A truss robot for feeding and discharging on an automatic processing line

Abstract

The present application discloses a kind of truss robots for automatic processing line unloading, it is related to robot technical field, including frame body, the top of the frame body is equipped with motion shaft system, the bottom of the motion shaft system is equipped with clamping structure, the clamping structure includes clamping plate, further including protection mechanism, the protection mechanism includes sequentially slidingly arranged in the inside of clamping plate from top to bottom connecting plate, first baffle and second baffle, the top of the first baffle and second baffle is fixed with shaft by connecting seat, the connecting plate and first baffle, first baffle and second baffle are respectively connected by connecting seat and shaft rotation, when carton goods between two clamping plates slide, protection mechanism is automatically triggered by trigger assembly, second baffle is ejected from clamping plate and deflected to support and receive goods, effectively prevent falling in clamping lifting process due to damage of carton support structure, guarantee the safety of goods unloading.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a truss robot for automatic feeding and discharging of a processing line. BACKGROUND

[0002] The truss robot is an industrial automation device designed based on a rectangular coordinate system, and its standard architecture includes three core modules of a truss frame, a motion shaft system and an end effector. The truss frame adopts a gantry structure with a beam and a column rigidly connected, providing stable support for the device; the motion shaft system realizes high-precision positioning and operation in space by cooperatively controlling the linear motion of X, Y and Z axes; and the end effector support module is customizable, for example, a pneumatic clamp or a vacuum suction plate can be used to carry goods such as boards and cartons in the feeding and discharging scene, to adapt to the material transfer requirements of the automatic production line.

[0003] In industrial production, cartons are subjected to vertical and lateral extrusion loads in frequent feeding and discharging stacking operations, and are prone to structural deformation. Such deformation gradually weakens the support performance of the corrugated structure, resulting in a decrease in the compression strength of the carton and a relaxation and collapse of the carton body. When a traditional truss robot uses a clamping method to carry such deformed cartons, the uneven contact surface and uneven clamping stress will significantly reduce the friction between the clamping plate and the carton, causing the carton to slide and fall during the carrying process. Once a falling accident occurs, not only the goods in the carton may be damaged due to impact, but also the lower stacked goods are more likely to cause a chain collapse, resulting in serious economic losses such as equipment damage, material scrap, and even endangering the safety of the operation. SUMMARY

[0004] The present application aims to solve the problem that when a traditional truss robot uses a clamping method to carry cartons, the cartons slide and fall after being lifted by clamping, resulting in damage to the goods inside, and proposes a truss robot for automatic feeding and discharging of a processing line.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a truss robot for automatic feeding and discharging of a processing line, comprising a frame body, a motion shaft system mounted on the top of the frame body, and a clamping structure mounted at the bottom of the motion shaft system, wherein the clamping structure comprises a clamping plate, and further comprising:

[0006] A protection mechanism comprising a connecting plate, a first baffle and a second baffle arranged in the clamping plate from top to bottom, wherein the top of the first baffle and the second baffle is fixed with a shaft rod through a connecting seat, the connecting plate and the first baffle, and the first baffle and the second baffle are rotatably connected through the connecting seat and the shaft rod, respectively, and the connecting part of the shaft rod and the connecting plate and the first baffle is provided with a torsional spring, and the outside of the shaft rod is provided with a limiting unit and a damping unit;

[0007] Trigger assembly and active control mechanism

[0008] When the goods slide, the trigger assembly releases the locking of the connecting plate, the connecting plate drives the first baffle and the second baffle to pop out, and the goods are supported and received by the second baffle after being buffered by the first baffle.

[0009] As a further description of the above technical solution: the damping unit includes a shell fixed to one end of the shaft, and a friction block elastically connected inside the shell.

[0010] As a further description of the above technical solution: the limiting unit includes a stopper slidingly connected between the connecting seat and the shaft, one side of the stopper is fixed with an adjusting plate, the adjusting plate is rotatably connected with the connecting seat and fixed by a bolt, and the bottom end of the connecting plate and the first baffle is fixed with a protrusion.

[0011] As a further description of the above technical solution: the trigger assembly includes a sliding block slidingly connected inside the clamping plate, a tension spring is fixed between the top of the sliding block and the clamping plate, two elastic catches are slidingly connected inside the clamping plate, one side of the sliding block is elastically connected with a friction plate, and a spring telescopic rod is fixed inside the clamping plate.

[0012] As a further description of the above technical solution: the active control mechanism includes a motor fixedly installed on the top of the clamping plate, a drive shaft of the motor is fixed with a lead screw rotatably connected to one side of the clamping plate, a mounting seat slidingly connected with the clamping plate is threadedly connected on the lead screw, and a connecting unit is arranged inside the mounting seat.

[0013] As a further description of the above technical solution: the connecting unit includes a magnetic clamping block elastically connected inside the mounting seat, an electromagnet I is installed inside the mounting seat, and the magnetic clamping block is pushed into the connecting plate when the electromagnet I generates magnetic repulsion.

[0014] As a further description of the above technical solution: it further includes a locking structure, the locking structure includes an electromagnet II fixedly installed inside the shell, a magnetic push block is slidingly connected inside the shell, one end of the magnetic push block is provided with a return spring, and a locking plate is elastically connected inside the shell.

[0015] As a further description of the above technical solution: one end of the magnetic push block is fixed with a push rod.

[0016] As described above, since the above technical truss robot for automatic processing line feeding and discharging is adopted, the beneficial effects of the present application are:

[0017] Firstly, the application triggers the protection mechanism automatically when the carton goods between the two clamps slide down, so that the second baffle is ejected from the clamp and deflected to support the goods, effectively preventing the goods from falling during the clamping and lifting process due to damage to the support structure of the carton, ensuring the safety of the goods loading and unloading. In addition, the falling of the carton can be buffered by the first baffle after the protection mechanism is triggered, thereby reducing the impact force of the carton when it is supported by the second baffle, further protecting the objects in the box from being damaged.

[0018] Secondly, the application can directly drive the protection mechanism to grab the goods through the active control mechanism. After grabbing, the locking structure automatically locks the second baffle to support the bottom of the goods. This design not only significantly improves the upper limit of the carrying weight of the truss robot, expands its application range, but also effectively reduces the clamping force of the clamp on the side wall of the goods during heavy object carrying, avoiding damage to the goods due to excessive clamping force. In addition, the active control mechanism can adjust the position and angle of the second baffle, facilitating the lifting of the goods or meeting the grabbing needs of cylindrical goods, and enabling the goods to be placed gently, improving the safety of goods unloading. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 An overall schematic diagram provided by an embodiment of the application is shown;

[0020] Figure 2 A clamp schematic diagram provided by an embodiment of the application is shown;

[0021] Figure 3 A friction plate schematic diagram provided by an embodiment of the application is shown;

[0022] Figure 4 A clamp transverse cross-section schematic diagram provided by an embodiment of the application is shown;

[0023] Figure 5 A schematic diagram provided by an embodiment of the application is shown; Figure 4 the enlarged view at A in the middle;

[0024] Figure 6 A clamp longitudinal cross-section schematic diagram provided by an embodiment of the application is shown;

[0025] Figure 7 A schematic diagram provided by an embodiment of the application is shown; Figure 6 the enlarged view at B in the middle;

[0026] Figure 8 A schematic diagram provided by an embodiment of the application is shown; Figure 6 the enlarged view at C in the middle;

[0027] Figure 9 A first baffle schematic diagram provided by an embodiment of the application is shown;

[0028] Figure 10 An exploded view of the connecting seat is shown according to an embodiment of the present application;

[0029] Figure 11 An exploded view of the shaft is shown according to an embodiment of the present application;

[0030] Figure 12 A cross-sectional view of the second baffle is shown according to an embodiment of the present application;

[0031] Figure 13 A cross-sectional view of the housing is shown according to an embodiment of the present application;

[0032] Figure 14 An operation state diagram of the protection mechanism is shown according to an embodiment of the present application;

[0033] Figure 15 A first operation state diagram is shown according to an embodiment of the present application;

[0034] Figure 16 A second operation state diagram is shown according to an embodiment of the present application;

[0035] Figure 17 A third operation state diagram is shown according to an embodiment of the present application.

[0036] Legend:

[0037] 10, frame; 11, moving shaft system; 12, clamping structure; 13, clamping plate;

[0038] 20, protection mechanism; 21, connecting plate; 22, first baffle; 23, second baffle; 24, connecting seat; 25, shaft; 26, torsion spring; 27, limiting unit; 271, stop block; 272, adjusting plate; 28, damping unit; 281, housing; 282, friction block; 29, spring telescopic rod;

[0039] 30, trigger assembly; 31, sliding block; 32, tension spring; 33, elastic catch; 34, friction plate;

[0040] 40, active control mechanism; 41, motor; 42, lead screw; 43, mounting seat; 44, electromagnet I; 45, magnetic catch block;

[0041] 50, locking structure; 51, electromagnet II; 52, magnetic push block; 53, locking plate; 54, push rod; 55, return spring. DETAILED DESCRIPTION

[0042] The following will describe clearly and completely a gantry robot for automatic material loading and unloading on an automated processing line, with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. 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.

[0043] like Figures 1-17 As shown, the present invention provides a gantry robot for loading and unloading on an automated processing line: including a gantry-type frame 10, a motion axis system 11 installed on the top of the frame 10, and a gripping structure 12 installed on the bottom of the motion axis system 11. The gripping structure 12 includes two clamping plates 13. The gripping structure 12 achieves gripping and unloading by controlling the two clamping plates 13 to move closer and further apart.

[0044] Reference Figures 9-13 To prevent the cardboard boxes gripped by the gantry robot during loading and unloading from falling off the two clamps 13, a protective mechanism 20 is also included, which is symmetrically arranged inside the two clamps 13. The protective mechanism 20 includes a connecting plate 21, a first baffle 22, and a second baffle 23, which are slidably arranged inside the clamps 13 from top to bottom. The top of the first baffle 22 and the second baffle 23 are both fixed with a connecting seat 24. A shaft 25 is fixed on one side of the connecting seat 24. The shaft 25 at the top of the first baffle 22 is rotatably connected to the bottom of the connecting plate 21. The shaft 25 at the top of the second baffle 23 is rotatably connected to the bottom of the first baffle 22. Torsion springs 26 are provided at the connection points between the shaft 25 and the connecting plate 21 and the first baffle 22. When the first baffle 22 and the second baffle 23 are vertically arranged inside the clamps 13, both torsion springs 26 are in a compressed state.

[0045] Reference Figure 14When the connecting plate 21 slides downward inside the clamping plate 13, the first baffle 22 and the second baffle 23 connected by the shaft 25 and the connecting base 24 are driven to move downward, and when the second baffle 23 moves out of the clamping plate 13, the second baffle 23 loses the limit of the clamping plate 13 and is deflected by ninety degrees relative to the first baffle 22 in the direction of the goods under the elastic force of the torsional spring 26; when the first baffle 22 moves out of the clamping plate 13, the first baffle 22 loses the limit of the clamping plate 13 and is deflected relative to the connecting plate 21 in the direction of the goods under the elastic force of the torsional spring 26, and the deflection angle is between thirty degrees and sixty degrees; when the goods fall, the goods first rub against the inclined first baffle 22 and push the first baffle 22 to reverse deflection, and in this process, the first baffle 22 buffers the falling of the goods by means of the elastic force of the torsional spring 26; after the first baffle 22 is deflected back to the vertical state by the goods, the goods contact the second baffle 23 and are supported and received by the second baffle 23. This design not only prevents the goods from falling during the clamping and lifting process due to the damage of the support structure of the carton goods, but also reduces the impact force suffered by the goods when the goods are received by the second baffle 23 through buffering.

[0046] With reference to Figures 10-12 In order to meet different use requirements, the angle of deflection of the first baffle 22 and the second baffle 23 after extending out of the clamping plate 13 is changed, and a limiting unit 27 is arranged outside the shaft 25, the limiting unit 27 includes a stop block 271 slidably connected between the connecting base 24 and the shaft 25, one side of the stop block 271 is fixed with an adjusting plate 272, the adjusting plate 272 is rotatably connected with the connecting base 24 and is fixed by bolts, the bottom end of the connecting plate 21 and the first baffle 22 are both fixed with a protrusion in the same horizontal plane as the stop block 271, the stop block 271 is driven to slide between the connecting base 24 and the shaft 25 by rotating the adjusting plate 272, the position of the stop block 271 is changed, and then the adjusting plate 272 is fixed with the connecting base 24 and the shaft 25 by bolts, at this time, the stop block 271 is in a fixed state, and when the first baffle 22 deflects relative to the connecting plate 21, the connecting base 24, the shaft 25, the adjusting plate 272 and the stop block 271 deflect relative to the protrusion, the deflection of the stop block 271 is blocked by the protrusion, the maximum deflection angle of the first baffle 22 relative to the connecting plate 21 is controlled, and the buffering effect of the first baffle 22 on the goods is adjusted, for example, when buffering heavy goods, increasing the deflection angle of the first baffle 22 can further slow down the falling speed of the goods and further strengthen the buffering effect;

[0047] With reference to Figure 11 A support block is further fixed between the shaft 25 and the connecting base 24 for preventing the first baffle 22 from deflecting relative to the connecting plate 21 in the direction away from the goods when the first baffle 22 is in the vertical state, so as to improve the stability of the first baffle 22 and the second baffle 23 in the extended and retracted states.

[0048] With reference to Figure 13The outer part of the shaft 25 is further provided with a damping unit 28, which comprises a shell 281 fixed to one end of the shaft 25 and embedded in the inside of the connecting plate 21 and the first baffle 22, and the inside of the shell 281 is elastically connected with a friction block 282, which is in elastic abutment with the inner wall of the rotating connection between the connecting plate 21 and the first baffle 22 and the shaft 25, and the damping effect is realized through friction, so as to reduce the vibration of the first baffle 22 and the second baffle 23 when they are deflected to the maximum position under the elastic action of the torsional spring 26, and avoid the impact between the first baffle 22 and the goods due to too fast deflection speed.

[0049] With reference to Figures 4-7 In order to automatically trigger the protection mechanism 20 when the goods slide down, a trigger assembly 30 is further included, which comprises a sliding block 31 slidingly connected in the inside of the clamping plate 13, the bottom of the sliding block 31 is provided with an inclined groove, a tension spring 32 for helping the sliding block 31 reset is fixed between the top of the sliding block 31 and the clamping plate 13, two elastic clamping pins 33 for clamping the connecting plate 21 and the clamping plate 13 are slidingly connected in the inside of the clamping plate 13, a friction plate 34 is elastically connected to one side of the sliding block 31, and a spring telescopic rod 29 is fixed in the inside of the clamping plate 13.

[0050] After the clamping structure 12 clamps the carton goods through the clamping plate 13, the friction plate 34 is in contact with the two sides of the goods, and a friction force is generated between the friction plate 34 and the goods under the elastic force of the friction plate 34, when the goods slide down, the friction plate 34 is driven to move downward, the sliding block 31 is driven to slide downward in the inside of the clamping plate 13, the sliding block 31 drives the two elastic clamping pins 33 to move away through the inclined groove, so that the elastic clamping pins 33 are no longer clamped with the connecting plate 21, thereby releasing the locking of the connecting plate 21;

[0051] When the elastic clamping pins 33 clamp the connecting plate 21, the spring telescopic rod 29 is in a compressed state, when the elastic clamping pins 33 release the clamping of the connecting plate 21, the spring telescopic rod 29 drives the connecting plate 21 to quickly move downward through the expansion elastic force, the connecting plate 21 drives the first baffle 22 and the second baffle 23 to extend downward, and through this trigger design, the goods can be automatically protected by the protection mechanism 20 when the goods slide down, thereby improving the safety.

[0052] A ball is arranged at the connection between the elastic clamping pin 33 and the connecting plate 21, which is used to reduce the friction between the elastic clamping pin 33 and the connecting plate 21 when the sliding block 31 drives the elastic clamping pin 33 to move through the inclined groove, thereby improving the sensitivity of the trigger assembly 30.

[0053] With reference to Figure 2 and Figure 6, in order to reset the protection mechanism 20 after triggering, and enhance the functionality by directly controlling the protection mechanism 20, it also includes the active control mechanism 40, the active control mechanism 40 includes the motor 41 fixedly installed on the top of the clamping plate 13, the driving shaft of the motor 41 is fixed with the lead screw 42 rotatingly connected to one side of the clamping plate 13, the lead screw 42 is threadedly connected with the mounting seat 43 slidingly connected with the clamping plate 13, the inside of the mounting seat 43 is provided with a connecting unit, when the motor 41 drives the lead screw 42 to rotate, the lead screw 42 drives the mounting seat 43 to slide up and down on one side of the clamping plate 13, so as to drive the connecting plate 21 to lift in the clamping plate 13 through the connecting unit, realize the direct control of the protection mechanism 20, when the connecting plate 21 moves upwardly in the clamping plate 13 and resets, the two elastic catches 33 are squeezed to the two sides, and the spring telescopic rod 29 is compressed, when the connecting plate 21 moves to the highest position, the elastic catch 33 resets to clamp the connecting plate 21 under the elastic force.

[0054] Referring to Figure 8 , in order to make the active control mechanism 40 not hinder the automatic triggering of the protection mechanism 20, the connecting unit includes the magnetic catch 45 elastically connected to the inside of the mounting seat 43, the inside of the mounting seat 43 is provided with the electromagnet 44, the electromagnet 44 generates magnetic repulsion to push the magnetic catch 45 to embed the connecting plate 21, at this time, the mounting seat 43 moves up and down to drive the connecting plate 21 to move together through the magnetic catch 45, when the electromagnet 44 is closed, the magnetic catch 45 is retracted into the inside of the mounting seat 43 under the elasticity, the mounting seat 43 is separated from the connecting plate 21, and does not affect the automatic triggering of the protection mechanism 20.

[0055] Referring to Figures 15-17 , after the trigger assembly 30 releases the clamping of the connecting plate 21, the connecting plate 21 is driven by the active control mechanism 40 to slide downwardly in the clamping plate 13, so that the second baffle 23 is driven by the connecting seat 24 and the shaft rod 25 to extend from the bottom of the clamping plate 13, and the extension length of the clamping plate 13 can be controlled to make the second baffle 23 deflect at different angles under the limiting of the clamping plate 13;

[0056] One side of the second baffle 23 is inclined, so that the inclined side of the second baffle 23 is in contact with the ground after deflection, at this time, the two clamping plates 13 are controlled to be close to each other through the clamping structure 12, so that the two second baffles 23 can shovel the heavy goods placed on the ground, and then the goods are clamped by the clamping plate 13 under the support of the second baffle 23, realizing the feeding and discharging of the heavy goods, the second baffle 23 plays a supporting role in the feeding and discharging process, this design not only significantly improves the carrying weight limit of the truss robot and expands its application range, but also effectively reduces the clamping force of the clamping plate 13 on the sidewall of the goods in the heavy goods carrying process, avoiding damage to the goods due to excessive clamping force;

[0057] The second baffle 23 and the clamping plate 13 can be stably clamped by controlling the included angle between the second baffle 23 and the clamping plate 13, and the applicability of the truss robot is further improved.

[0058] During the process of retracting the second baffle 23 into the clamping plate 13 by the active control mechanism 40, the second baffle 23 gradually tends to be vertical under the limit of the edge of the clamping plate 13, and the goods gradually approach the ground. The active control mechanism 40 can also control the protection mechanism 20 to gently place the goods supported by the second baffle 23 after the carrying is completed, thereby ensuring the safety of the goods.

[0059] Reference Figure 12 and Figure 13 The locking structure 50 for locking between the first baffle 22 and the second baffle 23 includes an electromagnet 51 fixedly installed inside the shell 281, a magnetic push block 52 slidingly connected inside the shell 281, a reset spring 55 provided at one end of the magnetic push block 52, and a locking plate 53 elastically connected inside the shell 281. When the electromagnet 51 generates a magnetic repulsion force to push the magnetic push block 52 to slide inside the shell 281, the magnetic push block 52 extrudes the locking plate 53 against the inner wall of the first baffle 22, so that the second baffle 23 is locked with the first baffle 22 through the connecting seat 24, the shaft rod 25, the shell 281 and the locking plate 53. This design is used to improve the load capacity of the second baffle 23 when the active control mechanism 40 directly controls the protection mechanism 20 to carry goods, and to improve the upper limit of the weight of the goods that can be carried by the truss robot.

[0060] When the first baffle 22 and the second baffle 23 are deflected and reset under the extrusion of the edge of the bottom of the clamping plate 13, the damping unit 28 hinders the deflection of the first baffle 22 and the second baffle 23. One end of the magnetic push block 52 is fixed with a push rod 54. The magnetic repulsion force generated by the electromagnet 51 can also drive the magnetic push block 52 and the push rod 54 to push the friction block 282 towards the inside of the shell 281, so that the friction block 282 no longer contacts the inner wall of the connecting plate 21 and the first baffle 22, reducing the frequency of friction of the friction block 282 and prolonging the service life of the friction block 282.

[0061] Working principle: in the initial state, the magnetic clamping block 45 is retracted in the mounting seat 43 by the elastic force, the connecting plate 21 is clamped by the elastic clamping pin 33, and the spring telescopic rod 29 and the torsional spring 26 are in the compressed state.

[0062] After the clamping structure 12 controls the two clamping plates 13 to clamp the carton goods, the goods extrude the friction plate 34, so that the friction plate 34 is retracted into the clamping plate 13, and the friction plate 34 exists friction between the goods under the elastic force;

[0063] When the loose goods are clamped, the friction between the goods and the clamping plate 13 is reduced, at this time the friction plate 34 is in abutment with the goods under the action of the elastic force, and the goods slide downward to drive the friction plate 34 to slide downward through the friction force, the friction plate 34 drives the sliding block 31 to slide downward in the clamping plate 13, so that the two elastic catches 33 are pushed away from the bottom inclined groove, and the connecting plate 21 is disengaged from the clamping of the elastic catches 33;

[0064] After the connecting plate 21 loses the clamping of the elastic catches 33, it moves downward by the elastic force of the spring telescopic rod 29, drives the first baffle 22 and the second baffle 23 to extend from the bottom end of the clamping plate 13 through the connecting seat 24 and the shaft rod 25, and after the first baffle 22 and the second baffle 23 lose the limiting of the clamping plate 13, the first baffle 22 is deflected relative to the connecting plate 21 under the action of the elastic force of the torsion spring 26, and the second baffle 23 is deflected by ninety degrees relative to the first baffle 22, the goods first contact the inclined first baffle 22 when sliding and push the first baffle 22 to the side, and the first baffle 22 realizes the sliding buffer of the goods through the elastic force of the torsion spring 26 and the damping effect of the damping unit 28, and when the first baffle 22 is pushed to the vertical state by the goods, the second baffle 23 contacts the bottom surface of the goods to support the goods;

[0065] The starting motor 41 drives the screw rod 42 to rotate, drives the mounting seat 43 to slide on the clamping plate 13, moves the mounting seat 43 to the same height as the groove on the connecting plate 21, opens the electromagnetic iron one 44 to generate magnetic repulsion force to push the magnetic clamping block 45 to embed into the groove on the connecting plate 21, at this time the magnetic clamping block 45 is clamped between the mounting seat 43 and the connecting plate 21, drives the mounting seat 43 to move upward through the motor 41 and the screw rod 42, drives the connecting plate 21 to move upward through the magnetic clamping block 45, and when the connecting plate 21 moves to the highest position, the two elastic catches 33 are squeezed apart and enter between the two elastic catches 33, and the elastic catches 33 clamp the connecting plate 21 to realize the resetting of the protection mechanism 20;

[0066] In the resetting process of the connecting plate 21, the first baffle 22 and the second baffle 23, the second baffle 23 is deflected relative to the first baffle 22 under the extrusion of the bottom edge of the clamping plate 13, and in this process, the second baffle 23 gradually tends to be vertical, and the goods supported by the second baffle 23 gradually approach the ground, and after the goods approach the ground, the second baffle 23 is retracted into the clamping plate 13, and this design can realize the light placing of the goods supported and received by the second baffle 23, and guarantee the safety of the goods.

[0067] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A truss robot for feeding and discharging on an automatic processing line, comprising a frame body (10), a motion shaft system (11) is installed on the top of the frame body (10), a clamping structure (12) is installed on the bottom of the motion shaft system (11), the clamping structure (12) comprises a clamping plate (13), characterized in that, Also include: Protection mechanism (20), the protection mechanism (20) includes the connecting plate (21) that is arranged in the inside of the clamp plate (13) from top to bottom in turn sliding, first baffle (22) and second baffle (23), the top of first baffle (22) and second baffle (23) are fixed with shaft rod (25) through connecting seat (24), connecting plate (21) and first baffle (22) with first baffle (22) and second baffle (23) between respectively through connecting seat (24) and shaft rod (25) rotation connection, the connecting place of shaft rod (25) and connecting plate (21) and first baffle (22) are equipped with torsional spring (26), the outside of shaft rod (25) is provided with limiting unit (27) and damping unit (28); Trigger assembly (30), the trigger assembly (30) includes the sliding block (31) that is connected in the inside of the clamp plate (13), the top of sliding block (31) and clamp plate (13) between fixed have tension spring (32), the inside of clamp plate (13) is slidably connected with the mirror image arrangement of two elastic catches (33), one side of sliding block (31) is elastically connected with friction plate (34), the inside of clamp plate (13) is fixed with spring telescopic rod (29); Active control mechanism (40), the active control mechanism (40) includes motor (41) that is fixedly installed at the top of clamp plate (13), the drive shaft of motor (41) is fixed with screw rod (42) that is rotationally connected to one side of clamp plate (13), the screw rod (42) is threadedly connected with the mounting seat (43) that is slidably connected with clamp plate (13), the inside of mounting seat (43) is equipped with connecting unit, the connecting unit includes the magnetic clamping block (45) that is elastically connected to the inside of mounting seat (43), the inside of mounting seat (43) is installed with electromagnet one (44), when electromagnet one (44) generates magnetic repulsion, magnetic clamping block (45) is embedded in connecting plate (21) and is pushed; When the goods slide, the trigger assembly (30) releases the locking of the connecting plate (21), the connecting plate (21) drives the first baffle (22) and the second baffle (23) to pop out, and the goods are supported and received by the second baffle (23) after being buffered by the first baffle (22).

2. The gantry robot for feeding and discharging of an automatic processing line according to claim 1, characterized in that, The damping unit (28) includes a housing (281) fixed to one end of the shaft rod (25), and a friction block (282) elastically connected in the housing (281).

3. The gantry robot for feeding and discharging of an automatic processing line according to claim 1, characterized in that, The limiting unit (27) includes a stop block (271) slidably connected between the connecting seat (24) and the shaft rod (25), and an adjusting plate (272) fixed to one side of the stop block (271). The adjusting plate (272) is rotatably connected to the connecting seat (24) and fixed by bolts. The connecting plate (21) and the first baffle (22) are fixed with protrusions at the bottom ends.

4. The gantry robot for feeding and discharging of an automatic processing line according to claim 2, characterized in that, Also include locking structure (50), the locking structure (50) include fixedly installed in the inside of shell (281), the inside of the shell (281) is slidably connected with magnetic push block (52), one end of the magnetic push block (52) is equipped with reset spring (55), the inside of the shell (281) is elastically connected with locking plate (53).

5. The gantry robot for feeding and discharging of an automatic processing line according to claim 4, wherein One end of the magnetic push block (52) is fixed with push rod (54).

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