Robot for open-top truck truss

Abstract

The invention discloses a robot for an open-top truck truss. The robot comprises the truss. The gripper is movably connected with the joist barrow and is used for transferring goods; the protection part is arranged on one side of the gripper and used for transportation protection of bagged goods, a loading vehicle is arranged in the truss, a conveying belt is arranged on the outer portion of the truss, and the gripper is used for transportation and circulation of the bagged goods between the loading vehicle and the conveying belt. The method comprises a first scheme and a second scheme, both the first scheme and the second scheme can achieve gripper work, however, certain preference exists in use scenes, namely the first scheme prefers transportation and transfer of bagged goods with large weight, the second scheme prefers transportation and transfer of bagged goods with small weight, the efficiency of the first scheme is lower than that of the second scheme, and the efficiency of the first scheme is lower than that of the second scheme. However, the first scheme is good in use stability, the second scheme is higher in efficiency compared with the first scheme, and the scheme is suitable for rapid cargo carrying operation.

Description

Technical Field

[0001] This invention relates to the field of truss robot technology, specifically a robot for an open-top truck truss. Background Technology

[0002] A truss robotic gripper is an automated manipulator specifically designed for truss structures (such as racks, shelves, supports, etc.). Used in robotic systems, it combines a robotic arm with a gripper to perform tasks such as grasping, handling, and assembling objects. Truss structures are typically composed of multiple members forming a supporting frame; therefore, the design of a truss robotic gripper needs to consider multiple factors, including grasping accuracy, load capacity, and flexibility.

[0003] Robotic grippers for trusses have the following significant characteristics: 1) High load capacity Trusses are typically used to support heavy objects, so truss-based robotic grippers need to have high load-bearing capacity. The gripper is designed to stably grasp and move heavy objects, and is usually manufactured using high-strength materials (such as alloy steel, aluminum alloy, etc.).

[0004] 2) Precise positioning and grasping Because truss structures are usually quite complex, truss robotic grippers need to have high-precision positioning and gripping capabilities, enabling them to accurately grasp objects of different sizes and shapes and place them precisely in the designated positions.

[0005] 3) Flexible adaptability Robotic grippers for trusses typically need to be highly flexible to adapt to different types and shapes of truss structures. The gripper's end may employ different gripping methods, such as claws, suction cups, or magnetic adsorption, to accommodate objects of different materials, surfaces, and shapes.

[0006] 4) Durability and stability Truss structures are commonly used in industrial environments, therefore the grippers must possess excellent durability and stability to withstand long-term use and high-frequency operation. Material selection and the wear resistance of mechanical components are key factors that need to be considered during the design process.

[0007] 5) Intelligent operation With the rapid development of industrial automation and intelligent manufacturing, many truss robotic grippers have integrated intelligent technologies such as sensors, vision systems, and force sensors, enabling them to monitor changes in the gripping process in real time and make adaptive adjustments to ensure gripping accuracy and safety.

[0008] Patent CN213381553U discloses a gantry robot. Specifically, this patent discloses a gantry robot comprising: a main frame; a walking mechanism mounted on the main frame for driving the movement of a robotic gripper in the X-axis direction, the walking mechanism also including a dust cleaning mechanism; a lifting mechanism mounted on the walking mechanism for driving the lifting of the robotic gripper in the Z-axis direction; and a robotic gripper mounted on the lifting mechanism for gripping and releasing materials, the robotic gripper including a top cover, a clamping arm, a guide mechanism, and a cylinder. The patent achieves the following technical effects: "The air knife effectively cleans the dust between the guide slider and the slider rail, ensuring operational accuracy and efficiency; the cylinder guide rod is connected to the clamping arm, enabling cylinder control of the clamping arm's extension and retraction, and the cylinder-controlled clamping arm movement achieves higher operational accuracy and improves operational efficiency."

[0009] However, the device lacks protective equipment for transport during actual use, which makes it easy for goods to be damaged or injured when they fall from the gripper, leaving room for improvement.

[0010] Therefore, patent CN217943338U discloses a gantry robot. Specifically, this patent discloses a gantry robot comprising a column unit, a crossbeam unit on the upper side of the column unit, a pallet unit on the upper side of the crossbeam unit via a track, a vertical beam unit on the upper side of the pallet unit, a gripper unit fixedly connected to the bottom of the vertical beam unit, a protective unit below the pallet unit along the length of the crossbeam unit, and a reversing unit below the protective unit. The reversing unit includes a reversing bracket, a reversing cylinder, a reversing support, and a reversing detection sensor. This invention, through its designed reversing unit, can rotate long-shaft workpieces during loading and unloading, facilitating workpiece processing. It achieves the technical effect that "this invention can adapt to long-shaft workpieces of different lengths by adjusting the distance between the gripper assemblies, ensures the accuracy of the gripping position of the long-shaft workpiece through relative clamping slopes, and facilitates transportation by pressing down on the long-shaft workpiece through the pressing assembly."

[0011] However, in actual use, the protective unit of this patent is difficult to adjust flexibly and protect bagged goods, leaving room for improvement. Summary of the Invention

[0012] The purpose of this invention is to provide a robot for open-top truck trusses to solve the problems mentioned in the background art.

[0013] To achieve the above objectives, the present invention provides the following technical solution: a robot for an open-top truck truss system, used to support the entire truss robot system, comprising a plurality of longitudinally arranged support columns and a plurality of horizontally arranged support beams, wherein each of the support columns and another support beam is fixedly connected, the common inner side of the plurality of support columns and the plurality of support beams of the truss defines a loading and unloading space for the top-opening truck to enter and exit, and the outer side of the truss opposite to its inner side defines a space for placing a cargo assembly line; a dynamic gripping device, movably connected to the truss, is used to grip cargo to realize automated loading and unloading of the top-opening truck, the dynamic gripping device including a component movably connected to the support beams. The system includes a movable support frame and a robotic arm mounted on the movable support frame; and a transmission device connected to the movable support frame and the support beam, respectively, for adjusting the position of the dynamic gripping device to select the landing point during gripping; the gantry robot system is configured as an adjustable robotic claw structure, which has multiple spatial Cartesian coordinate systems internally, and each spatial Cartesian coordinate system cooperates to limit the position and direction of movement of the dynamic gripping device; the robotic arm includes multiple movable joints and a suction cup and a tray mounted on one side of the movable joints, wherein the movable joints include a power mechanism capable of linear reciprocating motion or rotational motion, the suction cups are used for attracting bagged goods, and the trays are used for transferring and protecting bagged goods.

[0014] As a further embodiment of the present invention: a loading vehicle is provided inside the truss, a conveyor belt is provided outside the truss, and the gripper is used for transporting bagged goods between the loading vehicle and the conveyor belt.

[0015] As a further embodiment of the present invention: the gripper includes a main Z-axis adjustment part, a sub-Z-axis adjustment part and an X-axis adjustment part, the sub-Z-axis adjustment part includes two sets and is arranged at the output end of the main Z-axis adjustment part, the main Z-axis adjustment part is arranged on one side of the truss, and the sub-Z-axis adjustment part is adjusted in position by the X-axis adjustment part.

[0016] As a further embodiment of the present invention: the main Z-axis adjustment unit includes a main Z-axis and a V-shaped guide system. A main Z-axis power rotation mechanism is fixedly installed at one end of the main Z-axis. The output end of the main Z-axis power rotation mechanism is fixedly connected to the X-axis adjustment unit. One side of the V-shaped guide system is fixedly connected to the main Z-axis, and the other side of the V-shaped guide system is connected to the truss.

[0017] As a further embodiment of the present invention: the split-axis adjustment part includes a second split Z-axis and a first split Z-axis, the second split Z-axis is disposed at the lateral movable end of the X-axis adjustment part and is movably connected to the X-axis adjustment part, and the first split Z-axis is disposed at the vertical movable end of the X-axis adjustment part and is movably connected to the X-axis adjustment part.

[0018] As a further embodiment of the present invention: the X-axis adjustment unit includes a main X-axis, a transverse linear motion power mechanism is fixedly installed on one side of the main X-axis, the transverse linear motion power mechanism is adapted to the second sub-Z-axis, and a vertical linear motion power mechanism is fixedly installed on the other side of the main X-axis, the vertical linear motion power mechanism is adapted to the first sub-Z-axis.

[0019] As a further embodiment of the present invention: a power rotation mechanism for the Z-axis is fixedly installed at one end of the first Z-axis of the second Z-axis, a safety support power rotation mechanism is fixedly installed at the output end of the power rotation mechanism for the Z-axis, a flipping plate is rotatably connected to one side of the safety support power rotation mechanism, a clamp rotating bracket is fixedly installed on one side of the flipping plate, a base plate linear motion power mechanism is fixedly installed on the side of the clamp rotating bracket away from the flipping plate, and the output end of the base plate linear motion power mechanism is fixedly connected to the protective component.

[0020] As a further embodiment of the present invention: the protective component includes a safety support plate, and suction cups are fixedly installed at one end of the second Z-axis and the first Z-axis. A bagged cargo is movably connected to one side of the suction cup, and the safety support plate is used to protect the bagged cargo during transportation.

[0021] As a further embodiment of the present invention, it also includes a guide mechanism, which is fixedly installed on one side of the clamp rotating bracket, and the end of the guide mechanism away from the clamp rotating bracket is fixedly connected to the safety support plate.

[0022] As a further embodiment of the present invention, it also includes a 3D camera, wherein a 3D camera bracket is fixedly connected to one side of the main Z-axis, and the 3D camera is fixedly connected to the 3D camera bracket.

[0023] Compared with the prior art, the beneficial effects of the present invention are: This invention includes two schemes, Scheme 1 and Scheme 2. Both schemes can achieve gripper operation, but there is a certain preference in the application scenarios. Scheme 1 is preferred for transporting and transferring heavy bagged goods, while Scheme 2 is preferred for transporting and transferring light bagged goods. Scheme 1 is less efficient than Scheme 2, but Scheme 1 has better stability. Scheme 2 is more efficient than Scheme 1 and is suitable for operations involving rapid handling of goods.

[0024] 1. The equipment operates through a mechanism consisting of the main Z-axis, main X-axis, second sub-Z-axis, first sub-Z-axis, and safety support plate as described in Scheme 1. The main X-axis can move horizontally in a straight line, while the first and second sub-Z-axis can move vertically in a straight line. Furthermore, the rotary power mechanism installed at the ends of the main Z-axis, first sub-Z-axis, and second sub-Z-axis can drive the bagged goods to rotate through 360-degree rotation. The rotary power mechanism installed at the ends of the first and second sub-Z-axis is equipped with pneumatic suction cups, and the pressure of the pneumatic suction cups can be adjusted to perform actions such as lifting and lowering according to the program.

[0025] In Option 1, when the suction cup needs to pick up goods, the safety support plate can be flipped up by the rotation mechanism. After flipping up, the suction cup presses down to contact and pick up the bagged goods, thus completing the suction operation. During the process, the safety support is flipped down by the rotation mechanism and the linear motion mechanism, placing the goods within the coverage of the safety support plate and aligning the bottom of the goods with the safety support plate. In Option 1, when the gripper is loading or unloading goods on trucks or conveyor belts, the position of the goods and the position of the vehicle will deviate from the coordinates of the truss origin. Therefore, this application can make fine adjustments to the coordinates of the main Z-axis, main X-axis, second sub-Z-axis, first sub-Z-axis and rotary mechanism according to the program, so that it can grip the goods in the correct position.

[0026] 2. In Option 2, the safety support bracket uses a linear motion system to rotate and insert the safety support into the bottom of the bagged goods to support them. In Option 1, the bagged goods are supported by linear motion. Therefore, Option 2 has higher support efficiency, but it sacrifices some support stability and is prone to failure. Therefore, Option 1 or Option 2 can be selected according to the weight of the bagged goods. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the transfer scheme in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of Scheme 1 in the embodiments of the present invention; Figure 3 This is a schematic diagram of the specific structure of Scheme 1 in the embodiments of the present invention; Figure 4 This is a schematic diagram of the structure of Scheme 2 in the embodiments of the present invention; In the diagram: 1-1, Safety support plate; 1-2, Bagged goods; 1-3, Linear motion mechanism of the base plate; 1-4, Guide mechanism; 1-5, Tilting plate; 1-6, Fixture rotating bracket; 1-7, Safety support power rotation mechanism; 1-8, Sub-Z-axis power rotation mechanism; 1-9, Second sub-Z-axis; 1-10, First sub-Z-axis; 1-11, Vertical linear motion mechanism; 1-12, 3D camera bracket; 1-13, 3D camera; 1-14, Main Z-axis; 1-15, V-shaped guide system; 1-16, Main Z-axis power rotation mechanism; 1-17, Main X-axis; 1-18, Lateral linear motion mechanism. 2-1. Bagged goods; 2-2. Safety tray; 2-3. Linear motion system; 2-4. Starting suction cup; 2-5. Safety tray bracket; 2-6. First Z-axis power rotation mechanism; 2-7. First Z-axis; 2-8. X-axis; 2-9. First Z-axis linear motion power mechanism; 2-10. X-axis linear motion power mechanism; 2-11. Second Z-axis; 2-12. Second Z-axis power rotation mechanism. Detailed Implementation

[0028] The technical solutions in the embodiments of the present invention will now be clearly and completely described in conjunction with the accompanying drawings.

[0029] In this embodiment of the invention, reference is made to Figure 1 A robot for an open-top truck truss system includes a truss, a loading vehicle, and a conveyor belt to support the entire truss robot system. It includes multiple longitudinally arranged support columns and multiple horizontally arranged support beams, with each support column and another support beam fixedly connected. The common inner side of the multiple support columns and beams of the truss defines a loading and unloading space for the top-opening truck to enter and exit. The outer side of the truss, opposite to its inner side, defines a space for placing a cargo assembly line. Specifically, a conveyor belt is provided on the outside of the truss. A gripper is used to transport bagged goods between the loading vehicle and the conveyor belt; that is, after the robot gripper is installed on the truss, it can be moved by the movement of the truss to transport bagged goods from the loading vehicle to the conveyor belt, or vice versa.

[0030] Other embodiments of the present invention are described below. Figure 1-4It also includes a gripper (a component of the dynamic gripping device), the robotic arm comprising multiple movable joints and suction cups and a pallet disposed on one side of the movable joints. The movable joints include a power mechanism capable of linear reciprocating or rotary motion. The suction cups are used to attract bagged goods, and the pallet is used for the transfer and protection of bagged goods. The dynamic gripping device is movably connected to the truss and is used to grip goods to achieve automated loading and unloading of the top-opening freight vehicle. The dynamic gripping device includes a movable bracket movably connected to the support beam and a robotic arm disposed on the movable bracket. The gripper is movably connected to the truss and is used for goods transfer. The gripper includes a main Z-axis adjustment unit, a sub-Z-axis adjustment unit, and an X-axis adjustment unit. The sub-Z-axis adjustment unit includes two sets, both of which are located at the output end of the main Z-axis adjustment unit. The main Z-axis adjustment unit is located on one side of the truss. The sub-Z-axis adjustment unit adjusts its position through the X-axis adjustment unit. Therefore, in this embodiment, there are two implementation schemes for the gripper robot. Both schemes are equipped with an X-axis, a first sub-Z-axis, and a second sub-Z-axis. Both move horizontally in a straight line through the X-axis and move vertically in a straight line through the main Z-axis and the sub-Z-axis. Furthermore, the rotary power mechanism installed at the ends of the main Z-axis, the first sub-Z-axis, and the second sub-Z-axis drives the baggable goods to rotate 360 ​​degrees. Other embodiments of the present invention are described below. Figure 1-4 It also includes a protective component, which is located on one side of the gripper and provides protection for the transport of bagged goods. Similarly, this embodiment has two protection schemes for bagged goods, one of which is as follows: Figure 2-3 As shown, this gripper robot achieves protection by moving the protective plate through linear motion, while another... Figure 4 As shown, the protection is achieved by rotating the protective plate.

[0031] In Option 1: Other embodiments of the present invention are described below. Figure 2 and Figure 3Each main Z-axis adjustment section is equipped with a main Z-axis 1-14 and a V-shaped guide system 1-15. A main Z-axis power rotation mechanism 1-16 is fixedly mounted at one end of the main Z-axis 1-14, and its output end is fixedly connected to the X-axis adjustment section. One side of the V-shaped guide system 1-15 is fixedly connected to the main Z-axis 1-14, and the other side is fixedly mounted to a power adjustment component built into the truss. The sub-axis adjustment section includes a second sub-Z-axis 1-9 and a first sub-Z-axis 1-10. The second sub-Z-axis 1-9 is located at the lateral movable end of the X-axis adjustment section and is connected to the X-axis adjustment section. The first Z-axis 1-10 is located at the vertical movable end of the X-axis adjustment part and is movably connected to the X-axis adjustment part. The X-axis adjustment part includes a main X-axis 1-17. A transverse linear motion power mechanism 1-18 is fixedly installed on one side of the main X-axis 1-17 and is adapted to the second Z-axis 1-9. A vertical linear motion power mechanism 1-11 is fixedly installed on the other side of the main X-axis 1-17 and is adapted to the first Z-axis 1-10. A Z-axis is fixedly installed at one end of the first Z-axis 1-10 of the second Z-axis 1-9. The power rotation mechanism 1-8 has a safety support power rotation mechanism 1-7 fixedly installed at its output end. A flip plate 1-5 is rotatably connected to one side of the safety support power rotation mechanism 1-7. A clamp rotation bracket 1-6 is fixedly installed on one side of the flip plate 1-5. A base plate linear motion power mechanism 1-3 is fixedly installed on the side of the clamp rotation bracket 1-6 away from the flip plate 1-5. The output end of the base plate linear motion power mechanism 1-3 is fixedly connected to a protective component, meaning it can be adjusted via a built-in power adjustment component within the truss. Specifically, this adjustment is achieved through the main Z-axis 1-14, main X-axis 1-17, and the... The mechanism consisting of the two Z-axis 1-9, the first Z-axis 1-10, and the safety support plate 1-1 enables the equipment to operate. The main X-axis 1-17 can perform linear horizontal movement, and the first Z-axis 1-10 and the second Z-axis 1-9 can both perform linear vertical movement. The rotary power mechanism installed at the end of the main Z-axis 1-14, the first Z-axis 1-10, and the second Z-axis 1-9 can also drive the bagged goods to rotate through 360-degree rotation. The rotary power mechanism installed at the end of the first Z-axis 1-10 and the second Z-axis 1-9 is equipped with a pneumatic suction cup, and the pressure of the pneumatic suction cup can be adjusted. According to the program, it can perform actions such as suction and release.

[0032] The split-axis adjustment unit includes a second split Z-axis 1-9 and a first split Z-axis 1-10. The second split Z-axis 1-9 is located at the lateral movable end of the X-axis adjustment unit and is movably connected to the X-axis adjustment unit. The first split Z-axis 1-10 is located at the vertical movable end of the X-axis adjustment unit and is movably connected to the X-axis adjustment unit.

[0033] The X-axis adjustment unit includes a main X-axis 1-17. A transverse linear motion power mechanism 1-18 is fixedly installed on one side of the main X-axis 1-17. The transverse linear motion power mechanism 1-18 is adapted to the second sub-Z-axis 1-9. A vertical linear motion power mechanism 1-11 is fixedly installed on the other side of the main X-axis 1-17. The vertical linear motion power mechanism 1-11 is adapted to the first sub-Z-axis 1-10.

[0034] Each of the first Z-axis 1-10 of the second Z-axis 1-9 is fixedly installed with a Z-axis power rotation mechanism 1-8. A safety support power rotation mechanism 1-7 is fixedly installed at the output end of the Z-axis power rotation mechanism 1-8. A flip plate 1-5 is rotatably connected to one side of the safety support power rotation mechanism 1-7. A clamp rotation bracket 1-6 is fixedly installed on one side of the flip plate 1-5. A base plate linear motion power mechanism 1-3 is fixedly installed on the side of the clamp rotation bracket 1-6 away from the flip plate 1-5. The output end of the base plate linear motion power mechanism 1-3 is fixedly connected to the protective component.

[0035] Other embodiments of the present invention are described below. Figure 2 and Figure 3 The protective components include a safety base plate 1-1 and a guide mechanism 1-4. Suction cups are fixedly installed at one end of the second Z-axis 1-9 and the first Z-axis 1-10. A bagged cargo 1-2 is movably connected to one side of the suction cup. The safety base plate 1-1 protects the bagged cargo 1-2 during transportation. The guide mechanism 1-4 is fixedly installed on one side of the clamp rotating bracket 1-6. The end of the guide mechanism 1-4 away from the clamp rotating bracket 1-6 is fixedly connected to the safety base plate 1-1. When the suction cup needs to pick up the cargo, the safety base plate 1-1 can be flipped up under the action of the rotation mechanism. After flipping up, the suction cup presses down to contact and pick up the bagged cargo, thus completing the suction operation. During the process, the safety base plate flips down under the action of the rotation mechanism and the linear motion mechanism, placing the cargo within the wrapping range of the safety base plate 1-1 and aligning the bottom of the cargo with the safety base plate. In addition, when loading and unloading goods on trucks or conveyor belts, the position of the goods and the position of the vehicle may deviate from the coordinates of the truss origin. Therefore, this application can make fine adjustments to the coordinates of the main Z-axis 1-14, the main X-axis 1-17, the second sub-Z-axis 1-9, the first sub-Z-axis 1-10 and the rotary mechanism according to the program, so that it can grab the goods in the correct position.

[0036] Other embodiments of the present invention are described below. Figure 3It also includes a 3D camera 1-13. A 3D camera bracket 1-12 is fixedly connected to one side of the main Z-axis 1-14. The 3D camera 1-13 is fixedly connected to the 3D camera bracket 1-12. The 3D camera 1-13 can provide the system with detailed real-time working conditions of the goods and the loaded vehicle. Through system calculation, the system can enable each axis of the control gripper to complete the correction, gripping and lowering actions. In addition, since there is a lot of dust and impurities on the site of the bagged open-top truck, the operating conditions of the 3D camera 1-13 are harsh. Therefore, a positive pressure sealing and dust blowing design is applied to the 3D camera 1-13 to prevent dust from entering the camera and ensure the normal operation of the camera.

[0037] In Option 2 Other embodiments of the present invention are described below. Figure 4 Similar to Scheme 1, Scheme 2 also uses the first Z-axis 2-7 or the second Z-axis 2-11 to drive the first Z-axis power rotation mechanism 2-6 or the second Z-axis power rotation mechanism 2-12 to move respectively. The first Z-axis 2-7 and the second Z-axis 2-11 are also set on one side of the X-axis 2-8, and are driven to move on the X-axis 2-8 by the first Z-axis linear motion power mechanism 2-9 or the X-axis linear motion power mechanism 2-10. Similarly, the safety support bracket 2-5 installed at the output end of the first Z-axis power rotation mechanism 2-6 or the second Z-axis power rotation mechanism 2-12 also drives the safety support 2-2 to move, and the starting suction cup 2-4 installed at the output end of the first Z-axis power rotation mechanism 2-6 or the second Z-axis power rotation mechanism 2-12 also works in conjunction with the movement of the bagged goods 2-1. The difference lies in the fact that in Scheme 2, the safety support bracket 2-5 uses a linear motion system 2-3 to drive the safety support 2-2 to rotate and insert it into the bottom of the bagged goods 2-1 to support the bagged goods 2-1. In Scheme 1, the bagged goods are supported by linear motion. Therefore, Scheme 2 has higher support efficiency, but it sacrifices some support stability and is prone to failure. Therefore, Scheme 1 or Scheme 2 can be selected independently according to the weight of the bagged goods.

[0038] Furthermore, regardless of whether it is Scheme 1 or Scheme 2, since the single-axis motion in the scheme is of various forms, the scope of protection of this invention should include, but is not limited to, the structure shown in the figure. As long as the suction cup, gripper and clamp can reflect the above motion characteristics and are used to complete the bag-carrying open-top truck rack robot, they will be within the scope of protection of this invention patent.

[0039] The working principle of this invention is as follows: This invention includes two schemes, Scheme 1 and Scheme 2. Both schemes can achieve the gripper operation, but there is a certain preference in the application scenarios. Scheme 1 is preferred for transporting and transferring heavy bagged goods, while Scheme 2 is preferred for transporting and transferring light bagged goods. Scheme 1 is less efficient than Scheme 2, but Scheme 1 has better stability. Scheme 2 is more efficient than Scheme 1 and is suitable for operations involving rapid handling of goods.

[0040] Option 1 The equipment operates through a mechanism consisting of the main Z-axis 1-14, the main X-axis 1-17, the second sub-Z-axis 1-9, the first sub-Z-axis 1-10, and the safety support plate 1-1. The main X-axis 1-17 can move horizontally in a straight line, while the first sub-Z-axis 1-10 and the second sub-Z-axis 1-9 can move vertically in a straight line. The rotary power mechanism installed at the ends of the main Z-axis 1-14, the first sub-Z-axis 1-10, and the second sub-Z-axis 1-9 can also drive the bagged goods to rotate through 360-degree rotation. Furthermore, the rotary power mechanism installed at the ends of the first sub-Z-axis 1-10 and the second sub-Z-axis 1-9 is equipped with a pneumatic suction cup, and the pressure of the pneumatic suction cup can be adjusted to perform actions such as lifting and lowering according to the program.

[0041] Furthermore, when the suction cup needs to pick up goods, the safety support plate 1-1 can be flipped up by the action of the rotary mechanism. After flipping up, the suction cup presses down to contact and pick up the bagged goods, thus completing the suction operation. During the process, the safety support is flipped down by the action of the rotary mechanism and the linear motion mechanism, placing the goods within the wrapping range of the safety support plate 1-1 and aligning the bottom of the goods with the safety support plate. In addition, when loading and unloading goods on trucks or conveyor belts, the position of the goods and the position of the vehicle may deviate from the coordinates of the truss origin. Therefore, this application can make fine adjustments to the coordinates of the main Z-axis 1-14, the main X-axis 1-17, the second sub-Z-axis 1-9, the first sub-Z-axis 1-10 and the rotary mechanism according to the program, so that it can grab the goods in the correct position.

[0042] Option 2 The safety support bracket 2-5 uses a linear motion system 2-3 to drive the safety support 2-2 to rotate and insert it into the bottom of the bagged goods 2-1 to support the bagged goods 2-1. In Scheme 1, the bagged goods are supported by linear motion. Therefore, Scheme 2 has higher support efficiency, but it sacrifices some support stability and is prone to failure. Therefore, Scheme 1 or Scheme 2 can be selected according to the weight of the bagged goods.

[0043] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for an open-top truck truss, characterized in that, The system includes a truss for supporting the entire truss robot system, comprising a plurality of longitudinally arranged support columns and a plurality of horizontally arranged support beams, wherein each of the support columns and the other of the support beams are fixedly connected, and the common inner side of the plurality of support columns and the plurality of support beams of the truss defines a loading and unloading space for the top-opening freight vehicle to enter and exit, and the outer side of the truss opposite to its inner side defines a space for placing a cargo assembly line. A dynamic gripping device, movably connected to the truss, is used to grip goods to achieve automated loading and unloading of the top-opening freight vehicle. The dynamic gripping device includes a movable bracket movably connected to the support beam and a robotic arm mounted on the movable bracket. as well as The transmission device is connected to the movable bracket and the support beam respectively, and is used to adjust the position of the dynamic gripping device so as to realize the selection of the landing point when the dynamic gripping device grips. The gantry robot system is configured as an adjustable robot claw structure, which has multiple spatial Cartesian coordinate systems inside, and each spatial Cartesian coordinate system works together to limit the position and direction of movement of the dynamic gripping device. The robotic arm includes multiple movable joints and a suction cup and a tray disposed on one side of the movable joints. The movable joints include a power mechanism capable of linear reciprocating motion or rotational motion. The suction cups are used to attract bagged goods, and the trays are used to transfer and protect bagged goods.

2. The robot for an open-top truck truss according to claim 1, characterized in that, The truss has a loading vehicle inside and a conveyor belt outside. The gripper is used to transport bagged goods between the loading vehicle and the conveyor belt.

3. The robot for an open-top truck truss according to claim 2, characterized in that, The gripper includes a main Z-axis adjustment unit, a sub-Z-axis adjustment unit, and an X-axis adjustment unit. The sub-Z-axis adjustment unit includes two sets, both of which are located at the output end of the main Z-axis adjustment unit. The main Z-axis adjustment unit is located on one side of the truss, and the sub-Z-axis adjustment unit adjusts its position through the X-axis adjustment unit.

4. The robot for an open-top truck truss according to claim 3, characterized in that, The main Z-axis adjustment unit includes a main Z-axis and a V-shaped guide system. A main Z-axis power rotation mechanism is fixedly installed at one end of the main Z-axis. The output end of the main Z-axis power rotation mechanism is fixedly connected to the X-axis adjustment unit. One side of the V-shaped guide system is fixedly connected to the main Z-axis, and the other side of the V-shaped guide system is connected to the truss.

5. A robot for an open-top truck truss according to claim 4, characterized in that, The split-axis adjustment unit includes a second split Z-axis and a first split Z-axis. The second split Z-axis is located at the lateral movable end of the X-axis adjustment unit and is movably connected to the X-axis adjustment unit. The first split Z-axis is located at the vertical movable end of the X-axis adjustment unit and is movably connected to the X-axis adjustment unit.

6. A robot for an open-top truck truss according to claim 5, characterized in that, The X-axis adjustment unit includes a main X-axis, a transverse linear motion power mechanism is fixedly installed on one side of the main X-axis, the transverse linear motion power mechanism is adapted to the second sub-Z-axis, and a vertical linear motion power mechanism is fixedly installed on the other side of the main X-axis, the vertical linear motion power mechanism is adapted to the first sub-Z-axis.

7. A robot for an open-top truck truss according to claim 6, characterized in that, One end of the first Z-axis of the second Z-axis is fixedly installed with a Z-axis power rotation mechanism. The output end of the Z-axis power rotation mechanism is fixedly installed with a safety support power rotation mechanism. A flipping plate is rotatably connected to one side of the safety support power rotation mechanism. A clamp rotating bracket is fixedly installed on one side of the flipping plate. A base plate linear motion power mechanism is fixedly installed on the side of the clamp rotating bracket away from the flipping plate. The output end of the base plate linear motion power mechanism is fixedly connected to the protective component.

8. A robot for an open-top truck truss according to claim 7, characterized in that, The protective component includes a safety support plate. Suction cups are fixedly installed at one end of both the second and first Z-axis. A bagged cargo is movably connected to one side of the suction cup. The safety support plate is used to protect the bagged cargo during transportation.

9. A robot for an open-top truck truss according to claim 8, characterized in that, It also includes a guide mechanism, which is fixedly installed on one side of the clamp rotating bracket, and the end of the guide mechanism away from the clamp rotating bracket is fixedly connected to the safety support plate.

10. A robot for an open-top truck truss according to claim 9, characterized in that, It also includes a 3D camera, and a 3D camera bracket is fixedly connected to one side of the main Z-axis. The 3D camera is fixedly connected to the 3D camera bracket.

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