Truss manipulator equipment capable of carrying out multi-line and multi-point stacking and unstacking operation

Abstract

The invention discloses truss manipulator equipment capable of carrying out multi-line and multi-point stacking and unstacking operation, and relates to the technical field of truss manipulators, the truss manipulator equipment comprises a rack, an X-axis assembly, a Y-axis assembly, a Z-axis assembly, a clamp body, an X-axis pulley block, a Y-axis pulley block and a production line material; the X-axis driving motor drives the first gear to rotate along the first rack, the Y-axis assembly is driven to move along the first guide rail through the X-axis pulley block until the first photoelectric switch induction piece triggers the first limiting photoelectric switch, and X-axis original point calibration is achieved; a Z-axis driving motor drives a second gear to rotate along a second rack and drives a Z-axis assembly to move along a second guide rail through a Y-axis pulley block until a Y-axis protruding structure triggers a second limiting optoelectronic switch, and Y-axis zeroing is completed; and a Y-axis driving motor drives a third gear to rotate along a third rack to drive a Z-axis stand column to ascend and descend until a Z-axis protruding structure triggers a third limiting optoelectronic switch, and Z-axis resetting is completed.

Description

Technical Field

[0001] This invention relates to the field of gantry robot technology, specifically to a gantry robot device capable of performing multi-line, multi-point stacking and destabilizing operations. Background Technology

[0002] As the manufacturing industry upgrades towards intelligence and flexibility, the material stacking and destacking processes in the field of industrial automation are core links in production line connection. Their operational efficiency and adaptability directly determine the overall production rhythm and cost control. Currently, production lines in industries such as automotive parts, 3C electronics, and food packaging generally exhibit the layout characteristics of "multiple conveyor lines in parallel and multiple types of materials mixed on the line".

[0003] In existing technologies, the stacking and destacking of production line materials mainly rely on two types of equipment: one is dedicated equipment such as stacking machines and destacking machines. This type of equipment is usually fixedly connected to a single conveyor line, and its working range is limited to a specific point on a single conveyor line. It can only complete the stacking or destacking action of "single line and single point". When there are multiple parallel conveyor lines on the production line, dedicated equipment matching the number of conveyor lines needs to be configured. This not only increases the equipment purchase cost and factory floor space, but also requires additional investment in the control system to coordinate the action sequence of multiple devices. It is easy to cause material accumulation or conveying interruption due to scheduling delays, resulting in a reduction in overall operation efficiency. Another type is the simplified single-axis or dual-axis gantry robot. Although this type of equipment can achieve a certain range of movement, it has defects: First, the transmission and positioning accuracy is insufficient. Most of them only use basic guide rails and gear rack structures, lacking precise limit calibration, lubrication maintenance, and cleaning and protection design. During long-term use, dust accumulation and dry friction of parts can easily lead to positioning deviations. The positioning accuracy is usually poor and cannot meet the stacking and unstacking requirements of high-precision materials such as automotive precision stamping parts and electronic chip trays. The positioning error can easily cause material collision damage. Second, the adaptability is poor. The length, width and height of the frame are mostly fixed specifications, and the internal space cannot be adjusted according to the number of conveyor lines and the size of materials. When enterprises change the production products or adjust the production line layout, they need to completely modify the equipment or even repurchase it, which affects the continuity of production.

[0004] To address these issues, we designed a truss robot capable of multi-line, multi-point stacking and destacking operations. Summary of the Invention

[0005] The purpose of this invention is to provide a gantry robot capable of performing multi-line, multi-point stacking and destacking operations, in order to solve the problems mentioned in the background art.

[0006] To address the aforementioned technical problems, this invention provides a gantry robot capable of multi-line, multi-point stacking and destacking operations, comprising a frame, an X-axis assembly, a Y-axis assembly, a Z-axis assembly, a clamp body, an X-axis pulley block, a Y-axis pulley block, and production line materials. The X-axis assembly is fixedly connected to the frame via an X-axis connecting plate, the Y-axis assembly is slidably connected to the X-axis assembly via the X-axis pulley block, the Z-axis assembly is slidably connected to the Y-axis assembly via the Y-axis pulley block, and the clamp body is fixedly connected to the Z-axis assembly via a Z-axis connecting plate. The frame's length, width, and height are customizable, and multiple conveyor lines can be arranged internally. The X-axis drive motor, Y-axis drive motor, and Z-axis drive motor respectively control the relative positions of the X-axis assembly, Y-axis assembly, and Z-axis assembly. The clamping drive motor and rotation drive motor control the clamping and rotation states of the clamp body, enabling the clamping and destacking of production line materials from different conveyor lines.

[0007] Furthermore, the X-axis assembly includes an X-axis beam, on which a first rack, a first guide rail, a first anti-collision block, and a bellows cover are fixed. First limit photoelectric switches are installed at both ends of the X-axis beam, and an X-axis connecting plate is fixed to the end of the X-axis beam. The first guide rail is slidably engaged with the X-axis pulley group, the first limit photoelectric switch limits the movement stroke of the X-axis assembly, the first anti-collision block buffers the impact force, and the bellows cover protects the internal components.

[0008] Furthermore, the Y-axis assembly includes a Y-axis beam, on which a second rack, a second guide rail, a second anti-collision block, and a second limit photoelectric switch are fixed. An X-axis drive motor is fixed to the Y-axis beam, and its output end is connected to a first gear, which meshes with the first rack. A first oil injector is installed on the Y-axis beam, and a Y-axis connecting plate is fixed to the end of the Y-axis beam. The second limit photoelectric switch limits the stroke of the Y-axis assembly, and the first oil injector is used for oil supply.

[0009] Furthermore, the Z-axis assembly includes a Z-axis column, on which a third rack, a third guide rail, a third anti-collision block, and a third limit photoelectric switch are fixed. A Z-axis drive motor is fixed to the Z-axis column, and its output end is connected to a second gear, which meshes with the second rack. A Z-axis pulley group, a third cleaning brush, and a dust collection groove are installed on the Z-axis column. A Z-axis connecting plate is fixed to the bottom of the Z-axis column. The third limit photoelectric switch limits the travel of the Z-axis assembly, the third cleaning brush cleans the third guide rail, and the dust collection groove collects impurities.

[0010] Furthermore, the fixture body includes a fixture frame, within which a clamping assembly, a guide bar, and a slider are provided. A clamping screw mechanism is installed on one side of the fixture frame. A clamping drive motor is connected to the clamping screw mechanism to drive the clamping assembly to clamp the production line material. A rotary drive motor is connected to the fixture frame through a rotary connector to drive the fixture frame to rotate. The guide bar and slider assist the clamping assembly in moving.

[0011] Furthermore, the X-axis pulley assembly includes a first pulley assembly connecting plate, on which a first pulley body is mounted, and the first pulley body is fixed by a first pulley mounting flange; a first pulley guard plate is provided on the outside of the first pulley body, a first cleaning brush is attached to the first pulley body, and a first photoelectric switch sensor is fixed to the first pulley assembly connecting plate; the first pulley guard plate protects the pulley, the first cleaning brush cleans the pulley, and the first photoelectric switch sensor is used in conjunction with a first limit photoelectric switch.

[0012] Furthermore, the Y-axis pulley assembly includes a second pulley assembly connecting plate, on which a second pulley body is mounted, and the second pulley body is fixed by a second pulley mounting flange; a second pulley guard plate is provided on the outside of the second pulley body, a second cleaning brush is attached to the second pulley body, a second photoelectric switch sensor is fixed to the second pulley assembly connecting plate; a Y-axis drive motor is fixed to the second pulley assembly connecting plate, its output end is connected to a third gear, the third gear meshes with a third rack, and a second oiler is fixed to the second pulley assembly connecting plate.

[0013] Furthermore, the first oiler injects lubricating oil into the meshing point of the first gear and the first rack, and the second oiler injects lubricating oil into the meshing point of the third gear and the third rack.

[0014] Furthermore, the third cleaning brush is arranged along the length of the third guide rail and fits the surface of the third guide rail. The dust collection groove is elongated and its length is adapted to the cleaning range of the third cleaning brush, so as to completely collect the dust, debris and other impurities swept by the third cleaning brush from the third guide rail.

[0015] Furthermore, the first limit photoelectric switch, the second limit photoelectric switch, and the third limit photoelectric switch are all diffuse reflection photoelectric switches, corresponding to the first photoelectric switch sensor of the X-axis pulley block, the protruding structure of the Y-axis assembly, and the protruding structure of the Z-axis assembly, respectively; the first anti-collision block, the second anti-collision block, and the third anti-collision block are all made of rubber and are fixed at the stroke endpoints of the X-axis crossbeam, the Y-axis crossbeam, and the Z-axis column, respectively.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. The X-axis drive motor drives the first gear to rotate along the first rack, which in turn moves the Y-axis assembly along the first guide rail via the X-axis pulley group until the first photoelectric switch sensor triggers the first limit photoelectric switch, thus achieving X-axis origin calibration. The Z-axis drive motor drives the second gear to rotate along the second rack, which in turn moves the Z-axis assembly along the second guide rail via the Y-axis pulley group until the Y-axis protruding structure triggers the second limit photoelectric switch, thus completing Y-axis zeroing. The Y-axis drive motor drives the third gear to rotate along the third rack, which in turn raises and lowers the Z-axis column until the Z-axis protruding structure triggers the third limit photoelectric switch, thus completing Z-axis reset.

[0017] 2. After receiving the material position signal from the production line, the X-axis drive motor drives the Y-axis assembly to slide along the first guide rail through the first gear and the first rack. The first pulley body of the X-axis pulley group ensures sliding stability, the first cleaning brush cleans impurities from the pulley, and the first pulley guard plate prevents foreign object impact. The Z-axis drive motor drives the Z-axis assembly to move along the second guide rail through the Y-axis pulley group. The second limit photoelectric switch provides real-time positioning, and the second anti-collision block prevents overtravel collisions. The Y-axis drive motor drives the Z-axis column to rise and fall, the Z-axis pulley group assists in stabilization, the cleaning brush cleans the third guide rail, and the stainless steel dust collection trough collects impurities.

[0018] 3. The rotary drive motor drives the clamp frame to rotate through the rotary connector, and adjusts the clamping angle according to the shape of materials such as automotive stamping parts and electronic trays; the clamping drive motor drives the clamping screw mechanism to rotate, which drives the clamping assembly to open and close smoothly along the guide bar and the slider, which not only avoids clamping deviation, but also adapts to materials of different sizes. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the overall external structure of the present invention; Figure 2 This is a schematic diagram of the X-axis assembly in this invention; Figure 3 This is a schematic diagram of the Y-axis assembly in this invention; Figure 4 This is a schematic diagram of the Z-axis assembly in this invention; Figure 5 This is a schematic diagram of the X-axis pulley system in this invention; Figure 6 This is a schematic diagram of the Y-axis pulley system in this invention; Figure 7 This is a schematic diagram of the fixture body in this invention.

[0020] In the diagram: 1. Frame; 2. X-axis assembly; 21. X-axis crossbeam; 22. First rack; 23. First guide rail; 24. First anti-collision block; 25. Bellows cover; 26. First limit photoelectric switch; 27. X-axis connecting plate; 3. Y-axis assembly; 31. Y-axis crossbeam; 32. Second rack; 33. Second guide rail; 34. Second anti-collision block; 35. Second limit photoelectric switch; 36. X-axis drive motor; 37. First gear; 38. First oil injector; 39. Y-axis connecting plate; 4. Z-axis assembly; 41. Z-axis column; 42. Third rack; 43. Third guide rail; 44. Third anti-collision block; 45. Third limit photoelectric switch; 46. Z-axis drive motor; 47. Second gear; 48. Z-axis pulley block; 49. Third cleaning brush; 50. Dust collection tray; 51. Z-axis connecting plate; 5. Fixture body; 501. Fixture frame; 502. Clamping assembly; 503. Guide bar; 504. Slider; 505. Clamping screw mechanism; 506. Clamping drive motor; 507. Rotation drive motor; 508. Rotation connector; 6. X-axis pulley block; 61. First pulley block connecting plate; 62. First pulley body; 63. First pulley mounting flange; 64. First pulley guard plate; 65. First cleaning brush; 66. First photoelectric switch sensor; 7. Y-axis pulley block; 71. Second pulley block connecting plate; 72. Second pulley body; 73. Second pulley mounting flange; 74. Second pulley guard plate; 75. Second cleaning brush; 76. Second photoelectric switch sensor; 77. Y-axis drive motor; 78. Third gear; 79. Second lubricator; 8. Production line materials. Detailed Implementation

[0021] 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.

[0022] Please see Figure 1-7 The present invention provides a technical solution: a gantry robot device capable of multi-line and multi-point stacking and destacking operations, comprising a frame 1, an X-axis assembly 2, a Y-axis assembly 3, a Z-axis assembly 4, a clamp body 5, an X-axis pulley block 6, a Y-axis pulley block 7, and production line materials 8; X-axis assembly 2 is fixedly connected to frame 1 via X-axis connecting plate 27. Y-axis assembly 3 is slidably connected to X-axis assembly 2 via X-axis pulley block 6. Z-axis assembly 4 is slidably connected to Y-axis assembly 3 via Y-axis pulley block 7. Fixture body 5 is fixedly connected to Z-axis assembly 4 via Z-axis connecting plate 51. The length, width and height of frame 1 can be customized, and multiple conveyor lines can be arranged inside. X-axis drive motor 36, Y-axis drive motor 77 and Z-axis drive motor 46 control the relative positions of X-axis assembly 2, Y-axis assembly 3 and Z-axis assembly 4 respectively. Clamping drive motor 506 and rotation drive motor 507 control the clamping and rotation state of fixture body 5, so as to realize the clamping and stacking of production line materials 8 from different conveyor lines.

[0023] In specific implementation, the X-axis assembly 2 is fixed to the frame 1 via the X-axis connecting plate 27, providing lateral movement; the Y-axis assembly 3 is slidably connected to the X-axis assembly 2 via the X-axis pulley block 6, allowing for lateral adjustment of its position along the X-axis; the Z-axis assembly 4 is slidably connected to the Y-axis assembly 3 via the Y-axis pulley block 7, allowing for longitudinal adjustment of its position along the Y-axis; the fixture body 5 is fixed to the Z-axis assembly 4 via the Z-axis connecting plate 51, enabling vertical lifting along the Z-axis; the X-axis drive motor 36, the Y-axis drive motor 77, and the Z-axis drive motor 46 can respectively drive the relative positions of the X-axis assembly 2, the Y-axis assembly 3, and the Z-axis assembly 4; and the clamping drive motor 506 and the rotation drive motor 507 control the clamping or rotation state of the fixture body 5.

[0024] See Figure 1-7 The X-axis assembly 2 includes an X-axis beam 21, on which a first rack 22, a first guide rail 23, a first anti-collision block 24, and a bellows cover 25 are fixed. First limit photoelectric switches 26 are installed at both ends of the X-axis beam 21. The X-axis connecting plate 27 is fixed to the end of the X-axis beam 21. The first guide rail 23 is slidably engaged with the X-axis pulley group 6. The first limit photoelectric switch 26 limits the travel of the X-axis assembly 2. The first anti-collision block 24 buffers the impact force. The bellows cover 25 protects the internal components.

[0025] In specific implementation, the first rack 22 and the first guide rail 23: the first guide rail 23 slides with the X-axis pulley block 6 to provide a track for the lateral movement of the Y-axis assembly 3; the first limit photoelectric switch 26 is installed at both ends of the X-axis beam 21 to detect the movement position of the Y-axis assembly 3 in real time and cut off the motor power when the limit is exceeded; the first anti-collision block 24 serves as a backup buffer to avoid rigid collisions when the photoelectric switch fails; the bellows cover 25 is placed on the outside of the key transmission components of the X-axis beam 21 to block the intrusion of foreign objects such as dust and oil; the X-axis connecting plate 27 can fix the X-axis assembly 2 to the frame 1.

[0026] See Figure 1-7 The Y-axis assembly 3 includes a Y-axis beam 31, on which a second rack 32, a second guide rail 33, a second anti-collision block 34, and a second limit photoelectric switch 35 are fixed. An X-axis drive motor 36 is fixed to the Y-axis beam 31, and its output end is connected to a first gear 37, which meshes with the first rack 22. A first oiler 38 is installed on the Y-axis beam 31, and a Y-axis connecting plate 39 is fixed to the end of the Y-axis beam 31. The second limit photoelectric switch 35 limits the stroke of the Y-axis assembly 3, and the first oiler 38 is used for oil supply.

[0027] In specific implementation, the X-axis drive motor 36 is fixed to the Y-axis crossbeam 31, and its output end is connected to the first gear 37. The first gear 37 meshes with the first rack 22 of the X-axis assembly 2. When the motor is driven, it drives the Y-axis assembly 3 to move laterally along the X-axis. The first oiler 38 is installed on the Y-axis crossbeam 31 to supply oil to the meshing point of the first gear 37 and the first rack 22 at regular intervals. The second limit photoelectric switch 35 is installed on the Y-axis crossbeam 31 to limit the longitudinal travel of the Y-axis assembly 3 itself. The second anti-collision block 34 buffers the impact force during longitudinal movement. The Y-axis connecting plate 39 is fixed to the end of the Y-axis crossbeam 31 to enhance the structural strength of the Y-axis assembly 3.

[0028] See Figure 1-7 The Z-axis assembly 4 includes a Z-axis column 41, on which a third rack 42, a third guide rail 43, a third anti-collision block 44, and a third limit photoelectric switch 45 are fixed. A Z-axis drive motor 46 is fixed to the Z-axis column 41, and its output end is connected to a second gear 47, which meshes with the second rack 32. A Z-axis pulley group 48, a third cleaning brush 49, and a dust collection trough 50 are installed on the Z-axis column 41. A Z-axis connecting plate 51 is fixed to the bottom of the Z-axis column 41. The third limit photoelectric switch 45 limits the stroke of the Z-axis assembly 4, the third cleaning brush 49 cleans the third guide rail 43, and the dust collection trough 50 collects impurities.

[0029] In specific implementation, the Z-axis drive motor 46 is fixed to the Z-axis column 41, and its output end is connected to the second gear 47. The second gear 47 meshes with the second rack 32 of the Y-axis assembly 3, driving the Z-axis assembly 4 to move longitudinally along the Y-axis. The Z-axis pulley group 48 assists the Z-axis column 41 to slide stably. The third cleaning brush 49 is set along the length of the third guide rail 43 and fits against the surface of the guide rail, cleaning the dust on the guide rail as the Z-axis moves. The dust collection groove 50 is long and strip-shaped, located below the third cleaning brush 49, to collect the cleaned impurities. The third limit photoelectric switch 45 is installed on the Z-axis column 41 to limit the vertical lifting stroke. The third anti-collision block 44 buffers the impact force during up and down movement.

[0030] See Figure 1-7 The fixture body 5 includes a fixture frame 501, which contains a clamping assembly 502, a guide bar 503, and a slider 504. A clamping screw mechanism 505 is installed on one side of the fixture frame 501. A clamping drive motor 506 is connected to the clamping screw mechanism 505 to drive the clamping assembly 502 to clamp the production line material 8. A rotary drive motor 507 is connected to the fixture frame 501 through a rotary connector 508 to drive the fixture frame 501 to rotate. The guide bar 503 and the slider 504 assist the clamping assembly 502 in moving.

[0031] In specific implementation, the clamp frame 501 is equipped with a clamping assembly 502, and a clamping screw mechanism 505 is installed on one side; the clamping drive motor 506 is connected to the clamping screw mechanism 505. When the motor drives the screw to rotate, it drives the clamping assembly 502 to open and close, thereby clamping the production line material 8; the guide bar 503 cooperates with the slider 504 to guide the clamping assembly 502 to move and avoid deviation during clamping; the rotary drive motor 507 is connected to the clamp frame 501 through the rotary connector 508, driving the clamp frame 501 to rotate at multiple angles to adapt to different stacking angle requirements.

[0032] See Figure 1-7 The X-axis pulley block 6 includes a first pulley block connecting plate 61, on which a first pulley body 62 is mounted and fixed by a first pulley mounting flange 63; a first pulley guard plate 64 covers the outside of the first pulley body 62; a first cleaning brush 65 is attached to the first pulley body 62; and a first photoelectric switch sensor 66 is fixed to the first pulley block connecting plate 61; the first pulley guard plate 64 protects the pulley, the first cleaning brush 65 cleans the pulley, and the first photoelectric switch sensor 66 is used in conjunction with the first limit photoelectric switch 26.

[0033] In specific implementation, the first pulley body 62 is fixed to the connecting plate via the first pulley mounting flange 63, and the outer side is covered with the first pulley guard plate 64 to prevent foreign objects from hitting the pulley; the first cleaning brush 65 is attached to the first pulley body 62 and cleans surface impurities as the pulley rotates; the first photoelectric switch sensor 66 is fixed to the first pulley group connecting plate 61 and cooperates with the first limit photoelectric switch 26 of the X-axis assembly 2. When the sensor enters the sensing range of the photoelectric switch, the travel limit is triggered.

[0034] See Figure 1-7 The Y-axis pulley block 7 includes a second pulley block connecting plate 71, on which a second pulley body 72 is mounted and fixed by a second pulley mounting flange 73; a second pulley guard plate 74 covers the outside of the second pulley body 72; a second cleaning brush 75 is attached to the second pulley body 72; a second photoelectric switch sensor 76 is fixed to the second pulley block connecting plate 71; a Y-axis drive motor 77 is fixed to the second pulley block connecting plate 71, and its output end is connected to a third gear 78, which meshes with a third rack 42; and a second oiler 79 is fixed to the second pulley block connecting plate 71.

[0035] In specific implementation, the second pulley body 72 is fixed by the second pulley mounting flange 73, and the outer side is covered by the second pulley guard plate 74; the second cleaning brush 75 is attached to the second pulley body 72 to clean impurities on the pulley surface; the Y-axis drive motor 77 is fixed to the connecting plate, and the output end is connected to the third gear 78. The third gear 78 meshes with the third rack 42 of the Z-axis assembly 4 to drive the Z-axis to move; the second oiler 79 is fixed to the connecting plate for oil supply; the second photoelectric switch sensor 76 is fixed to the connecting plate and cooperates with the second limit photoelectric switch 35 of the Y-axis assembly 3 to limit the longitudinal travel of the Z-axis.

[0036] See Figure 1-7 The first lubricator 38 injects lubricating oil into the meshing point of the first gear 37 and the first rack 22, and the second lubricator 79 injects lubricating oil into the meshing point of the third gear 78 and the third rack 42 to reduce wear on the gears and racks.

[0037] In specific implementation, lithium-based grease is injected into the meshing point of the first gear 37 and the first rack 22 of the X-axis assembly 2, and the oil output is adjustable to ensure continuous lubrication of the meshing surface; the second oiler 79 injects lubricating oil into the meshing point of the third gear 78 and the third rack 42 of the Y-axis pulley block 7.

[0038] See Figure 1-7 The third cleaning brush 49 is arranged along the length of the third guide rail 43 and fits the surface of the third guide rail 43. The dust collection groove 50 is long and narrow, and its length is adapted to the cleaning range of the third cleaning brush 49. It is used to completely collect the dust, debris and other impurities swept by the third cleaning brush 49 from the third guide rail 43.

[0039] In practice, the third cleaning brush 49 uses nylon bristles and is set to fully cover the length of the third guide rail 43 to ensure thorough cleaning; the dust collection tray 50 is made of stainless steel and its length is adapted to the cleaning range of the third cleaning brush 49 to collect dust, debris and other impurities, thus preventing secondary contamination of the guide rail.

[0040] See Figure 1-7 The first limit photoelectric switch 26, the second limit photoelectric switch 35, and the third limit photoelectric switch 45 are all diffuse reflection photoelectric switches, which correspond to the first photoelectric switch sensor 66 of the X-axis pulley group 6, the protruding structure of the Y-axis assembly 3, and the protruding structure of the Z-axis assembly 4, respectively; the first anti-collision block 24, the second anti-collision block 34, and the third anti-collision block 44 are all made of rubber and are fixed at the stroke endpoints of the X-axis crossbeam 21, the Y-axis crossbeam 31, and the Z-axis column 41, respectively.

[0041] In practice, the setting of the first limit photoelectric switch 26, the second limit photoelectric switch 35, and the third limit photoelectric switch 45 can avoid overtravel problems, and the first anti-collision block 24, the second anti-collision block 34, and the third anti-collision block 44 are all made of rubber to avoid rigid damage to the equipment.

[0042] Working principle: The frame 1 is customized according to the length, width and height of the production line. Multiple conveyor lines are pre-set inside and have been debugged. The X-axis assembly 2 is rigidly fixed to the frame 1 through the X-axis connecting plate 27. The X-axis drive motor 36 drives the first gear 37 to rotate along the first rack 22, which drives the Y-axis assembly 3 to move along the first guide rail 23 through the X-axis pulley group 6 until the first photoelectric switch sensor 66 triggers the first limit photoelectric switch 26 to complete the X-axis origin calibration. The Z-axis drive motor 46 drives the second gear 47 to rotate along the second rack 32, which drives the Z-axis assembly 4 to move along the second guide rail 33 through the Y-axis pulley group 7 until the Y-axis protrusion triggers the second limit photoelectric switch 35 to complete the Y-axis zeroing. The Y-axis drive motor 77 drives the third gear 78 to rotate along the third rack 42, which drives the Z-axis column 41 to rise and fall until the Z-axis protrusion triggers the third limit photoelectric switch 45 to complete the Z-axis reset. The first oiler 38 and the second oiler 79 enter the timed oil supply state, injecting grease and lubricating oil into the meshing part of the gear and rack respectively; the third cleaning brush 49 completes the pre-cleaning of the third guide rail 43 with the initial movement of the Z axis, and the dust collection trough 50 begins to collect impurities. Upon receiving the position signal of material 8 on the conveyor line, the X-axis drive motor 36 starts, and through the meshing of the first gear 37 and the first rack 22, it drives the Y-axis assembly 3 to slide along the first guide rail 23 of the X-axis beam 21. The first pulley body 62 of the X-axis pulley group 6 is tightly fitted with the guide rail, the first cleaning brush 65 synchronously cleans impurities on the pulley surface, and the first pulley guard plate 64 prevents foreign object impact. The Z-axis drive motor 46 drives the second gear 47 to rotate along the second rack 32 of the Y-axis beam 31, and the Z-axis assembly 4 moves along the second guide rail 33 via the Y-axis pulley group 7. The second limit photoelectric switch 35 detects the position in real time, and the second anti-collision block 34 serves as a backup buffer to avoid overtravel collisions. The Y-axis drive motor 77 drives the third gear 78 to rotate along the third rack 42, driving the Z-axis column 41 to rise and fall. The Z-axis pulley group 48 assists in stabilizing the sliding, the third cleaning brush 49 cleans along the entire length of the third guide rail 43, and the stainless steel dust collection trough 50 collects dust and debris. The rotary drive motor 507 drives the clamp frame 501 to rotate through the rotary connector 508, and adjusts the clamping angle according to the material shape to adapt to different stacking requirements such as automotive stamping parts and electronic pallets. The clamping drive motor 506 drives the clamping screw mechanism 505 to rotate, and the clamping assembly 502 smoothly opens and closes along the guide bar 503 and the slider 504 to achieve adaptive clamping.

Claims

1. A gantry robot capable of multi-line, multi-point stacking and destacking operations, characterized in that, Including rack (1), X axis assembly (2), Y axis assembly (3), Z axis assembly (4), fixture body (5), X axis pulley set (6), Y axis pulley set (7) and production line material (8); The X axis assembly (2) is fixedly connected with the rack (1) through an X axis connecting plate (27), the Y axis assembly (3) is slidably connected with the X axis assembly (2) through the X axis pulley set (6), the Z axis assembly (4) is slidably connected with the Y axis assembly (3) through the Y axis pulley set (7), and the fixture body (5) is fixedly connected with the Z axis assembly (4) through a Z axis connecting plate (51); The rack (1) can be customized in length, width and height, a plurality of conveying lines can be arranged inside, X axis drive motor (36), Y axis drive motor (77), Z axis drive motor (46) control the relative position of X axis assembly (2), Y axis assembly (3), Z axis assembly (4) respectively, clamping drive motor (506), rotating drive motor (507) control the clamping and rotating state of fixture body (5), realize from different conveying lines clamp production line material (8) and carry out stack.

2. The gantry robot apparatus capable of multi-line multi-point depalletizing operation according to claim 1, characterized in that: The X axis assembly (2) includes an X axis cross beam (21), a first rack (22), a first guide rail (23), a first anti-collision block (24) and an organ case (25) are fixedly arranged on the X axis cross beam (21), first limit photoelectric switches (26) are installed at both ends of the X axis cross beam (21), and an X axis connecting plate (27) is fixed at the end of the X axis cross beam (21). The first guide rail (23) is slidably connected with the X axis pulley set (6), the first limit photoelectric switches (26) limit the movement stroke of the X axis assembly (2), the first anti-collision block (24) buffers the impact force, and the organ case (25) protects the internal components.

3. The gantry robot apparatus capable of multi-line multi-point depalletizing operation according to claim 1, characterized in that: The Y axis assembly (3) includes a Y axis cross beam (31), a second rack (32), a second guide rail (33), a second anti-collision block (34) and a second limit photoelectric switch (35) are fixedly arranged on the Y axis cross beam (31), a X axis drive motor (36) is fixed on the Y axis cross beam (31), an output end of the X axis drive motor (36) is connected with a first gear (37), and the first gear (37) is engaged with the first rack (22); A first oiler (38) is installed on the Y axis cross beam (31), and a Y axis connecting plate (39) is fixed at the end of the Y axis cross beam (31); The second limit photoelectric switch (35) limits the stroke of the Y axis assembly (3), and the first oiler (38) is used for oil supply.

4. The gantry robot apparatus capable of multi-line multi-point depalletizing operation according to claim 1, characterized in that: The Z axis assembly (4) includes a Z axis stand column (41), a third rack (42), a third guide rail (43), a third anti-collision block (44) and a third limit photoelectric switch (45) are fixedly arranged on the Z axis stand column (41), a Z axis drive motor (46) is fixed on the Z axis stand column (41), an output end of the Z axis drive motor (46) is connected with a second gear (47), and the second gear (47) is engaged with the second rack (32); A Z axis pulley set (48), a third cleaning brush (49) and a dust collecting groove (50) are installed on the Z axis stand column (41), and a Z axis connecting plate (51) is fixed at the bottom of the Z axis stand column (41); The third limit photoelectric switch (45) limits the stroke of the Z axis assembly (4), the third cleaning brush (49) sweeps the third guide rail (43), and the dust collecting groove (50) collects impurities.

5. The gantry robot apparatus capable of multi-line multi-point depalletizing operation according to claim 1, characterized in that: The clamp body (5) comprises a clamp frame (501) provided with a clamping assembly (502), a guide strip (503) and a sliding block (504) therein, and a clamping screw mechanism (505) is mounted on one side of the clamp frame (501); The clamping driving motor (506) is connected with the clamping screw mechanism (505) to drive the clamping assembly (502) to clamp the production line materials (8); The rotating driving motor (507) is connected with the clamp frame (501) through a rotating connecting piece (508) to drive the clamp frame (501) to rotate, and the guide strip (503) and the sliding block (504) assist the clamping assembly (502) to move.

6. The gantry robot apparatus capable of multi-line multi-point depalletizing operation according to claim 1, characterized in that: The X-axis pulley set (6) comprises a first pulley set connecting plate (61) provided with a first pulley body (62) mounted thereon, and the first pulley body (62) is fixed through a first pulley mounting flange (63); A first pulley guard plate (64) is arranged on the outer side of the first pulley body (62), a first cleaning brush (65) is attached to the first pulley body (62), and a first photoelectric switch sensing piece (66) is fixed to the first pulley set connecting plate (61); The first pulley guard plate (64) protects the pulley, the first cleaning brush (65) cleans the pulley, and the first photoelectric switch sensing piece (66) is used in cooperation with the first limit photoelectric switch (26).

7. The gantry robot apparatus capable of multi-line multi-point depalletizing operation according to claim 1, characterized in that: The Y-axis pulley set (7) comprises a second pulley set connecting plate (71) provided with a second pulley body (72) mounted thereon, and the second pulley body (72) is fixed through a second pulley mounting flange (73); A second pulley guard plate (74) is arranged on the outer side of the second pulley body (72), a second cleaning brush (75) is attached to the second pulley body (72), and a second photoelectric switch sensing piece (76) is fixed to the second pulley set connecting plate (71); A Y-axis driving motor (77) is fixed to the second pulley set connecting plate (71), and an output end thereof is connected with a third gear (78), the third gear (78) is engaged with a third rack (42), and a second oil injector (79) is fixed to the second pulley set connecting plate (71).

8. The gantry robot apparatus capable of multi-line multi-point depalletizing operation according to claim 3, characterized in that: The first oil injector (38) injects lubricating oil to the meshing position of the first gear (37) and the first rack (22), and the second oil injector (79) injects lubricating oil to the meshing position of the third gear (78) and the third rack (42).

9. The gantry robot apparatus capable of multi-line multi-point depalletizing operation according to claim 4, characterized in that: The third cleaning brush (49) is arranged along the length direction of the third guide rail (43) and attached to the surface of the third guide rail (43), and the dust collecting groove (50) is in a strip shape, and the length thereof is adapted to the cleaning range of the third cleaning brush (49) to completely collect the dust, debris and other impurities cleaned by the third cleaning brush (49) from the third guide rail (43).

10. The gantry robot apparatus capable of multi-line multi-point depalletizing operation according to claim 2, characterized in that: The first limit photoelectric switch (26), the second limit photoelectric switch (35) and the third limit photoelectric switch (45) are all diffuse reflection type photoelectric switches, and correspond to the first photoelectric switch sensing piece (66) of the X-axis pulley set (6), the protruding structure of the Y-axis assembly (3) and the protruding structure of the Z-axis assembly (4) respectively. The first anti-collision block (24), the second anti-collision block (34) and the third anti-collision block (44) are made of rubber and are fixed at the stroke end points of the X-axis cross beam (21), the Y-axis cross beam (31) and the Z-axis stand column (41) respectively.

Images