truss-type handling equipment according to claim 6, characterized in that, The translation part (9) also includes a second rack (94) fixed between the two connecting frames (3). The second rack (94) meshes with the second gear (93). The second motor (91) drives the second gear (93) to rotate, thereby moving the movable support frame (6) and its lifting part (8) and clamping part (10) horizontally.
8. The truss-type handling equipment according to claim 7, characterized in that, The clamping part (10) includes a clamping part frame (101), the clamping part frame (101) and the end of the vertical connecting rod (81) are fixed, a third guide rail (102) is fixed in the middle position of the clamping part frame (101), a third motor (103) is fixedly installed in the center position of the third guide rail (102), a third slider (104) is also slidably provided on the third guide rail (102), and a clamping block (105) is fixedly installed on the third slider (104).
9. The truss-type handling equipment according to claim 8, characterized in that, The clamping part (10) also includes an intermediate connecting piece (106) rotatably disposed at the center of the bottom of the third guide rail (102). The output shaft of the third motor (103) is fixed to the intermediate connecting piece (106). The intermediate connecting piece (106) is spindle-shaped, and connecting rods (107) are rotatably installed at both ends. The end of the connecting rod (107) away from the intermediate connecting piece (106) is rotatably installed on the third slider (104).