A ground-rail gantry processing and handling robot device

Abstract

This invention relates to the field of material handling robot technology, specifically to a ground-rail type gantry processing and handling robot device, including a ground rail and a robot that moves on the ground rail. The output end of the robot's robotic arm is fixedly connected to a connecting bracket via a flange, and a rectangular frame is fixedly connected to the bottom of the connecting bracket. Two sets of clamping arms are symmetrically distributed front and back on the lower end face of the frame, and the two sets of clamping arms are movably connected to the frame. Each set of clamping arms consists of two arms symmetrically distributed on the lower end face of the frame. A gripping assembly for driving the clamping arms is centrally and symmetrically fixedly connected to the lower end face of the frame between the two clamping arms. By using a cylinder combined with a gear and rack, it can adapt to gantry widths of different models. Moreover, the gear and rack combination can increase load-bearing capacity, force, and precision, as well as increase work efficiency. The use of rollers can prevent surface scratches caused by contact between the horizontal hook and the gantry contact surface.

Description

Technical Field

[0001] This invention relates to the field of handling robot technology, and in particular to a ground-rail gantry processing and handling robot device. Background Technology

[0002] The forklift mast is the main load-bearing structure of the forklift's lifting device, which mainly includes the outer mast, inner mast, fork carriage, and forks.

[0003] In the production and processing of forklift masts, such as mast welding, multiple welding processes are generally required. These welding processes are usually connected by handling equipment. The handling equipment used for mast welding is mostly automated mechanical equipment, such as mast handling robots, which are used to handle masts.

[0004] Gantry handling robots use grippers to pick up and unload gantry components and place them on the downstream conveyor to connect multiple processing steps. However, for gantry gripping, the most common technology currently uses cylinders to directly drive the clamping arms for clamping. This is not easy to control the force and precision, and it is easy to damage the gantry. In addition, different models of gantry require different clamping arm travel distances. When facing such problems, the travel distance needs to be redesigned manually, which increases the number of operation steps and reduces production efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a ground-rail type gantry processing and handling robot device. By using a cylinder in combination with a gear and rack, it can adapt to gantry of different widths. Moreover, the gear and rack combination can increase the load-bearing capacity, strength, and precision, as well as increase work efficiency. The use of rollers can prevent surface scratches caused by contact between the horizontal hook and the gantry contact surface, thereby solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a ground rail gantry processing and handling robot device, comprising a ground rail and a robot that walks on the ground rail, wherein the output end of the robot's mechanical arm is fixedly connected to a connecting bracket via a flange, and a rectangular frame is fixedly connected to the bottom of the connecting bracket.

[0007] Two sets of clamping arms are symmetrically distributed on the lower end face of the frame. The two sets of clamping arms are movably connected to the frame. Each set of clamping arms consists of two clamping arms symmetrically distributed on the lower end face of the frame.

[0008] The lower end face of the frame is centrally symmetrically connected to the clamping assembly that drives the clamping arms, located between the two clamping arms.

[0009] The clamping assembly includes guide rail plates symmetrically fixedly connected to the lower end face of the frame, sliders slidably connected to the two guide rail plates, sliding seats fixedly connected to the lower end faces of the two sliders, and racks fixedly connected to the ends of the two sliding seats along the direction of the guide rail plates.

[0010] The lower end face of the frame is rotatably connected to gears that mesh with the two racks at the position between the two racks, and the two racks are symmetrically distributed at the gear center.

[0011] Preferably, a cylinder connecting seat is fixedly connected to one of the sliding seats, and a cylinder for driving the sliding seat to slide back and forth is fixedly connected between the inner wall of the frame and the cylinder connecting seat.

[0012] Preferably, the output end of the cylinder is fixed to one of the cylinder connecting seats. The cylinder drives the cylinder connecting seat to move through the output end, which drives the rack and gear to move towards or away from each other at the same time. The lower end face of the frame is fixed with a protective cover on the clamping arm.

[0013] Preferably, the clamping assembly further includes a gear guard for protecting the gear, the gear guard being fixedly connected to the outside of the gear, and the gear guard having a through groove for the rack to move back and forth.

[0014] Preferably, the cylinder inlet is connected to a leak-proof valve, which is used to prevent gas leakage when the cylinder is not in operation, so that the clamping arm is always in contact with the gantry workpiece to be transported.

[0015] Preferably, the bottom end of the clamping arm is designed as a horizontal hook, and rollers and proximity switches are respectively provided on both sides of the horizontal hook to reduce friction between the horizontal hook and the gantry to be transported and to determine the distance of the horizontal hook.

[0016] Preferably, the roller is located outside the horizontal hook and is rotatably connected to the horizontal hook, the proximity switch is located inside the horizontal hook, and a wear-resistant block is fixed to the surface of the horizontal hook.

[0017] Preferably, the bottom of the sliding seat is also provided with an elastic compression mechanism, which uses the elastic compression mechanism to elastically compress the gantry to be processed and magnetically attract and clamp the gantry to achieve the functions of preventing the gantry from falling and smooth transportation.

[0018] Preferably, the elastic compression mechanism includes an outer sleeve that is fixedly connected to the lower end face of the sliding seat via a flange. A telescopic rod is movably connected to the lower end of the outer sleeve. The top of the telescopic rod is located inside the outer sleeve, and a spring is fixed inside the outer sleeve at the top position of the telescopic rod. An electromagnetic chuck is fixed to the bottom of the telescopic rod.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. By combining a cylinder with a gear and rack, it can adapt to gantry widths of different models. Moreover, the gear and rack combination can increase load-bearing capacity, strength, and precision, as well as increase work efficiency. The use of rollers can prevent surface scratches caused by contact between the horizontal hook and the gantry.

[0021] 2. The elastic compression mechanism can effectively achieve elastic compression and fixation of the gantry to be processed during the clamping and handling process of the clamping component, and in conjunction with the electromagnetic chuck, it can maintain the stability of the subsequent gantry handling by magnetic attraction, and prevent the gantry from sliding or displacing. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is an overall structural view of the present invention;

[0024] Figure 2 This is a structural view of the frame and clamping assembly of the present invention;

[0025] Figure 3 For the present invention Figure 2 The left view;

[0026] Figure 4 This is a structural view of the clamping assembly and clamping arm of the present invention;

[0027] Figure 5 This is a structural view of the sliding seat and rack of the present invention;

[0028] Figure 6 This is a structural view of the clamping arm of the present invention;

[0029] Figure 7 This is a structural view of the elastic compression mechanism and sliding seat of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 100. Frame; 200. Connecting bracket; 300. Clamping assembly; 301. Guide rail plate; 302. Slider; 303. Sliding seat; 304. Rack; 305. Gear; 306. Cylinder connecting seat; 307. Cylinder; 308. Gear guard; 309. Leakage prevention valve; 400. Clamping arm; 401. Roller; 402. Proximity switch; 403. Wear-resistant block; 500. Protective cover; 600. Robot; 700. Ground rail; 800. Elastic compression mechanism; 801. Outer sleeve; 802. Spring; 803. Telescopic rod; 804. Electromagnetic chuck. Detailed Implementation

[0032] 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.

[0033] Please see Figures 1 to 7 The present invention provides a technical solution:

[0034] A gantry processing and handling robot 600 device with a ground rail 700 includes a ground rail 700 and a robot 600 that walks on the ground rail 700. The output end of the robotic arm of the robot 600 is fixedly connected to a connecting bracket 200 through a flange, and a rectangular frame 100 is fixedly connected to the bottom of the connecting bracket 200.

[0035] Two sets of clamping arms 400 are symmetrically distributed on the lower end face of the frame 100. The two sets of clamping arms 400 are movably connected to the frame 100. Each set of clamping arms 400 consists of two clamping arms 400 and is symmetrically distributed on the lower end face of the frame 100.

[0036] The lower end face of the frame 100 is located between the two clamping arms 400 and is centrally symmetrically fixedly connected to the clamping assembly 300 that drives the clamping arms 400.

[0037] The clamping assembly 300 includes guide rail plates 301 symmetrically fixedly connected to the lower end face of the frame 100, sliders 302 slidably connected to the two guide rail plates 301, sliding seats 303 fixedly connected to the lower end face of the two sliders 302, and racks 304 fixedly connected to the ends of the two sliding seats 303 along the direction of the guide rail plates 301.

[0038] The lower end face of the frame 100 is rotatably connected to a gear 305 at the position between the two racks 304, and the two racks 304 are symmetrically distributed around the center of the gear 305.

[0039] Specifically, such as Figure 5and Figure 4 As shown, a cylinder connecting seat 306 is fixedly connected to one of the sliding seats 303. A cylinder 307 is fixedly connected between the inner wall of the frame 100 and the cylinder connecting seat 306 to drive the sliding seat 303 to slide back and forth. The output end of the cylinder 307 is fixed to one of the cylinder connecting seats 306. The cylinder 307 drives the cylinder connecting seat 306 to move through the output end, driving the rack 304 and gear 305 to cooperate, so that the two clamping arms 400 move closer to each other or further away from each other at the same time. A protective cover 500 is fixed on the lower end face of the frame 100 at the clamping arm 400.

[0040] Specifically, such as Figure 4 As shown, the clamping assembly 300 also includes a gear cover 308 for protecting the gear 305. The gear cover 308 is fixedly connected to the outside of the gear 305, and a through groove is provided on the gear cover 308 for the rack 304 to move back and forth. The air inlet of the cylinder 307 is connected to a leak-proof valve 309. The leak-proof valve 309 is used to prevent gas leakage when the cylinder 307 is not working, so that the clamping arm 400 is always in contact with the gantry workpiece to be transported.

[0041] Specifically, such as Figure 5 and Figure 6 As shown, the bottom end of the clamping arm 400 is designed as a horizontal hook. On both sides of the horizontal hook, there are rollers 401 and proximity switches 402 for reducing friction between the horizontal hook and the gantry to be transported and for judging the distance of the horizontal hook.

[0042] The proximity switch 402 is a position switch that does not require direct mechanical contact with moving parts. When an object approaches the sensing surface of the switch 402 to the operating distance, the switch is activated, thereby driving DC electrical appliances or providing control commands to a computer (PLC) device. The proximity switch 402 is a switch-type sensor (i.e., a contactless switch). It combines the characteristics of limit switches and microswitches with sensing capabilities, offering reliable operation, stable performance, fast frequency response, long service life, strong anti-interference ability, and waterproof and corrosion-resistant features. Products are available in inductive, capacitive, Hall effect, AC, and DC types.

[0043] The roller 401 is located outside the horizontal hook and is rotatably connected to the horizontal hook. The proximity switch 402 is located inside the horizontal hook. A wear-resistant block 403 is fixed on the surface of the horizontal hook.

[0044] By adopting the above technical solution, the clamping arms 400 on both sides of the bottom of the frame 100 are moved to the top positions of the two sides of the gantry to be transported. Then the horizontal hooks of the clamping arms 400 contact the side of the gantry to be transported. After contact, the proximity switch 402 provides a feedback signal to control the frame 100 to continue moving downward.

[0045] Specifically, such as Figure 7 As shown, the bottom of the sliding seat 303 is also provided with an elastic compression mechanism 800. The elastic compression mechanism 800 is used to elastically compress the gantry to be processed and magnetically attract and clamp the gantry to be processed to achieve the functions of preventing the gantry from falling and smooth transportation. The elastic compression mechanism 800 includes an outer sleeve 801 that is fixed to the lower end face of the sliding seat 303 through a flange. The lower end of the outer sleeve 801 is movably connected to a telescopic rod 803. The top of the telescopic rod 803 is located inside the outer sleeve 801, and a spring 802 is fixed inside the outer sleeve 801 at the top position of the telescopic rod 803. An electromagnetic chuck 804 is fixed to the bottom of the telescopic rod 803.

[0046] By adopting the above technical solution, the elastic compression mechanism 800 applies a downward elastic compression force to the upper surface of the gantry to be transported during the downward movement of the frame 100. The purpose is to prevent the gantry to be transported from sliding horizontally during subsequent transport. The movable connection displacement of the telescopic rod 803 and the outer sleeve 801 is to compress the spring 802 to achieve elastic compression of the gantry to be transported. At the same time, it adapts to the elastic compression and fixation of gantry to be transported with different widths. Moreover, the bottom of the telescopic rod 803 mainly contacts the upper surface of the gantry to be transported through the electromagnetic chuck 804. The controller controls the electromagnetic chuck 804 to conduct electricity and generate magnetic force to further magnetically fix the gantry to be transported, further providing stability for the device during subsequent transport. Then, the robot 600 completes other steps and moves on the ground rail 700.

[0047] Working principle: Robot 600 moves on track 700 via an external controller, and the output end of the robotic arm of robot 600 drives the frame 100 and the components on it to move up and down via the connecting bracket 200.

[0048] First, the frame 100 moves to a position above the gantry to be transported. Then, the robot 600, through its robotic arm, moves the entire frame 100 and the gripping assembly 300 at the bottom of the frame 100 downwards. At this time, the clamping arms 400 on both sides of the bottom of the frame 100 move to the top positions on both sides of the gantry to be transported. Then, the horizontal hooks of the clamping arms 400 contact the sides of the gantry to be transported. After contact, a signal is fed back through the proximity switch 402 to control the entire frame 100 to continue moving downwards. At this time, the rollers 401 roll down along the contact area of ​​the side of the gantry to be transported through the horizontal hooks at the bottom of the clamping arms 400. This design can effectively reduce the direct contact between the clamping arms 400 and the gantry to be transported, and prevent the clamping arms 400 from scratching the surface of the gantry to be transported during the downward movement. When the horizontal hooks move to the bottom of the gantry to be transported... The proximity switch 402 detects the position and then simultaneously activates the cylinder 307. The cylinder 307 retracts and drives the slider 302 at the top of the sliding seat 303 to slide on the guide plate 301 via the cylinder connecting seat 306. The sliding seat 303 drives the rack 304 to move and drives the gear 305 to rotate. The rotation of the gear 305 drives another rack 304 to move closer to the moving gear 305, thereby bringing the two clamping arms 400 closer together to complete the task of clamping the gantry. The horizontal hook at the bottom of the clamping arm 400 is also completely displaced to the bottom of the gantry to be transported. The wear-resistant block 403 designed at the top of the horizontal hook prevents the horizontal hook from directly contacting the gantry to be transported. The clamping arm 400 completes the clamping of the gantry to be transported and the bottom hook to prevent it from falling through the horizontal hook.

[0049] Secondly, the elastic compression mechanism 800 applies a downward elastic compression force to the upper surface of the gantry to be transported during the downward movement of the frame 100. The purpose is to prevent the gantry to be transported from sliding horizontally during subsequent transport. The movable connection displacement of the telescopic rod 803 and the outer sleeve 801 is to compress the spring 802 to achieve elastic compression of the gantry to be transported. At the same time, it adapts to the elastic compression and fixation of gantry to be transported with different widths. Moreover, the bottom of the telescopic rod 803 mainly contacts the upper surface of the gantry to be transported through the electromagnetic chuck 804. The controller controls the electromagnetic chuck 804 to conduct electricity and generate magnetic force to further magnetically fix the gantry to be transported, further providing stability for the device during subsequent transport. Then, the robot 600 completes other steps, and the robot 600 moves on the ground rail 700.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ground-rail gantry processing and handling robot device, characterized in that: Includes a ground rail (700) and a robot (600) that walks on the ground rail (700). The output end of the robotic arm of the robot (600) is fixedly connected to a connecting bracket (200) via a flange, and a rectangular frame (100) is fixedly connected to the bottom of the connecting bracket (200). Two sets of clamping arms (400) are symmetrically distributed on the lower end face of the frame (100). The two sets of clamping arms (400) are movably connected to the frame (100). There are two clamping arms (400) in each set and they are symmetrically distributed on the lower end face of the frame (100). The lower end face of the frame (100) is centrally symmetrically connected to the clamping assembly (300) that drives the clamping arms (400) at the position between the two clamping arms (400). The clamping assembly (300) includes guide rail plates (301) symmetrically fixedly connected to the lower end face of the frame (100), sliders (302) slidably connected to the two guide rail plates (301), sliding seats (303) fixedly connected to the lower end face of the two sliders (302), and racks (304) fixedly connected to the ends of the two sliding seats (303) along the direction of the guide rail plates (301). The lower end face of the frame (100) is rotatably connected to a gear (305) that meshes with the two racks (304) at the position between the two racks (304). The two racks (304) are symmetrically distributed around the center of the gear (305). The bottom end of the clamping arm (400) is designed as a horizontal hook. Rollers (401) and proximity switches (402) are respectively provided on both sides of the horizontal hook to reduce friction between the horizontal hook and the gantry to be transported and to determine the displacement distance of the horizontal hook. The roller (401) is located outside the horizontal hook and is rotatably connected to the horizontal hook. The proximity switch (402) is located inside the horizontal hook. A wear-resistant block (403) is fixed on the surface of the horizontal hook. The bottom of the sliding seat (303) is also provided with an elastic compression mechanism (800). The elastic compression mechanism (800) elastically squeezes and magnetically attracts the clamping assembly (300) to realize the function of preventing the gantry from falling and smooth transportation of the gantry. The elastic compression mechanism (800) includes an outer sleeve (801) that is fixed to the lower end face of the sliding seat (303) via a flange. A telescopic rod (803) is movably connected to the lower end of the outer sleeve (801). The top of the telescopic rod (803) is located inside the outer sleeve (801), and a spring (802) is fixed inside the outer sleeve (801) at the top position of the telescopic rod (803). An electromagnetic chuck (804) is fixed to the bottom of the telescopic rod (803).

2. The ground-rail gantry processing and handling robot device according to claim 1, characterized in that: A cylinder connecting seat (306) is fixedly connected to one of the sliding seats (303), and a cylinder (307) that drives the sliding seat (303) to slide back and forth is fixedly connected between the inner wall of the frame (100) and the cylinder connecting seat (306).

3. The ground-rail gantry processing and handling robot device according to claim 2, characterized in that: The output end of the cylinder (307) is fixed to the cylinder connecting seat (306). The cylinder (307) drives the cylinder connecting seat (306) to move through the output end, driving the rack (304) and gear (305) to cooperate, so that the two clamping arms (400) move closer to each other or further away from each other at the same time. The lower end face of the frame (100) is fixed with a protective cover (500) on the clamping arm (400).

4. The ground-rail gantry processing and handling robot device according to claim 1, characterized in that: The clamping assembly (300) also includes a gear guard (308) for protecting the gear (305). The gear guard (308) is fixedly connected to the outside of the gear (305), and a through groove is provided on the gear guard (308) for the rack (304) to move back and forth.

5. The ground-rail gantry processing and handling robot device according to claim 2, characterized in that: The cylinder (307) is connected to a leak-proof valve (309) at its air inlet. The leak-proof valve (309) is used to prevent gas leakage when the cylinder (307) is not in operation, so that the clamping arm (400) is always in contact with the gantry workpiece to be transported.

Images