A gantry robot for goods transport and assisted handling

Abstract

The application relates to the technical field of gantry robots, and particularly discloses a gantry robot for cargo conveying and auxiliary carrying, which comprises a tiger mouth base, the inner side of the tiger mouth base is provided with a traction mechanism, the free end of the traction mechanism is connected with mechanical fingers extending outward along the two ends of the tiger mouth base, the mechanical fingers are driven by the traction mechanism, and the tiger mouth base and the mechanical fingers form a crab claw shape. The gantry robot for cargo conveying and auxiliary carrying is single-motor underdrive realized by a sliding block rocker mechanism and a rod piece, each finger joint is sequentially contracted during grabbing, the object can be better and more comprehensively covered, the gantry robot has high flexibility, can be suitable for different sizes of objects, and has a wide grabbing range.

Description

Technical Field

[0001] This invention relates to the field of handling robot technology, specifically a gantry robot for cargo transportation and auxiliary handling. Background Technology

[0002] With the improvement of artificial intelligence applications, the application of robots in industrial production and daily life will accelerate. According to the "China Robot Industry Development Report (2022)," the global robot market size is expected to exceed US$65 billion in 2024. The application market and scenarios for robots are becoming increasingly widespread, especially with industrial robots gradually replacing industrial workers. Gantry robots, as a type of large industrial robot, have a gate-like structure and, compared to other industrial robots, feature a large working space, high speed, high precision, and high load-bearing capacity. They can be used in processing large automotive parts, handling, stacking, painting, and packaging.

[0003] The advantages of gantry robots in material handling are quite obvious. First, due to their gantry structure, they have an extremely long working stroke. Second, thanks to the advantages of the gantry structure, they have a high load-bearing capacity. In addition, gantry robots have a relatively simple structure, lower manufacturing costs, and high operational reliability.

[0004] The gantry robot designed in this invention is used for cargo transportation and assisted handling. It needs to complete a series of actions such as moving, grabbing cargo, moving it to a designated location again, and putting the cargo down.

[0005] Existing gantry robots require numerous actuators, resulting in their large overall weight. To provide sufficient support and load-bearing capacity, while also possessing a certain degree of shock resistance to ensure the robot's stability and safety during operation, the frames of existing gantry robots are generally made of high-strength metal materials, such as steel or aluminum alloy. While this achieves stability and safety for the gantry robot, it significantly increases its footprint. Furthermore, it is relatively bulky, making maintenance or relocation difficult after installation.

[0006] To achieve vertical movement of the robot, two existing solutions exist: straight-arm and curved-arm. The straight-arm design requires movement into the space above the crossbeam. To avoid collisions, sufficient space must be maintained above the crossbeam, necessitating a higher working height and increasing the robot's overall size while reducing space utilization. Furthermore, if a single-lift crossbeam structure is used, the straight arm must be positioned on one side of the crossbeam, inevitably causing uneven loading and affecting the robot's overall performance. While the curved-arm design avoids access to the space above the crossbeam during movement, the robot arm is typically mounted at the end of the curved arm, making it difficult to guarantee accuracy when the crossbeam span is large. Moreover, curved-arm mechanisms are less commonly used and the technology is not yet fully developed. Although the structure is compact and avoids access to the space above the crossbeam during movement, it requires more degrees of freedom from the robot arm, increasing complexity.

[0007] Underactuated manipulators possess advantages such as compact structure and strong adaptability, and are currently widely used in underwater work, fruit picking, and sorting. Existing manipulators primarily employ either chord drives or linkage drives, with chord drives being more common in prototypes. However, linkage drives can achieve greater output force. The current mainstream underactuated manipulator configuration uses elastic elements at the joints to provide knuckle restoring force, driven by motors. However, due to the inherent structural characteristics of underactuation, its grasping flexibility is limited. This underactuated gripper contains three fingers, with each finger's three knuckles driven by a single motor. By adjusting and changing the relative positions of the three fingers, it can grasp workpieces of different shapes and sizes. However, these manipulators all suffer from complex structures and control programs, and have a limited range of adaptable object sizes. Therefore, there is a need to design an underactuated manipulator with a simple structure and strong adaptability. Summary of the Invention

[0008] The purpose of this invention is to provide a gantry robot for cargo transportation and auxiliary handling, so as to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] On one hand: A gantry robot for cargo transportation and auxiliary handling includes a jaw base, a traction mechanism is provided on the inner side of the jaw base, and the free end of the traction mechanism is connected to mechanical fingers extending outward from both ends of the jaw base. The mechanical fingers are driven by the traction mechanism, and the jaw base and the mechanical fingers form a crab claw shape. The mechanical fingers include a gripping component and a retracting component, and the gripping component drives the retracting component to move through a lever transmission.

[0011] Preferably, the traction mechanism includes a traction member with one end connected to the mechanical finger, a driving member connected to the other end of the traction member, and a guide member fixed on the tiger's mouth base between the driving member and the traction member.

[0012] Preferably, the traction member includes a second traction rod, one end of which is rotatably connected to the clamping assembly, and the other end of which is rotatably connected to a first traction rod, which is rotatably connected to the moving end of the driving member.

[0013] Preferably, the guide includes a positioning slide, the outer wall of which is slidably connected to a limiting slider, and the limiting slider is rotatably connected to a first traction rod and a second traction rod.

[0014] Preferably, the clamping assembly includes a first joint, which is rotatably connected to the base of the thumb and forefinger, and one end of a second joint is rotatably connected to it on the same axis. A sensing block is fixed to the inner wall of the second joint. One end of the first joint is rotatably connected to the traction mechanism, and the other end is connected to one end of a first phalanx. The other end of the first phalanx is connected to the other end of the second joint through a lever.

[0015] Preferably, the gathering component includes a fingertip, the outer wall of which is fixedly connected to a third phalanx, and one end of the third phalanx is provided with two pivot points, which are respectively connected to a second phalanx and a third joint. The second phalanx and the third joint are rotatably connected to the clamping component.

[0016] On the other hand: a gantry using the above-mentioned gantry robot includes a gantry frame, the top of the inner wall of the gantry frame is provided with vertically intersecting X-axis guide rails and Y-axis guide rails, the ends of the X-axis guide rails and Y-axis guide rails are connected to cross track drives that can move along the outer wall of the gantry frame; a robotic arm is provided at the intersection of the X-axis guide rails and Y-axis guide rails, and the gantry robot is provided on the robotic arm.

[0017] Preferably, the robotic arm includes a Z-axis guide rail, a steering motor is provided on the top of the Z-axis guide rail, a cross rail connecting seat is fixedly connected to the top of the steering motor, the cross rail connecting seat is slidably connected to the X-axis guide rail and the Y-axis guide rail, and a Z-axis drive group for driving the gantry robot to move along the Z-axis is provided on one side of the bottom of the steering motor.

[0018] Preferably, the side wall of the cross track connector is provided with staggered X-axis holes and Y-axis holes, the X-axis holes are sleeved on the outer wall of the X-axis guide rail, and the Y-axis holes are sleeved on the outer wall of the Y-axis guide rail.

[0019] Preferably, reinforcing ribs are provided between the profiles of the gantry frame.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] This gantry robot is used for cargo transportation and auxiliary handling.

[0022] 1. Lightweight

[0023] The gantry robot designed in this invention requires no additional drive equipment installed around it. Using aluminum profiles to construct the overall frame, with the help of side beams (reinforcing ribs), sufficient stability is achieved, ensuring the stable and safe operation of the gantry robot. Aluminum profiles have a lower density and lighter weight compared to metals such as steel and copper, making the gantry robot lightweight. Furthermore, aluminum profiles have excellent processing performance, are easy to process, form, and assemble, and combined with the modular design of the frame, make subsequent maintenance or relocation more convenient.

[0024] 2. High space utilization

[0025] The robotic arm designed in this invention has sprockets and chains fixed on it. By using the sprockets and chains to drive the robotic hand to move up and down relative to the robotic arm, movement in the Z-axis direction can be achieved. This solves the problem of the straight arm design occupying the space above the crossbeam and increases the space utilization rate.

[0026] 3. Underactuated adaptive robot

[0027] This robotic arm utilizes a slider-rocker mechanism and levers to achieve single-motor underdrive. During grasping, each finger joint retracts sequentially, enabling better and more comprehensive coverage of the grasped object. It has high flexibility, can adapt to items of different sizes, and has a wide grasping range. Attached Figure Description

[0028] Figure 1 This is a perspective view of a robotic arm in a preferred embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the inner structure of the robotic arm in a preferred embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the inner structure of the robotic arm in a preferred embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the inner structure of the robotic arm in a preferred embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the third joint in a preferred embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the third direct and fingertip structures in a preferred embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the second joint in a preferred embodiment of the present invention;

[0035] Figure 8This is a schematic diagram of the gantry structure in a preferred embodiment of the present invention;

[0036] Figure 9 This is a schematic diagram of the structure of the gantry profile in a preferred embodiment of the present invention;

[0037] Figure 10 This is a schematic diagram of the structure of a robotic arm in a preferred embodiment of the present invention;

[0038] Figure 11 This is a schematic diagram of the cross-shaped track connector in a preferred embodiment of the present invention;

[0039] Figure 12 This is a schematic diagram of the X and Y axis drive mechanism in a preferred embodiment of the present invention.

[0040] In the diagram: 1. Tiger's mouth base; 2. Clamping assembly, 21. Sensing block, 22. Second joint, 23. First joint, 24. First knuckle, 25. First shell; 3. Retracting assembly, 31. Fingertip, 32. Third knuckle, 33. Second knuckle, 34. Third joint, 35. Second shell; 4. Drive mechanism, 41. Lead screw, 42. Lead screw slider, 43. Second traction rod, 44. First traction rod, 45. Limiting slider, 46. Positioning slide rail; 5. Gantry frame, 51. Track, 52. Cross track drive; 6. X-axis guide rail, 7. Y-axis guide rail; 8. Robotic arm, 81. Z-axis guide rail, 82. Lifting chain, 83. Z-axis drive group, 84. Steering motor, 85. Cross track connecting seat; 9. Reinforcing rib, 10. Z-axis connecting seat. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Please see Figure 1-12 The present invention provides a technical solution:

[0043] Reference Figure 1 , 2A gantry robot for cargo transport and auxiliary handling includes a gripper base 1. A traction mechanism for power generation is located on the inner side of the gripper base 1. The free end of the traction mechanism is connected to mechanical fingers extending outwards from both ends of the gripper base 1. These mechanical fingers are used to grip and fix the cargo to be transported. The traction mechanism can drive the mechanical fingers to retract or expand, i.e., grip or fix the cargo. The gripper base 1 and the two mechanical fingers form a crab claw shape. Each mechanical finger includes a gripping component 2 and a retraction component 3. The gripping component 2 and the retraction component 3 form multiple segments, making the mechanical fingers more flexible. The gripping component 2 drives the retraction component 3 to move via a lever transmission. The retraction component 3 does not require a separate drive; its power originates from the components within the gripping component 2.

[0044] The traction mechanism includes a traction member connected to a mechanical finger at one end, a driving member connected to the other end of the traction member, and a guide member fixed on the tiger's mouth base 1 between the driving member and the traction member. The guide member is used to limit the movement trajectory of the traction member.

[0045] Reference Figure 2-4 The traction component includes a second traction rod 43, one end of which is rotatably connected to one end of the clamping assembly 2, and the other end of which is rotatably connected to a first traction rod 44. The first traction rod 44 is rotatably connected to the moving end of the driving component. The driving component uses a motor and a lead screw 41. A lead screw slider 42 is threaded onto the outer wall of the lead screw 41, and the lead screw slider 42 is rotatably connected to the first traction rod 44. Rotation of the lead screw 41 causes the lead screw slider 42 to move on its outer wall, thereby driving the first traction rod 44, which in turn drives the second traction rod 43.

[0046] The guide component includes positioning slides 46, with two positioning slides 46 forming a figure-eight shape. A limiting slider 45 is slidably connected to the outer wall of the positioning slides 46. The limiting slider 45 is rotatably connected to a first traction rod 44 and a second traction rod 43. The first traction rod 44 drives the limiting slider 45. The length of the first traction rod 44 is fixed, and the distance between the lead screw 41 and the positioning slides 46 is fixed, thus limiting the movement trajectory of the limiting slider 45. Consequently, the movement range of the first traction rod 44 and the second traction rod 43 is limited by the movement trajectory of the limiting slider 45.

[0047] The clamping assembly 2 includes a first joint 23, which is shaped like an obtuse triangle and has an arc-shaped outer edge. The obtuse angle of the first joint 23 is rotatably connected to the thumb base 1 via a pin, and the two acute angles are connected to a second traction rod 43 and a first knuckle 24, respectively. The first joint 23 acts as a lever; moving the second traction rod 43 allows movement of the first knuckle 24. Furthermore, one end of a second joint 22 is rotatably connected on the coaxial axis connecting the first joint 23 and the thumb base 1.

[0048] Reference Figure 7 The second joint 22 is configured as a T-shape with an inclined top, and three connecting shaft holes are provided at the three ends of the second joint 22.

[0049] First, a sensing block 21 for clamping an object is fixed to the inner wall of the second joint 22; the surface of the sensing block 21 in contact with the object is provided with protrusions or rubber pads to increase friction. One end of the first joint 23 is rotatably connected to one end of the second traction rod 43 of the traction mechanism, and the other end is connected to one end of the first phalanx 24. The other end of the first phalanx 24 is connected to the other end of the second joint 22 via a lever, where the lever is one end of the third joint 34. The first joint 23 drives the first phalanx 24 to move, and then the first phalanx 24 pushes the second joint 22 toward the inner wall via the lever of the third joint 34.

[0050] The overlapping second joint 22 can be used to increase the width of the sensing block 21. A first housing 25 is provided on the outside of the clamping assembly to protect the components of the clamping assembly.

[0051] The retractable assembly 3 includes a fingertip 31 for gripping goods, and a third phalanx 32 is fixed to the outer wall of the fingertip 31 for supporting the fingertip 31. (See reference...) Figure 6 A transverse lever is provided at the bottom of the third phalanx 32. Two pivot points are provided at one end of the third phalanx 32, connecting the second phalanx 33 and the third joint 34 respectively. (Refer to...) Figure 5 The third joint 34 has three shaft holes, which are the pivot points for mounting the pin. The second finger joint 33 and the third joint 34 are rotatably connected to the clamping assembly 2.

[0052] The second phalanx 33 and the third joint 34 cross and rotate at the top of the second joint 22, so that when the first phalanx 24 moves, it drives one end of the third joint 34. Using the connection point with the second joint 22 as a fulcrum, the other end of the third joint 34 rotates. The third joint 34 then drives the third phalanx 32 to rotate using the connection point between the second phalanx 33 and the third phalanx 32 as a fulcrum, thereby enabling the movement of the fingertip 31. Simultaneously, a second shell 35 is provided on the outside of the folding assembly to protect its components. Robot working principle:

[0053] When the robot needs to grip goods, the motor is controlled to rotate the lead screw 41 in place, causing the lead screw slider 42, which is threadedly connected to the lead screw 41, to move along the lead screw towards the motor end. The lead screw slider 42 drives the first traction rod 44 to move, and the first traction rod 44 simultaneously drives the limit slider 45 and the second traction rod 43 to move. The movement of the limit slider 45 on the positioning slide rail 46 limits the movement trajectory of the second traction rod 43.

[0054] Then, the second traction rod 43 drives the first joint 23 to rotate, and through the other end of the first joint 23, it drives the first finger joint 24 to move. The first finger joint 24 pushes the third joint 34 to move, and the third joint 34 drives one end of the second joint 22 to rotate inward, thereby driving the sensing block 21 to move inward.

[0055] When the sensor block 21 comes into contact with the goods, it is blocked from moving further inward. The first knuckle 24 continues to push the third joint 34, which then flips using its connection point with the second joint 22 as a fulcrum. This causes the third knuckle 32 to flip, which in turn causes the fingertip 31 to flip.

[0056] The robotic arm is designed with an underactuated adaptive structure to achieve its gripping function. A motor drives a lead screw and slider for linear motion, which in turn drives linear guides on both sides of the lead screw and slider to move. A slider-rocker mechanism drives the retraction of the front-end robotic finger. When an object touches the web between the thumb and forefinger, the first joint of the robotic finger begins to rotate, and the entire finger begins to retract. When the sensor block touches the object, the first joint stops retracting, the second joint begins to rotate, and the second and third joints retract inward. Then, the second joint touches the object, the second joint stops rotating, the third joint begins to rotate, and the third joint retracts inward until the fingertip touches the object, completing the gripping action. The entire gripping process is driven by a single motor and can adapt to objects of different sizes and shapes. A return spring is installed along the direction of the finger; when the object is released, the motor drives the lead screw and slider to return to their original position, releasing the object.

[0057] Reference Figure 8 , 9A gantry using the aforementioned gantry robot includes a gantry frame 5, with a track 51 provided on the inner wall of the top gantry frame 5. The top of the inner wall of the gantry frame 5 is provided with horizontally and vertically intersecting X-axis guide rails 6 and Y-axis guide rails 7. The intersection of the X-axis guide rails 6 and Y-axis guide rails 7 forms a cross-shaped track. The ends of the X-axis guide rails 6 and Y-axis guide rails 7 are each connected to a cross-track drive 52 that can move along the outer wall of the gantry frame 5. Reinforcing ribs 9 are provided between the profiles of the gantry frame 5.

[0058] The cross-axis structure consists of two vertically staggered linear guides. Due to the large span and the fact that the linear guides are only connected to other components at two ends, it is a typical simply supported beam. In the scenario of a gantry robot with a large span, it is prone to bending deformation and has a weak load-bearing capacity. Therefore, aluminum square tubes are added to connect with the linear guides to enhance the rigidity and load-bearing capacity of the cross-axis, so that it is not prone to bending deformation under load during operation, which would affect the operation of the gantry robot. At the same time, the lightweight and high-strength characteristics of aluminum square tubes also meet the requirements of lightweight design.

[0059] Reference Figure 12 The cross track drive 52 is driven by a chain connected to the inside, and the chain is supported by gears set in the gantry frame 5 and driven by a motor set at the bottom of the gantry frame 5.

[0060] A robotic arm 8 is provided at the staggered position of the X-axis guide rail 6 and the Y-axis guide rail 7, and a gantry robot is provided on the robotic arm 8.

[0061] The drive unit consists of synchronous pulleys installed inside the four sides of the aluminum profile frame, forming a set on opposite sides, each driving one linear guide rail in the cross-axis structure. Specifically, the drive relies on a self-made slider fixed to the linear guide rail slider on the aluminum profile frame. The self-made slider has a toothed structure inside, which engages with the synchronous belt, allowing the synchronous pulleys to drive the slider's movement. The two ends of the linear guide rail in the cross-axis structure are connected to the self-made slider. The synchronous pulleys on both sides rotate synchronously, causing the sliders on both sides of the cross-axis linear guide rail to move synchronously, thus driving the linear guide rail of the cross-axis structure. The two linear guide rails respectively achieve movement in the x and y axes.

[0062] The synchronous drive of the synchronous pulleys on both sides avoids the misalignment caused by the large span when driving on one side, and can achieve high speed and high efficiency of the cross shaft linear guide rail movement.

[0063] Reference Figure 10-11The robotic arm 8 includes a Z-axis guide rail 81, and a steering motor 84 is mounted on the top of the Z-axis guide rail 81 for controlling the robot's horizontal rotation. A cross-rail connecting seat 85 is fixedly connected to the top of the steering motor 84. The cross-rail connecting seat is slidably connected to the X-axis guide rail 6 and the Y-axis guide rail 7. When the cross-rail drive 52 moves the X-axis guide rail 6, the X-axis guide rail 6 can drive the cross-rail connecting seat 85 to move on the outer wall of the Y-axis guide rail 7. A Z-axis drive assembly for moving the gantry robot along the Z-axis is provided on one side of the bottom of the steering motor 84.

[0064] The Z-axis drive assembly includes a motor, a chain, and gears, with the chain and Z-axis guide rail 81 running through the robot. The chain is fixedly connected to the robot. Gears are located at both ends of the Z-axis guide rail 81.

[0065] The side wall of the cross track connecting seat 85 is provided with staggered X-axis holes 851 and Y-axis holes 852. The X-axis holes 851 are sleeved on the outer wall of the X-axis guide rail 6, and the Y-axis holes 852 are sleeved on the outer wall of the Y-axis guide rail 7.

[0066] The robotic arm consists of a robotic arm that moves along the z-axis and a robotic hand that performs grasping functions.

[0067] To complete the grab and release

[0068] A series of processes are involved, and the robotic arm needs to have three degrees of freedom: steering, Z-axis motion, and clamping and closing of the robotic hand.

[0069] The robotic arm is connected to the steering motor and fixed to two sliders of the cross shaft linear guide rail via a self-made connector, thus securing the cross shaft.

[0070] The motion of the linear guide rail is converted into the motion of the robotic arm in the x and y axes, with the steering motor driving the overall steering of the robotic arm. Existing gantry robots employ two schemes to achieve z-axis motion: straight-arm and curved-arm. However, the straight-arm scheme requires movement into the space above the crossbeam, which imposes certain height requirements on the work area, while the curved-arm scheme is more complex and its accuracy is difficult to guarantee when the crossbeam span is large. Therefore, this invention separates the robotic arm from the robotic hand. A sprocket and chain are fixed to the robotic arm, while the robotic hand is designed with a toothed structure that can mesh with the chain and be fixed to a certain segment of the chain. This allows the robotic hand to move up and down relative to the robotic arm (i.e., z-axis motion) using the sprocket and chain. This scheme does not require space above the crossbeam, has a simpler structure, and its accuracy is less affected by the crossbeam span.

[0071] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0072] Furthermore, the terms “first,” “second,” “third,” and “fourth” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as “first,” “second,” “third,” or “fourth” may explicitly or implicitly include at least one of those features.

[0073] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0074] Although embodiments of the 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 invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gantry robot for cargo transportation and auxiliary handling, characterized in that: Includes a tiger mouth base (1), and a traction mechanism is provided on the inner side of the tiger mouth base (1). The free end of the traction mechanism is connected to a mechanical finger that extends outward along both ends of the tiger mouth base (1). The mechanical finger is driven by the traction mechanism, and the tiger mouth base (1) and the mechanical finger form a crab claw shape. The mechanical finger includes a clamping assembly (2) and a retracting assembly (3), wherein the clamping assembly (2) drives the retracting assembly (3) to move via a lever transmission; The traction mechanism includes a traction member connected to a mechanical finger at one end, a driving member connected to the other end of the traction member, and a guide member fixed on the tiger mouth base (1) between the driving member and the traction member. The traction component includes a second traction rod (43), one end of which is rotatably connected to the clamping assembly (2), and the other end of which is rotatably connected to a first traction rod (44), which is rotatably connected to the moving end of the driving component; The clamping assembly (2) includes a first joint (23), which is rotatably connected to the tiger's mouth base (1) and coaxially rotatably connected to one end of a second joint (22). A sensing block (21) is fixedly attached to the inner wall of the second joint (22). One end of the first joint (23) is rotatably connected to the traction mechanism, and the other end is connected to one end of a first phalanx (24). The other end of the first phalanx (24) is connected to the other end of the second joint (22) via a lever. The gathering component (3) includes a fingertip (31), and a third phalanx (32) is fixed to the outer wall of the fingertip (31). Two pivot points are provided at one end of the third phalanx (32), which are respectively connected to a second phalanx (33) and a third joint (34). The second phalanx (33) and the third joint (34) are rotatably connected to the clamping component (2).

2. A gantry robot for cargo transportation and auxiliary handling according to claim 1, characterized in that: The guide includes a positioning slide (46), and a limiting slider (45) is slidably connected to the outer wall of the positioning slide (46). The limiting slider (45) is rotatably connected to the first traction rod (44) and the second traction rod (43).

3. A gantry using the gantry robot of claim 1, characterized in that: The system includes a gantry frame (5), on the top of the inner wall of the gantry frame (5) are vertically intersecting X-axis guide rails (6) and Y-axis guide rails (7), and the ends of the X-axis guide rails (6) and Y-axis guide rails (7) are connected to cross-track drives that can move along the outer wall of the gantry frame (5); a robotic arm (8) is provided at the intersection of the X-axis guide rails (6) and Y-axis guide rails (7), and a gantry robot is provided on the robotic arm (8).

4. The gantry of the gantry robot according to claim 3, characterized in that: The robotic arm (8) includes a Z-axis guide rail (81), a steering motor (84) is provided on the top of the Z-axis guide rail (81), a cross rail connecting seat (85) is fixedly connected to the top of the steering motor (84), the cross rail connecting seat is slidably connected to the X-axis guide rail (6) and the Y-axis guide rail (7), and a Z-axis drive group for driving the gantry robot to move along the Z-axis is provided on one side of the bottom of the steering motor (84).

5. The gantry of the gantry robot according to claim 3, characterized in that: The side wall of the cross track connector (85) is provided with staggered X-axis holes (851) and Y-axis holes (852). The X-axis holes (851) are sleeved on the outer wall of the X-axis guide rail (6), and the Y-axis holes (852) are sleeved on the outer wall of the Y-axis guide rail (7).

6. The gantry of the gantry robot according to claim 3, characterized in that: The gantry frame (5) is provided with reinforcing ribs (9) between the profiles.

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