Large-span gantry-type traveling robotic arm

Abstract

This utility model relates to the field of robotic arm technology and discloses a large-span gantry-type traveling robotic arm, including a gantry, a transverse frame above the gantry, a support frame above the transverse frame, and multiple movable frames respectively mounted on the gantry and transverse frames. A storage box is fixedly installed at the bottom of the movable frame, and an electromagnet is fixedly installed on the outer wall of the storage box. The beneficial effects of the above technical solution are as follows: When the electromagnet is energized, the iron plate is attracted to the electromagnet, and then the movable plate is moved through the connecting rod, drawing outside air into the storage box. When the electromagnet is de-energized, it loses its magnetism, and under the elastic action of the second spring, it can push the movable plate back, thereby compressing the drawn-in air. After repeating this process multiple times, the pressure inside the storage box increases. When the pressure inside the storage box reaches the opening threshold of the one-way air outlet pipe, the grease inside the storage box is squeezed onto the slide rail through the one-way air outlet pipe to achieve lubrication. The operation is simple and convenient.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and more specifically, to a large-span gantry-type traveling robotic arm. Background Technology

[0002] When lifting, grabbing, or transferring products over a long span, a gantry-type traveling robot is required to lift, grab, or transfer the products. In actual operation, the robot moves by sliding on guide rails in three degrees of freedom. However, in order to ensure smooth operation, maintenance personnel need to apply grease to the moving connection points after the device has been running for a period of time to ensure lubrication, which is a complicated operation. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, this utility model provides a large-span gantry-type traveling robotic arm, which has the advantages of simple lubrication and operation.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a large-span gantry-type traveling robotic arm, including a gantry, a transverse frame above the gantry, and a support frame above the transverse frame; A mobile frame, comprising multiple frames respectively mounted on a gantry frame and a transverse frame, has a storage box fixedly installed at its bottom. An electromagnet is fixedly installed on the outer wall of the storage box. A connecting rod is slidably connected to the bottom of the inner cavity of the storage box. The connecting rod has a degree of freedom of movement in the horizontal direction. A moving plate and an iron plate are fixedly installed at both ends of the connecting rod, respectively. A second spring is fixedly installed between the moving plate and the side wall of the storage box. A one-way air inlet pipe is fixedly installed at the top of the storage box, and a one-way air outlet pipe is fixedly installed at the bottom of the storage box.

[0005] The beneficial effects of adopting the above technical solution are as follows: By setting an electromagnet, when the electromagnet is energized, the iron plate can be attracted to the electromagnet, and then the moving plate can be moved by the connecting rod to draw outside air into the storage box. When the electromagnet is de-energized, it loses its magnetism, and under the elastic action of the second spring, the moving plate can be pushed back, thereby compressing the drawn-in air. After repeating this process multiple times, the pressure inside the storage box increases. When the pressure inside the storage box reaches the opening threshold of the one-way vent pipe, the grease inside the storage box is squeezed onto the slide rail through the one-way vent pipe to achieve lubrication. The operation is simple and convenient.

[0006] As a preferred embodiment of this utility model, the top ends of both the gantry frame and the transverse frame are fixedly installed with slide rails, and the moving frame is slidably connected to the slide rails.

[0007] The beneficial effects of adopting the above technical solution are as follows: by setting slide rails to position and guide the movement of the mobile frame, the direction of movement of the mobile frame can be controlled, and deviation of the mobile frame can be avoided.

[0008] As a preferred embodiment of this utility model, a linear motor is driven and connected to the middle of the support frame, and an mounting plate is fixedly installed at the bottom of the linear motor. The mounting plate is located inside the gantry frame. A servo motor is fixedly installed in the middle of the moving frame, and a reducer is driven and connected to the output end of the servo motor.

[0009] The beneficial effects of adopting the above technical solution are as follows: the vertical movement of the product is achieved by driving the mounting plate up and down with a linear motor; the movement of the moving wheel at the bottom center of the moving frame is achieved by driving the transverse moving frame and the moving frames installed at the front and rear ends of the transverse moving frame to move left and right on the slide rail at the top of the gantry frame, and the movement of the support frame and the moving frames installed at the left and right ends of the support frame to move back and forth on the slide rail at the top of the transverse moving frame. The power output by the servo motor is used to drive the movement of the moving frame through a reducer.

[0010] As a preferred embodiment of this utility model, a supplementary tube is fixedly installed at the end of the storage box away from the movable frame.

[0011] The beneficial effects of adopting the above technical solution are as follows: by opening the replenishment tube, lubricating grease can be replenished into the inner cavity of the storage box through the replenishment tube, and the end of the replenishment tube is equipped with a sealing cap to achieve the sealing of the replenishment tube.

[0012] As a preferred embodiment of this utility model, the movable piece is composed of a rectangular plate and a cylindrical shaft, the cylindrical shaft extends through and to the outside of the storage box, and the storage box has through holes on both the upper and lower sides of the cylindrical shaft.

[0013] The beneficial effects of adopting the above technical solution are as follows: the movement of the grease is achieved by setting a rectangular plate, and the movement of the rectangular plate is positioned and guided by setting a cylindrical shaft to slide on the side wall of the storage box. The air in the part between the moving plate and the side wall of the storage box without grease can flow smoothly by opening through holes, so as to avoid the moving plate being unable to move smoothly due to air pressure.

[0014] As a preferred technical solution of this utility model, the top end of the slide rail is provided with multiple mounting holes, the bottom end of the movable frame away from the storage box is slidably connected with a positioning pin, a first spring is fixedly installed between the positioning pin and the movable frame, and a second push block and a first push block are fixedly installed on the top end of the positioning pin and the end of the iron plate near the positioning pin, respectively.

[0015] The beneficial effects of adopting the above technical solution are as follows: By installing the first push block on the iron plate, the moving frame stops moving after the electromagnet is de-energized. At this time, the iron plate is reset, pushing the first push block to the second push block, and then the second push block presses down the positioning pin, so that the positioning pin is inserted into the mounting hole, thereby locking and positioning the position of the moving frame and preventing shaking.

[0016] As a preferred embodiment of this utility model, the bottom end of the positioning pin extends through and to the bottom of the movable frame, and the positioning pin is located above the mounting hole.

[0017] The beneficial effects of adopting the above technical solution are as follows: the positioning pin can be inserted into the mounting hole when it moves down, and the movement of the positioning pin is positioned and guided by the moving frame. The rear end of the second push block is slidably connected to the moving frame by a slider to avoid the positioning pin from deflecting.

[0018] As a preferred embodiment of this utility model, the opposite ends of the first push block and the second push block are parallel inclined surfaces.

[0019] The beneficial effects of adopting the above technical solution are as follows: by setting the inclined surfaces of the first push block and the second push block, the second push block can be smoothly pressed down when the first push block moves laterally, so as to ensure that the positioning pin moves downward. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This utility model Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the linear motor connection of the present invention; Figure 4 This is a cross-sectional view of the storage box structure of this utility model; Figure 5 This is a cross-sectional view of the slide rail structure of this utility model and an exploded view of the bolts used for fixing it.

[0021] In the diagram: 1. Gantry frame; 2. Horizontal moving frame; 3. Support frame; 4. Linear motor; 5. Mounting plate; 6. Slide rail; 7. Mounting hole; 8. Moving frame; 9. Servo motor; 10. Storage box; 11. Electromagnet; 12. Positioning pin; 13. First spring; 14. Iron plate; 15. First push block; 16. Second push block; 17. Connecting rod; 18. Moving plate; 19. Second spring; 20. One-way air inlet pipe; 21. One-way air outlet pipe; 22. Supplement pipe; 23. Reducer. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] like Figures 1 to 5 As shown, this utility model provides a large-span gantry-type traveling robotic arm, including a gantry 1, a transverse frame 2 above the gantry 1, and a support frame 3 above the transverse frame 2. Multiple movable frames 8 are respectively installed on the gantry frame 1 and the transverse frame 2. A storage box 10 is fixedly installed at the bottom of the movable frame 8. An electromagnet 11 is fixedly installed on the outer wall of the storage box 10. A connecting rod 17 is slidably connected to the bottom of the inner cavity of the storage box 10. The connecting rod 17 has the freedom to move in the horizontal direction. A movable plate 18 and an iron plate 14 are fixedly installed at both ends of the connecting rod 17, respectively. A second spring 19 is fixedly installed between the movable plate 18 and the side wall of the storage box 10. A one-way air inlet pipe 20 is fixedly installed at the top of the storage box 10. A one-way air outlet pipe 21 is fixedly installed at the bottom of the storage box 10.

[0024] The beneficial effects of adopting the above technical solution are as follows: By setting up an electromagnet 11, when the electromagnet 11 is energized, the iron plate 14 can be attracted to the electromagnet 11, and then the moving plate 18 is moved by the connecting rod 17 to draw outside air into the storage box 10. When the electromagnet 11 is de-energized, it loses its magnetism. Under the elastic action of the second spring 19, the moving plate 18 can be pushed back, thereby compressing the drawn-in air. After repeating this process multiple times, the pressure inside the storage box 10 increases. When the pressure inside the storage box 10 reaches the opening threshold of the one-way air outlet pipe 21, the grease inside the storage box 10 is squeezed onto the slide rail 6 through the one-way air outlet pipe 21 to achieve lubrication. The operation is simple and convenient.

[0025] The top of both the gantry frame 1 and the transverse frame 2 are fixedly installed with slide rails 6, and the moving frame 8 is slidably connected to the slide rails 6.

[0026] The beneficial effects of adopting the above technical solution are as follows: by setting the slide rail 6 to position and guide the movement of the moving frame 8, the movement direction of the moving frame 8 can be controlled, and deviation of the moving frame 8 can be avoided.

[0027] Among them, a linear motor 4 is driven and connected in the middle of the support frame 3, and an mounting plate 5 is fixedly installed at the bottom of the linear motor 4. The mounting plate 5 is located inside the gantry frame 1. A servo motor 9 is fixedly installed in the middle of the moving frame 8, and a reducer 23 is driven and connected at the output end of the servo motor 9.

[0028] The beneficial effects of adopting the above technical solution are as follows: The reducer 23 is fixedly installed on the moving frame 8. The linear motor 4 drives the mounting plate 5 to move up and down, thereby realizing the vertical movement of the product. The servo motor 9 drives the moving wheel at the bottom center of the moving frame 8, thereby driving the transverse frame 2 and the moving frame 8 installed at the front and rear ends of the transverse frame 2 to move left and right on the slide rail 6 at the top of the gantry frame 1, and driving the support frame 3 and the moving frame 8 installed at the left and right ends of the support frame 3 to move back and forth on the slide rail 6 installed at the top of the transverse frame 2. The power output by the servo motor 9 drives the moving frame 8 to move through the reducer 23.

[0029] The storage box 10 is fixedly equipped with a supplementary tube 22 at the end away from the mobile frame 8.

[0030] The beneficial effects of adopting the above technical solution are as follows: by opening the replenishment tube 22, lubricating grease can be replenished into the inner cavity of the storage box 10 through the replenishment tube 22, and the end of the replenishment tube 22 is provided with a sealing cap to achieve the sealing of the replenishment tube 22.

[0031] The movable piece 18 is composed of a rectangular plate and a cylindrical shaft. The cylindrical shaft passes through and extends to the outside of the storage box 10. The storage box 10 has through holes on both the upper and lower sides of the cylindrical shaft.

[0032] The beneficial effects of adopting the above technical solution are as follows: the movement of the grease is achieved by setting a rectangular plate, and the movement of the rectangular plate is positioned and guided by setting a cylindrical shaft to slide on the side wall of the storage box 10. The air in the part without grease between the moving plate 18 and the side wall of the storage box 10 is allowed to flow smoothly by opening through holes, so as to avoid the moving plate 18 being unable to move smoothly due to air pressure.

[0033] The slide rail 6 has multiple mounting holes 7 at its top end. The bottom end of the movable frame 8, away from the storage box 10, is slidably connected to a positioning pin 12. A first spring 13 is fixedly installed between the positioning pin 12 and the movable frame 8. A second push block 16 and a first push block 15 are fixedly installed on the top end of the positioning pin 12 and the end of the iron plate 14 near the positioning pin 12, respectively.

[0034] The beneficial effects of adopting the above technical solution are as follows: By installing the first push block 15 on the iron plate 14, the moving frame 8 stops moving after the electromagnet 11 is de-energized. At this time, the iron plate 14 is reset, and the first push block 15 is pushed to the second push block 16. Then, the second push block 16 presses down the positioning pin 12, so that the positioning pin 12 is inserted into the mounting hole 7, thereby locking and positioning the position of the moving frame 8 to prevent shaking.

[0035] The bottom end of the positioning pin 12 extends through and to the bottom of the movable frame 8, and the positioning pin 12 is located above the mounting hole 7.

[0036] The beneficial effects of adopting the above technical solution are as follows: the positioning pin 12 can be inserted into the mounting hole 7 when it moves down, and the movement of the positioning pin 12 is positioned and guided by the moving frame 8. The rear end of the second push block 16 is slidably connected to the moving frame 8 through a slider to prevent the positioning pin 12 from deflecting.

[0037] Among them, the opposite ends of the first push block 15 and the second push block 16 are parallel inclined surfaces.

[0038] The beneficial effects of adopting the above technical solution are as follows: by setting the inclined surfaces of the first push block 15 and the second push block 16, the second push block 16 can be smoothly pressed down when the first push block 15 moves laterally, so as to ensure that the positioning pin 12 moves downward.

[0039] Working principle and usage process of this utility model: The servo motor 9 and the electromagnet 11 are electrically connected. When the servo motor 9 is powered on and started, the electromagnet 11 will start synchronously. Similarly, when the servo motor 9 is powered off, the electromagnet 11 will be powered off. The front and rear ends of the transverse frame 2 are fixedly connected to the movable frame 8, and the movable frame 8 on the transverse frame 2 is slidably connected to the gantry frame 1. The left and right ends of the support frame 3 are fixedly connected to the movable frame 8, and the movable frame 8 on the support frame 3 is slidably connected to the transverse frame 2. During the grasping and moving operation, the servo motor 9 drives the drive wheel at the bottom of the moving frame 8 to rotate after passing through the reducer 23, thereby causing the moving frame 8 to slide on the slide rail 6, thereby changing the horizontal position of the moving frame 8 to reach the required position. Then, the linear motor 4 drives the mounting plate 5 to move down, so that the gripper installed at the bottom of the mounting plate 5 can perform the grasping operation. After the grasping is completed, the linear motor 4 drives the mounting plate 5 and the gripper to move up and reset, and the moving frame 8 places the product at the required position. When the servo motor 9 drives the moving frame 8 to move, the electromagnet 11 is energized and generates magnetism, attracting the iron plate 14 to the electromagnet 11. This, in turn, drives the moving piece 18 to move via the connecting rod 17, drawing outside air into the storage box 10. Simultaneously, the second push block 16 and the first push block 15 reference... Figure 2 In the state shown, the two are separated, and the elastic force of the first spring 13 can push the positioning pin 12 upward, so that the positioning pin 12 leaves the mounting hole 7. After the servo motor 9 is de-energized, the electromagnet 11 loses its magnetism. Under the elastic action of the second spring 19, the moving plate 18 can be pushed back, thereby compressing the drawn-in air. At the same time, the iron plate 14 moves in the opposite direction, pushing the first push block 15 towards the second push block 16. Then, the second push block 16 presses down the positioning pin 12, so that the positioning pin 12 is inserted into the mounting hole 7, thereby locking and positioning the position of the moving frame 8. After repeated starting and stopping of the servo motor 9, the pressure inside the storage box 10 gradually increases. When the pressure inside the storage box 10 reaches the opening threshold of the one-way vent pipe 21, the grease inside the storage box 10 is squeezed onto the slide rail 6 through the one-way vent pipe 21 to achieve lubrication.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A large-span gantry-type travelling robot arm, characterized in that, It includes a gantry frame, a transverse frame is provided above the gantry frame, and a support frame is provided above the transverse frame; A mobile frame, comprising multiple frames respectively mounted on a gantry frame and a transverse frame, has a storage box fixedly installed at its bottom. An electromagnet is fixedly installed on the outer wall of the storage box. A connecting rod is slidably connected to the bottom of the inner cavity of the storage box. The connecting rod has a degree of freedom of movement in the horizontal direction. A moving plate and an iron plate are fixedly installed at both ends of the connecting rod, respectively. A second spring is fixedly installed between the moving plate and the side wall of the storage box. A one-way air inlet pipe is fixedly installed at the top of the storage box, and a one-way air outlet pipe is fixedly installed at the bottom of the storage box.

2. The long-span gantry-type walking robot arm according to claim 1, characterized in that, The top of both the gantry frame and the transverse frame are fixedly installed with slide rails, and the moving frame is slidably connected to the slide rails.

3. The long-span gantry-type walking robot arm according to claim 1, characterized in that, A linear motor is driven and connected to the middle of the support frame. A mounting plate is fixedly installed at the bottom of the linear motor and is located inside the gantry frame. A servo motor is fixedly installed in the middle of the moving frame, and a reducer is driven and connected to the output end of the servo motor.

4. The long-span gantry-type walking robot arm according to claim 1, characterized in that, A replenishment tube is fixedly installed at the end of the storage box away from the mobile frame.

5. The long-span gantry-type walking robot arm according to claim 1, characterized in that, The movable piece is composed of a rectangular plate and a cylindrical shaft. The cylindrical shaft passes through and extends to the outside of the storage box. The storage box has through holes on both the upper and lower sides of the cylindrical shaft.

6. The large-span gantry-type traveling robotic arm according to claim 2, characterized in that, The top of the slide rail has multiple mounting holes. The bottom end of the movable frame away from the storage box is slidably connected to a positioning pin. A first spring is fixedly installed between the positioning pin and the movable frame. A second push block and a first push block are fixedly installed on the top of the positioning pin and the end of the iron plate near the positioning pin, respectively.

7. The large-span gantry-type traveling robotic arm according to claim 6, characterized in that, The bottom end of the positioning pin passes through and extends to the bottom of the movable frame, and the positioning pin is located above the mounting hole.

8. The large-span gantry-type traveling robotic arm according to claim 6, characterized in that, The opposite ends of the first push block and the second push block are parallel inclined surfaces.

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