Annular gantry type robot moving system

Technical Field

The utility model belongs to the technical field of robot, in particular to a kind of annular gantry robot moving system.

Background Art

The prior circular piece welding, cutting and the like in the process, most of the gantry robot, at present, the gantry type robot, due to the structural constraint of the robot itself, such that the robot in welding certain special work piece is needed when the bosom can not reach the applicable requirements, and the existence of more obvious defect, the presence of working environment temperature difference caused by the change of the size, it is very difficult to ensure that all shaft in different circumstances precision. The existing gantry robot welding cannot be large-SPAN mobile operation, limited the working area of the robot, the robot or other end of the working stroke of the actuating mechanism can not meet the requirement.

Content of the utility model

To address the above problem, the purpose of the utility model is to provide a ring-shaped gantry robot moving system, in order to avoid working environment temperature difference caused by the change of the size of the, to ensure that all shaft in different circumstances precision, to ensure that the implementation of the mechanism is arranged in the end of the Z shaft through three direction to achieve a viable coordination take any position within the space.

In order to achieve the above object, the utility model adopts the following technical scheme:

A ring-shaped gantry robot moving system, comprises an annular outer beam, fixed upright column, the end of the robot performs, lifting the inner ring assembly, the beam assembly and Z shaft assembly, wherein the ring-shaped outer beam through a fixed pillar support, said annular inner beam and arranged along the circumferential direction of the inner side of the plurality of groups of beam assembly, one end of the beam assembly with said annular inner beam and the sliding connection, the other end of said annular outer beam to the center of extension, the cross beam assembly can be moving along the circumferential direction, the lifting of the inner ring assembly is fixed to the inner side of the annular outer beam, for supporting the other end of the beam assembly, each of the beam assembly is provided with a moving radially of the Z shaft assembly, the end of the robot performs can move along the vertical direction is arranged in the Z shaft assembly.

The beam assembly comprises an upper beam, a lower beam and are respectively used for driving the upper beam and a lower beam moving the cross beam on the drive mechanism and the lower crossbeam drive mechanism, said upper beam and a lower beam are arranged along the radial direction, and the upper beam is located above the lower cross beam, the upper beam and a lower beam one end of the slide is connected with the annular outer beam, and the other end is connected to the rise after the lifting of the inner ring assembly is slidably connected to the, said upper beam and a lower beam on a sliding connection with the Z shaft assembly.

Said upper beam and said lower beam driving mechanism driving mechanism structure is the same, both of which include the annular beam of the rack and the rotary motor drive assembly, wherein the ring-shaped beam rack is arranged the annular outer beam, the rotary motor drive assembly comprises at said upper beam or the lower beam of the rotary motor and is arranged on the rotary output shaft of the motor and rotate the drive gear, the drive gear is meshed with the rack with the annular beam.

The annular outer beam is provided with a for the upper beam and a lower beam sliding connection and high low lay outer annular double-track.

The upper beam and the lower beam are connected used for mounting the Z shaft assembly of the beam slide plate and method for driving the Z shaft assembly moves in a radial direction of the driving mechanism.

The radial movement drive mechanism comprises a beam rack, radial drive motor and radial drive gear, the rack is arranged on the beam of the beam or the lower beam, the radial driving motor is arranged on the beam and the slide plate, the radial drive gear is set on the radial drive output shaft of the motor, and with the beam is engaged with the rack.

The Z shaft assembly includes a Z axis, Z axis sliding plate and Z axis driving mechanism, wherein the Z axis sliding plate can slide along the vertical direction is connected with the Z axis, the Z axis driving mechanism is fixed to the Z axis, and the Z axis is connected with the sliding plate, for driving the Z shaft sliding plate, the end of the robot performs arranged on the Z axis slide.

The lifting of the inner ring assembly comprises an annular inner beam and connected with said annular inner beam of the lifting column of the plurality of the inner ring, the annular inner beam and said annular outer beam are concentrically arranged, and the inner ring can be through a plurality of the lifting upright driving ascending or descending motion.

The annular inner beam is used in the beam assembly is slidably connected to the high and low distributed inner annular double-track.

The fixed upright post is arranged in the annular outer beam a on two corresponding side, said annular outer beam of the other two corresponding lower side of the outer ring is provided with a lifting of the lifting column.

Advantages of the utility model and the beneficial effect: the utility model relates to XYZ three-axis running mechanism, X axis is a ring-shaped design, avoiding the working environment temperature difference caused by the change of the size of the, Y axis and Z axis varies in synchronism with the work piece, thereby ensuring the various shaft in different circumstances precision, to ensure that the implementation of the mechanism is arranged in the end of the Z axis, through the coordination of the three direction to achieve a viable take any position within the space.

The utility model in the welding, cutting or carrying cases, used to compensate for the when the robot or other end of the working stroke of the actuating mechanism can not meet the requirement, the structure can extend the robot or other end of the range of stroke of the implementation of the mechanism.

Description of drawings

Figure 1 is the geometry of the of the present utility model;

Figure 2 is the front view of the of the present utility model;

Figure 3 is the top view of Figure 2.

In the Figure: 1 is a ring-shaped outer beam, 2 is a ring-shaped inner beam, 3 is fixed upright post, 4 for the upper beam, 5 is the lower beam, 6 for the Z shaft, 7 is the Z shaft rack, 8 for the inner lifting column, 9 is the outer ring lifting column, 10 is the end of the robot performs, 11 is a ring-shaped beam rack, 12 in order to rotate the motor drive assembly, 13 is the beam rack, 14 is the upper beam slide plate, 15 for the next beam slide plate, 16 is a hydraulic leveling device.

Mode of execution

The existing gantry type structure of the annular workpiece apparatus in welding, cutting and the like in the process, the existence of a working environment temperature difference caused by the change of the size, it is very difficult to ensure that all shaft in different circumstances precision, while at the same time robot or other of an actuating mechanism can not meet the requirements of the working stroke.

In view of the problems of the prior art the problem of, the utility model adopts the XYZ three-axis moving mechanism, wherein the X axis is a ring-shaped design, avoiding the working environment temperature difference caused by the change of the size of the, Y axis and Z axis varies in synchronism with the work piece, thereby ensuring the various shaft in different circumstances precision.

In order to make the purpose of the utility model, the technical scheme and the advantages more clearly, the following combined with drawings and specific embodiment detailed description of the utility model.

As shown in Figure 1-3, the utility model provides a ring gantry robot moving system, comprises an annular outer beam 1, fixed upright post 3, the implementation of the end of the robot 10, lifting the inner ring assembly, the beam assembly and Z shaft assembly, wherein the ring-shaped outer beam 1 through a fixed pillar 3 support, annular outer beam 1 along the circumferential direction of the inner side of which is provided with a plurality of groups of beam assembly, one end of the beam component with the annular outer beam 1 sliding connection, and the other end to the annular outer beam 1 extends from the center of the, the beam assembly can be moving along the circumferential direction. Lifting the inner ring assembly is placed in an annular outer beam 1 of the inner side, for supporting the other end of the beam assembly, each beam component is set with moving radially of the Z shaft assembly, the implementation of the end of the robot 10 can move along the vertical direction is arranged on the Z shaft assembly.

Lifting the inner ring assembly includes an annular inner beam 2 and with the annular inner beam 2 is connected with the lifting column of the plurality of the inner ring 8, the annular inner beam 2 with the annular outer beam 1 is disposed concentrically, and the inner ring can be through a plurality of the lifting upright 8 is driven to the ascending or descending movement.

The beam assembly comprises an upper beam 4, the lower beam 5 and are respectively used for driving the upper beam 4 and a lower beam 5 mobile cross beam on the drive mechanism and the lower beam of the drive mechanism, the upper beam 4 and a lower beam 5 are arranged along the radial direction, the upper cross beam 4 located on a lower beam 5 above, upper beam 4 and a lower beam 5 with one end of the annular outer beam 1 sliding connection, and the other end is connected to the rise in the ring inner girder 2 sliding connection, the upper beam 4 and a lower beam 5 on both radially slidably connected with a Z axis component.

The annular outer beam 1 is provided with a for the upper beam 4 and a lower beam 5 sliding connection, and the outer high internal low lay outer annular double-track, the upper beam 4 and a lower beam 5 are respectively through one end of the roller or a universal wheel and annular double-track connection.

The annular inner beam 2 is provided with a for and upper beam 4 and a lower beam 5 sliding connection and arranged with high inside the inner side of the double-track, the beam 4 and a lower beam 5 are respectively through the other end of the roller or a universal wheel and the annular double-track connection.

The cross beam on the drive mechanism and the lower crossbeam drive mechanism structure is the same, both of which include the annular beam rack 11 and rotary motor drive assembly 12, wherein the ring-shaped beam rack 11 is arranged in the annular outer beam 1 on, the rotary motor drive assembly 12 comprises a are arranged on the upper cross beam 4 or lower beam 5 on the rotary electric machine and is fixed to the rotary output shaft of the motor and rotate the drive gear, the rotary drive gear and the ring-shaped beam rack 11 engaged. The rotary motor drive and rotate the drive gear to rotate, the rotating drive gear and the ring-shaped beam rack 11 engaged, so drives the upper beam 4 and beam 5 moving along the circumferential direction.

The utility model in the embodiment, the upper beam 4 and a lower beam 5 are hollow structure, the rotating motor is accommodated in the upper beam 4 and a lower beam 5 in the cavity.

The upper beam 4 and a lower beam 5 are connected on the used for mounting the Z shaft assembly of the beam slide plate and used for driving the Z shaft assembly to move radially in a radial direction of the driving mechanism, the beam slide plate and Z shaft assembly through the radial movement drive of the driving mechanism can be radially moved. In particular to: the upper beam 4 is connected with the cross beam on the slide plate 14 and radially on the mobile driving mechanism, on the radial movement drive mechanism for driving the upper beam slide plate 14 along the beam 4 sliding; the lower beam 5 is connected with a lower beam slide plate 15 and the lower radial movement drive mechanism, the lower radial movement drive mechanism to the beam slide plate 15 along the lower beam 5 sliding.

The upper radial movement drive mechanism and the lower radial movement drive mechanism structure is the same, both of which include the beam rack 13, radial drive motor and radial drive gear, the rack beam 13 is fixed to the upper cross beam 4 or lower beam 5 on, the driving motor is arranged in the radial direction on the beam or the lower beam slide plate on the slide plate, the radial drive gear is fixed to the output shaft of the radial direction of the driving motor, and with the beam to a rack 13 engaged.

Z shaft assembly includes a Z axis 6, Z axis sliding plate and Z axis driving mechanism, wherein the Z axis sliding plate can slide along the vertical direction with the Z shaft 6 connected, Z axis driving mechanism is fixed to the Z axis 6 on, and connected with the Z axis slide, used for driving the Z axis sliding plate sliding, the implementation of the end of the robot 10 is fixed to the Z axis on the slide plate.

The utility model of the embodiment, Z shaft drive mechanism includes a Z shaft drive motor, Z shaft rack 7 and Z shaft drive gear, wherein the Z axis rack 7 is arranged along the vertical direction Z shaft 6 on, Z shaft drive motor is fixed to the Z axis on the slide plate, and the output shaft with the Z shaft connected with the driving gear, Z shaft drive gear with the Z shaft rack 7 engaged. Z shaft drive motor driving the Z shaft drive gear to rotate, because the Z shaft drive gear with the Z shaft rack 7 engaged, so drives the Z axis sliding plate and the end of the implementation of the robot 10 to move up and down.

In order to facilitate the loading and unloading the annular workpiece, fixed upright post 3 is arranged in the annular outer beam 1 a on two corresponding side, annular outer beam 1 and the other of the two lower side of the outer ring is provided with a lifting of the lifting column of the 9. The lifting column of the inner ring 8 and the outer ring and the lifting column of the 9 are on the grounds of a hydraulic cylinder and a servo control system, servo control system based on the beam 4 and a lower beam 5 position, and sends the corresponding instruction, the adjustment of the state of the hydraulic cylinder.

The utility model in the embodiment, the annular outer beam 1 by distribution on both sides of the four fixed columns 3 support, two fixed columns 3 the included angle between the 45°, annular outer beam 1 passing through the middle of the symmetrically arranged two outside the lifting column of the 9 support. When the unloading work piece, the outer ring lifting column 9 and lifting the inner ring assembly to shrink to the under surface; after the loading end of the work piece, the outer ring lifting column 9 and lifting the inner ring assembly projected, respectively of the support ring the outer beam 1 and beam assembly.

The working principle of the utility model is:

Four fixed columns 3 two symmetrically arranged, used for supporting the fixed ring the outer beam 1, the outer ring lifting column 9 for auxiliary support ring the outer beam 1. The inner ring of the lifting upright 8 is used for supporting the annular inner beam 2, annular inner beam 2 is used for supporting the beam assembly, the lifting column of the inner ring 8 and the outer ring and the lifting column of the 9 through the lifting to the avoidance of the loading and unloading of the annular workpiece. The upper beam 4 by rotating the motor drive gear and rack mechanism, drives the upper beam 4 along the inner, the outer annular double guide rail running in the circumferential direction; the lower beam 5 by rotating the motor drive gear and rack mechanism, drives the lower beam 5 along the inner, the outer annular double guide rail running in the circumferential direction. Z shaft assembly through the radial drive motor drives the gear rack mechanism, drives the Z shaft assembly along the beam 4 and a lower beam 5 (radially) mobile. The end of the robot performs 10 through the Z axis driving mechanism along the Z axis direction walking.

The work piece before the loading and locking, the lifting column and the outer ring 9 and the inner ring of the lifting upright 8 drives the annular inner beam 2 in the surface below, the beam assembly is in the cantilever state; after the work piece is clamped and fixed, the outer ring of the lifting upright 9 rise with the annular outer beam 1 contact, the annular inner beam 2 by the inner lifting column 8 drives the raise the beam and the contact of the contact assembly, the two ends of the beam assembly through the universal wheel in annular inner beam 2 and annular outer beam 1 move on the, finally through the lifting column of the leveling locking mechanism fixed annular inner beam 2 and annular outer beam 1.

The utility model to the annular workpiece weld and longitudinal welding seam, gantry structure with the work piece of the same kind of material, as the thermal expansion coefficient, so that the design of the internal and external annular beam from the solve the problems of the temperature difference caused by the precision of the popular structure; the upper beam 4 and a lower beam 5 of the upper and lower structure design and Z shaft assembly mounting design solves the annular workpiece synchronous welding problems.

The utility model provides the annular gantry robot moving system for the XYZ three-axis running mechanism, X axis is a ring-shaped design, avoiding the working environment temperature difference caused by the change of the size of the, Y axis and Z axis varies in synchronism with the work piece, thereby ensuring the various shaft in different circumstances precision, to ensure that the implementation of the mechanism is arranged in the end of the Z axis, through the coordination of the three direction to achieve a viable take any position within the space.

The utility model adopts the annular gantry form overcomes the problem of the positioning accuracy of the caused by thermal expansion, in addition, the workpiece and the gantry of the same kind of material, as the thermal expansion coefficient, thereby improving the positioning accuracy. The utility model in the welding, cutting or carrying cases, used to compensate for the when the robot or other end of the working stroke of the actuating mechanism can not meet the requirement, the structure can extend the robot or other end of the range of stroke of the implementation of the mechanism.

Is nothing less than the embodiment of the utility model, and non-used for limiting the scope of protection of the utility model. Where in the utility model the spirit and principle of any change within, equivalent replacement, improved, expansion and the like, are included in the utility model of the protection range.