A gantry robot for picking

Abstract

The application discloses a truss type manipulator for material taking, and relates to the technical field of manipulators; and specifically comprises longitudinal beams and cross beams which are fixed with each other, the outer wall of the cross beam is transversely transmissionally connected with a horizontal moving block, the outer side of the horizontal moving block is transmissionally connected with a multi-degree-of-freedom mechanical arm through a lifting mechanism, and the movement end of the multi-degree-of-freedom mechanical arm is provided with a functional module for material taking; the lifting mechanism comprises two longitudinal plates which are respectively located on the two sides of the horizontal moving block and a supporting plate which is fixed to the bottom outer wall of the longitudinal plate, and the multi-degree-of-freedom mechanical arm is fixed to the bottom outer wall of the supporting plate. The lifting mechanism is designed as two groups of symmetrical longitudinal plates, the multi-degree-of-freedom mechanical arm which bears the load is located below the longitudinal plate, the limiting of the limiting roller one and the limiting roller two realizes the 'guide rail' function, so that the stress of the whole horizontal moving block is relatively uniform, deformation is prevented, and the service life of the whole manipulator is prolonged.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more particularly to a gantry-type robotic arm for material handling. Background Technology

[0002] Material handling robots are an indispensable component in automated industrial processing. Among them, gantry robots are a type of robot that are mainly used in large-span material handling scenarios.

[0003] A search revealed a Chinese patent publication number CN102922520A, which discloses a truss manipulator structure. The structure includes a truss and a manipulator mounted on the truss. The truss includes several gantry-structure support sections. Each support section has a crossbeam for mounting the manipulator. The manipulator is a two-degree-of-freedom manipulator. It includes a horizontal motion component mounted on the crossbeam and a vertical motion component mounted vertically on the horizontal motion component. A three-jaw gripper is connected to the bottom of the vertical motion component. The horizontal and vertical motion components each include a gear and a rack for transmission, and the gear and rack are configured as meshing helical teeth.

[0004] The aforementioned patent has the following shortcomings: its longitudinal displacement mechanism and robotic arm are both located on one side of the crossbeam. This causes uneven force on both sides of the crossbeam, resulting in torque. With long-term use or under heavy load, the crossbeam and guide rail are prone to deformation, affecting the use of the robotic arm.

[0005] Therefore, this invention proposes a gantry-type robotic arm for material handling. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing a gantry-type robotic arm for material handling.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A truss-type robotic arm for picking up materials includes longitudinal beams and transverse beams fixed to each other. A transverse block is transversely connected to the outer wall of the transverse beam. A multi-degree-of-freedom robotic arm is connected to the outer side of the transverse block through a lifting mechanism. The moving end of the multi-degree-of-freedom robotic arm is provided with a functional module for picking up materials. The lifting mechanism includes two longitudinal plates located on both sides of the transverse block and a support plate fixed to the bottom outer wall of the longitudinal plates. The multi-degree-of-freedom robotic arm is fixed to the bottom outer wall of the support plate. The transverse block is provided with limiting roller 1 and limiting roller 2 on both sides for limiting the longitudinal plate, and a support frame is fixed to the top outer wall of the transverse block by bolts. A gear set 1 is provided on the outer wall of the support frame, and a tooth groove that meshes with the gear set 1 is provided on the inner side of the longitudinal plate. A gear set 1 for rotating and driving the gear set 1 is fixed on the inner side of the support frame.

[0008] Preferably, both the first limiting roller and the second limiting roller are rolled together on the outer side wall of the longitudinal plate.

[0009] Furthermore: Both sides of the second limiting roller and / or the first limiting roller are rotatably connected to sliders via connecting shafts. The sliders are slidably connected to the inner wall of the transverse block, and the inner wall of the transverse block is provided with a spring plate. The spring plate contacts and cooperates with the side wall of the slider, and the spring plate generates a lateral elastic force on the slider.

[0010] Based on the aforementioned scheme: the inner side of the longitudinal beam is rotatably connected to two screws, which are connected to the inner wall of the transverse block by threads with opposite directions.

[0011] A better embodiment of the aforementioned scheme is that one end of each of the two screws is engaged by a gear set two, and a motor is bolted to the side wall of one of the longitudinal beams, with the output end of the motor fixed to the end of one of the screws.

[0012] As a further aspect of the present invention: the functional module includes a gear ring rotatably connected to the end of the multi-degree-of-freedom robotic arm and a multi-spoke frame fixed to the bottom side wall of the gear ring. Multiple different functional modules are fixed to the bottom of the multi-spoke frame, and a second motor is fixed to the end of the multi-degree-of-freedom robotic arm. A gear is fixed to the output shaft of the second motor, and the gear meshes with the gear ring.

[0013] Meanwhile, the functional module can be any combination of negative pressure suction cup array, variable diameter / variable pitch gripper mechanism, mechanical internal support material handling mechanism, fork tooth and clamping composite mechanism, magnetic array and mechanical demagnetization combination mechanism.

[0014] As a preferred embodiment of the present invention: a generator is also fixed to the inner side of the support frame, the input end of the generator is fixed to the inner side of one of the gear sets, the output end of the gear set is connected to the power source of the robot arm through an electromagnetic switch, and the power source is connected to the motor through another electromagnetic switch.

[0015] Meanwhile, a brake wheel is fixed to the inner side of one of the gear sets via a shaft, a telescopic rod is fixed to the inner side wall of the transverse block, and a lifting frame is fixed to the telescopic end of the telescopic rod via bolts. A brake block that can grip and brake the brake wheel is provided on the top of the lifting frame.

[0016] As a preferred embodiment of the present invention: the side wall of the lifting frame is provided with a sliding groove, the brake block is movably limited to the inner wall of the sliding groove by the limiting post, and the sliding groove is arranged at an angle.

[0017] The beneficial effects of this invention are as follows: 1. This invention sets the lifting mechanism as two sets of symmetrical vertical plates, with the multi-degree-of-freedom robotic arm, which bears the load, located below the vertical plates. The limiting rollers one and two then act as a "guide rail," thereby making the force on the entire transverse block relatively uniform, preventing deformation, and increasing the service life of the entire robotic arm.

[0018] 2. This invention provides a "guide rail" function by setting limit roller one and limit roller two to limit the longitudinal plate. Furthermore, by setting a spring plate and a slider, it can generate lateral elastic force on limit roller two and / or limit roller one, thereby effectively compensating for frictional losses between limit roller one, limit roller two and the longitudinal plate, preventing operational vibration caused by frictional gaps, and increasing the stability and lifespan of the robot arm.

[0019] 3. In this invention, by setting two screws, which are connected to the transverse block by threads with opposite directions, and the two screws are engaged by a gear set, dual drive is achieved. At the same time, the two drives form a transmission lock with the driven and driven parts, which increases the transmission accuracy of the transverse block's transverse movement.

[0020] 4. This invention, by setting up multiple functional modules and using the driving energy of motor two to rotate the multi-spoke frame, thereby switching different functional modules to work positions, increases the functionality of the entire robot.

[0021] 5. This invention, by setting up a generator and components such as a brake wheel and brake block, can utilize the gravitational potential energy of the heavy object itself for driving when descent is required, and can also use the generator to recover potential energy, thus achieving energy saving. Furthermore, the brake wheel and brake block can be used for position locking. At the same time, the connection between the lifting frame and the brake block is achieved by using a sliding groove and a limiting post, which ensures the reliability of the locking. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a gantry-type robotic arm for material handling proposed in this invention. Figure 2 This is a schematic diagram of the lifting mechanism of a gantry-type robotic arm for material handling proposed in this invention. Figure 3 This invention proposes a gantry-type robotic arm for material handling. Figure 2 Enlarged structural diagram of section A; Figure 4This is a cross-sectional view of the transverse movement portion of the transverse block of a gantry-type robotic arm for material handling proposed in this invention. Figure 5 This invention presents a schematic diagram of a functional module structure for a gantry-type robotic arm used for material handling. Figure 1 ; Figure 6 This invention presents a schematic diagram of a functional module structure for a gantry-type robotic arm used for material handling. Figure 2 ; Figure 7 This is a schematic diagram of the brake wheel braking section of a gantry robot for material handling proposed in this invention. Figure 8 This is a schematic diagram of the lifting frame and brake block cooperation structure of a gantry-type robot for material handling proposed in this invention.

[0023] In the diagram: 1. Longitudinal beam; 2. Crossbeam; 3. Lifting mechanism; 4. Lateral block; 5. Multi-degree-of-freedom robotic arm; 6. Functional module; 7. Support plate; 8. Longitudinal plate; 9. Limiting roller one; 10. Limiting roller two; 11. Motor; 12. Generator; 13. Gear groove; 14. Brake wheel; 15. Gear set one; 16. Support frame; 17. Spring plate; 18. Slider; 19. Connecting shaft; 20. Gear set two; 21. Screw; 22. Motor one; 23. Motor two; 24. Gear; 25. Gear ring; 26. Multi-spoke frame; 27. Functional module; 28. Lifting frame; 29. ​​Brake block; 30. Telescopic rod; 31. Shaft; 32. Slide groove; 33. Limiting column. Detailed Implementation

[0024] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0025] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0026] Example 1: A gantry-type robotic arm for material handling, such as Figures 1-8 As shown, it includes a longitudinal beam 1 and a transverse beam 2 that are fixed to each other. The outer wall of the transverse beam 2 is connected to a transverse moving block 4. The outer side of the transverse moving block 4 is connected to a multi-degree-of-freedom robotic arm 5 through a lifting mechanism 3. The moving end of the multi-degree-of-freedom robotic arm 5 is provided with a functional module 6 for picking up materials.

[0027] The lifting mechanism 3 includes two longitudinal plates 8 located on both sides of the transverse block 4 and a support plate 7 fixed to the bottom outer wall of the longitudinal plates 8. The multi-degree-of-freedom robotic arm 5 is fixed to the bottom outer wall of the support plate 7.

[0028] The transverse block 4 is provided with limiting roller 9 and limiting roller 10 on both sides for limiting the longitudinal plate 8. The top outer wall of the transverse block 4 is fixed with a support frame 16 by bolts. The outer wall of the support frame 16 is provided with a gear set 15. The inner side of the longitudinal plate 8 is provided with a tooth groove 13 that meshes with the gear set 15. The inner side of the support frame 16 is fixed with a gear set 15 for rotating and driving the gear set 15.

[0029] When the motor 11 starts, it can drive the gear set 15 to rotate, thereby driving the longitudinal plate 8 to rise and fall through the tooth groove 13.

[0030] This device uses a lifting mechanism 3 with two symmetrical vertical plates 8. The multi-degree-of-freedom robotic arm 5, which bears the load, is located below the vertical plates 8. The limiting rollers 1 and 2 10 are used to limit the "guide rail" function, so that the force on the entire transverse block 4 is relatively uniform, preventing deformation and increasing the service life of the entire robotic arm.

[0031] To solve the friction gap problem; such as Figure 3 As shown, the first limiting roller 9 and the second limiting roller 10 are both rolledly engaged on the outer side wall of the longitudinal plate 8, and both sides of the second limiting roller 10 and / or the first limiting roller 9 are rotatably connected to sliders 18 via connecting shafts 19. The sliders 18 are slidably connected to the inner wall of the transverse block 4, and the inner wall of the transverse block 4 is provided with a spring plate 17. The spring plate 17 contacts and engages with the side wall of the slider 18, and the spring plate 17 generates a lateral elastic force on the slider 18.

[0032] This device, by setting limit roller 9 and limit roller 10 to limit the longitudinal plate 8, provides a "guide rail" function. Furthermore, by setting spring plate 17 and slider 18, it can generate lateral elastic force on limit roller 10 and / or limit roller 9, thereby effectively compensating for frictional losses between limit roller 9, limit roller 10 and longitudinal plate 8, preventing operational vibration caused by frictional gaps, and increasing the stability and lifespan of the robot.

[0033] To solve the problem of lateral movement; such as Figure 4 As shown, two screws 21 are rotatably connected to the inner side of the longitudinal beam 1. The two screws 21 are connected to the inner wall of the transverse block 4 by threads with opposite directions of rotation. One end of the two screws 21 is driven by a gear set 20. A motor 22 is fixed to the side wall of one of the longitudinal beams 1 by bolts. The output end of the motor 22 is fixed to the end of one of the screws 21.

[0034] When motor 22 starts, it can drive one of the screws 21 to rotate, thereby driving the two screws 21 to rotate synchronously in opposite directions through gear set 20, thus driving the transverse block 4 to move laterally.

[0035] This device, by setting two screws 21, which are connected to the transverse block 4 by threads with opposite directions, and the two screws 21 are driven by gear set 20, realizes dual drive at the same time, and the two drives form a transmission lock with the driven and driven parts, thereby increasing the transmission accuracy of the transverse block 4.

[0036] To solve functional problems; such as Figure 5 As shown, the functional module 6 includes a gear ring 25 rotatably connected to the moving end of the multi-degree-of-freedom robotic arm 5 and a multi-spoke frame 26 fixed to the bottom side wall of the gear ring 25. Multiple different functional modules 27 are fixed to the bottom of the multi-spoke frame 26, and a second motor 23 is fixed to the moving end of the multi-degree-of-freedom robotic arm 5. A gear 24 is fixed to the output shaft of the second motor 23, and the gear 24 meshes with the gear ring 25.

[0037] In this embodiment, the multiple functional modules 27 are not specifically limited and can be: negative pressure suction cup array, variable diameter / variable pitch gripper mechanism, mechanical internal support material picking mechanism, fork tooth and clamping composite mechanism, magnetic array and mechanical demagnetization combination mechanism. These are all existing technologies, and those skilled in the art can freely combine them according to their needs. This embodiment has not made any creative effort on them, so they will not be described in detail.

[0038] This device, by setting up multiple functional modules 27, uses the driving energy of motor 23 to make the multi-spoke frame 26 rotate, thereby switching different functional modules 27 to work positions, increasing the functionality of the entire robot.

[0039] In this embodiment, motor 23 can be started according to material handling requirements. Motor 23 drives the multi-spoke frame 26 to rotate, switching the corresponding functional module 27 to the working position. Then, the multi-degree-of-freedom robotic arm 5 drives the functional module 27 to move. At the same time, when motor 11 is started, it can drive gear set 15 to rotate, thereby driving the longitudinal plate 8 to rise and fall through the tooth groove 13. When motor 22 is started, it can drive one of the screws 21 to rotate, thereby driving the two screws 21 to rotate synchronously in opposite directions through gear set 20, thereby driving the transverse block 4 to move laterally, thus jointly realizing the multi-directional and multi-angle movement of functional module 27.

[0040] Example 2: A gantry-type robotic arm for material handling, such as Figures 1-8As shown, in order to solve the energy consumption problem, this embodiment makes the following improvements based on embodiment 1: a generator 12 is also fixed on the inner side of the support frame 16, the input end of the generator 12 is fixed on the inner side of one of the gear sets 15, the output end of the gear set 15 is connected to the power source of the robot through an electromagnetic switch, and the power source is connected to the motor 11 through another electromagnetic switch.

[0041] Furthermore, a brake wheel 14 is fixed to the inner side of one of the gear sets 15 via a shaft 31, and a telescopic rod 30 is fixed to the inner side wall of the transverse block 4. The telescopic end of the telescopic rod 30 is fixed to a lifting frame 28 via bolts, and a brake block 29 is provided on the top of the lifting frame 28 to hold and brake the brake wheel 14.

[0042] The side wall of the lifting frame 28 is provided with a sliding groove 32, and the brake block 29 is movably limited to the inner wall of the sliding groove 32 by the limiting post 33, and the sliding groove 32 is arranged at an angle.

[0043] In this embodiment, when the functional module 6 is gripping a heavy object and is in a downward unloading motion, the electromagnetic switch between the motor 11 and the power source can be disconnected, and then the electromagnetic switch between the generator 12 and the power source can be closed. When descent is required, the telescopic rod 30 retracts, which drives the lifting frame 28 and the brake block 29 to descend. The brake wheel 14 can rotate freely, and the vertical plate 8 descends, driving the gear set 15 to rotate, thereby driving the generator 12 to rotate and generate electricity to charge the power source. After reaching the required position, the telescopic rod 30 extends again, clamping the brake block 29 tightly around the brake wheel 14 to achieve locking. Furthermore, by setting the connection between the lifting frame 28 and the brake block 29 as a sliding groove 32 and a limiting post 33, and the sliding groove 32 is arranged at an incline, when the brake wheel 14 and the brake block 29 are in contact, the brake wheel 14 will generate friction on the brake block 29, driving the brake block 29 to have a tendency to move. The movement of the brake block 29 will also have a tendency to climb, thereby increasing the clamping force between the brake wheel 14 and the brake block 29.

[0044] This device, by setting up a generator 12 and components such as a brake wheel 14 and a brake block 29, can utilize the gravitational potential energy of the heavy object itself to drive the descent when needed, and uses the generator 12 to recover potential energy, thus achieving energy saving. Furthermore, the brake wheel 14 and brake block 29 can be used for position locking. At the same time, the connection between the lifting frame 28 and the brake block 29 is achieved by using a slide groove 32 and a limit post 33, which ensures the reliability of the locking.

[0045] The above description is only 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 truss-type robotic arm for picking up materials, comprising longitudinal beams (1) and transverse beams (2) fixed to each other, characterized in that, The outer wall of the crossbeam (2) is connected to a transverse block (4) via a transverse transmission. The outer side of the transverse block (4) is connected to a multi-degree-of-freedom robotic arm (5) via a lifting mechanism (3). The moving end of the multi-degree-of-freedom robotic arm (5) is equipped with a functional module (6) for picking up materials. The lifting mechanism (3) includes two longitudinal plates (8) located on both sides of the transverse block (4) and a support plate (7) fixed to the bottom outer wall of the longitudinal plate (8). The multi-degree-of-freedom robotic arm (5) is fixed to the bottom outer wall of the support plate (7). The transverse block (4) is provided with a limiting roller 1 (9) and a limiting roller 2 (10) for limiting the longitudinal plate (8) on both sides. The top outer wall of the transverse block (4) is fixed with a support frame (16) by bolts. The outer wall of the support frame (16) is provided with a gear set 1 (15). The inner side of the longitudinal plate (8) is provided with a tooth groove (13) that meshes with the gear set 1 (15). The inner side of the support frame (16) is fixed with a gear set 1 (15) for rotating the gear set 1 (15).

2. A gantry-type robotic arm for material handling according to claim 1, characterized in that, Both the first limiting roller (9) and the second limiting roller (10) are rolled together on the outer side wall of the longitudinal plate (8).

3. A gantry-type robotic arm for material handling according to claim 2, characterized in that, Both sides of the limiting roller two (10) and / or limiting roller one (9) are rotatably connected to sliders (18) via connecting shafts (19). The sliders (18) are slidably connected to the inner wall of the transverse block (4), and the inner wall of the transverse block (4) is provided with a spring plate (17). The spring plate (17) contacts and cooperates with the side wall of the slider (18), and the spring plate (17) generates a lateral elastic force on the slider (18).

4. A gantry-type robotic arm for material handling according to claim 1, characterized in that, The inner side of the longitudinal beam (1) is rotatably connected to two screws (21), and the two screws (21) are connected to the inner wall of the transverse block (4) by threads with opposite directions of rotation.

5. A gantry-type robotic arm for material handling according to claim 4, characterized in that, One end of each of the two screws (21) is driven by a gear set (20), and a motor (22) is fixed to the side wall of one of the longitudinal beams (1) by bolts. The output end of the motor (22) is fixed to the end of one of the screws (21).

6. A gantry-type robotic arm for material handling according to claim 1, characterized in that, The functional module (6) includes a gear ring (25) rotatably connected to the end of the multi-degree-of-freedom robotic arm (5) and a multi-spoke frame (26) fixed to the bottom side wall of the gear ring (25). Multiple different functional modules (27) are fixed to the bottom of the multi-spoke frame (26), and a second motor (23) is fixed to the end of the multi-degree-of-freedom robotic arm (5). A gear (24) is fixed to the output shaft of the second motor (23), and the gear (24) meshes with the gear ring (25).

7. A gantry-type robotic arm for material handling according to claim 6, characterized in that, The functional module (27) is any combination of negative pressure suction cup array, variable diameter / variable pitch gripper mechanism, mechanical internal support material picking mechanism, fork tooth and clamping composite mechanism, magnetic array and mechanical demagnetization combination mechanism.

8. A gantry-type robotic arm for material handling according to claim 1, characterized in that, A generator (12) is also fixed inside the support frame (16). The input end of the generator (12) is fixed inside one of the gear sets (15). The output end of the gear set (15) is connected to the power source of the robot arm through an electromagnetic switch, and the power source is connected to the motor (11) through another electromagnetic switch.

9. A gantry-type robotic arm for material handling according to claim 8, characterized in that, One of the gear sets (15) has a brake wheel (14) fixed to its inner side by a shaft (31). The inner side wall of the transverse block (4) is fixed with a telescopic rod (30). The telescopic end of the telescopic rod (30) is fixed with a lifting frame (28) by bolts. The top of the lifting frame (28) is provided with a brake block (29) that can hold the brake wheel (14) tightly and brake it.

10. A gantry-type robotic arm for material handling according to claim 9, characterized in that, The side wall of the lifting frame (28) is provided with a sliding groove (32), and the brake block (29) is movably limited to the inner wall of the sliding groove (32) by the limiting post (33), and the sliding groove (32) is arranged at an angle.

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