A truss type feeding and discharging robot and a using method thereof

Abstract

This invention discloses a gantry-type loading and unloading robot and its usage method, relating to the field of robot technology. It includes a main body with support rods on its sides; a gripping part including a mechanical claw with a camera on its side; a stamping part including a return-ink stamp connected to a pressure ring, with an ink box above the stamp; a control part including a push rod, a mounting box above the return-ink stamp containing a third gear and a cam connected thereto, with a button on the outer ring of the third gear; and a drive part including a fourth gear connected to the cam, with a rack connected to the push rod. This invention utilizes visual positioning to drive the mechanical claw to automatically position and load / unload objects, and utilizes the kinetic energy generated during stamping to automatically control ink replenishment on the stamp, reducing energy consumption and streamlining the workflow.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a gantry-type loading and unloading robot and its usage method. Background Technology

[0002] Due to their advantages such as high structural rigidity, large range of motion, and good positioning accuracy, gantry-type loading and unloading robots have been widely used in the automatic loading and unloading of equipment such as CNC machine tools, injection molding machines, and die casting machines. However, as the manufacturing industry transforms towards small batches, multiple varieties, and high flexibility, traditional gantry-type robots have exposed obvious technical shortcomings in terms of workpiece positioning adaptability and production information traceability.

[0003] In automated metal parts processing lines, such as die castings, stampings, and machined parts, after processing is completed, batch numbering, inspection status, or flow information marking is usually required during the blanking process to facilitate subsequent quality traceability and process management.

[0004] Existing production lines typically use a "robot unloading + independent stamping station" method for processing. That is, after the workpiece is picked up by the robot, it is transported to a dedicated marking station to complete the stamping operation. This method not only increases the number of equipment and the floor space occupied by the production line, but also extends the production cycle and reduces the efficiency of automated continuous operation.

[0005] In addition, the existing automatic stamping system is prone to ink shortage during continuous use, requiring manual replenishment periodically, which affects production continuity.

[0006] Mechanical stamping is still widely used in the material preparation process of metal and plastic parts due to its advantages such as low cost, simple operation and clear imprint. Traditional ink pads or automatic ink-filling stamps have limited ink capacity and the ink is exhausted after dozens of stamps. In addition, if an independent stamping station is added after material preparation, it will occupy production line space, prolong the production cycle, and increase production costs. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a gantry-type loading and unloading robot and its usage method. It can use visual positioning to drive the mechanical claw to automatically complete the positioning and loading / unloading of objects, and can use the kinetic energy generated when stamping to automatically control the refilling of the stamp, reducing energy consumption and simplifying the workflow.

[0008] To achieve the above objectives, the technical solution of the present invention is as follows: A gantry-type loading and unloading robot, comprising: The main body, with support rods provided on its side; The clamping part includes a mechanical claw, and a camera is provided on the side of the mechanical claw; The stamping part includes an ink return stamp, a pressure ring connected to the lower end of the ink return stamp, and an ink box provided above the ink return stamp. The control unit includes a push rod connected above the pressure ring, a mounting box above the return stamp, a third gear inside the mounting box, a cam connected inside the mounting box, and a button on the outer ring of the third gear. The drive unit includes a fourth gear connected to a cam, and a rack slidably connected to the inner cavity of the push rod, the rack meshing with the fourth gear; When the pressure ring is pressed down, it drives the push rod and rack to rise, causing the fourth gear to rotate. This causes the cam to drive the third gear to rotate and touch the button, controlling the oil box to replenish the oil stamp.

[0009] Preferably, electric guide rails are provided on both the front and rear sides of the lower end of the main body, the main body is slidably connected to the inner cavity of the electric guide rails, a slide plate is slidably connected to the side of the main body, a first motor is fixedly installed in the middle of the slide plate, a first gear is fixedly connected to the output shaft of the first motor, a first helical gear is fixedly connected to the side of the main body, the outer ring of the first gear meshes with the surface of the first helical gear, a support rod is slidably connected to the middle of the slide plate, a second motor is fixedly installed in the middle of the slide plate, a second gear is fixedly connected to the output shaft of the second motor, a second helical gear is fixedly connected to the front of the support rod, and the outer ring of the second gear meshes with the outer ring of the second helical gear.

[0010] Preferably, the clamping part further includes a mounting plate, which is fixedly connected to the lower part of the support rod. A mechanical claw is fixedly installed at the lower end of the mounting plate, and a clamping plate is rotatably connected to the lower end of the mechanical claw via a torsion spring shaft. An adhesive strip is fixedly connected to the inner ring of the clamping plate, and a camera is fixedly connected to the middle part of the mounting plate.

[0011] Preferably, the stamping part further includes a support plate, which is fixedly connected to the side of the mounting plate. A return ink stamp is fixedly connected to the lower end of the support plate, and a pressure ring is slidably connected to the lower end of the return ink stamp.

[0012] Preferably, an oil box is fixedly connected to the upper end of the support plate, and an oil pump is fixedly connected to the upper end of the support plate. An oil pipe is connected to the inlet and outlet of the oil pump. The oil pipe at the inlet is connected to the oil box, while the oil pipe at the outlet passes through the support plate and is connected to the return oil stamp.

[0013] Preferably, a push rod is fixedly connected to the upper end of the pressure ring, the upper end of the push rod passes through and is slidably connected to the middle of the support plate, a mounting box is fixedly connected to the upper end of the support plate, the upper end of the push rod passes through the mounting box and is slidably connected to the inner cavity of the mounting box, a third gear is rotatably connected to the inner cavity of the mounting box through a damping bearing, a wire is fixedly connected to the shaft of the third gear, and the wire passes through the mounting box and is electrically connected to the oil pump.

[0014] Preferably, a cam is rotatably connected to the center of the inner cavity of the mounting box via a ball bearing. The outer ring of the cam meshes with the tooth groove of the third gear. A button is fixedly connected within the tooth groove of the third gear, and the button is electrically connected to a wire.

[0015] Preferably, the rear end of the cam is fixedly connected to a fourth gear, the middle part of the push rod is provided with a through groove, and a rack is slidably connected in the through groove, with the front of the rack positioned below the fourth gear.

[0016] Preferably, a magnetic plate is fixedly connected to the middle of the rear end of the rack, and a magnetic block is fixedly connected to the rear side of the inner cavity of the mounting box, with the magnetic block located on the rear side of the magnetic plate.

[0017] A method of using a gantry-type loading and unloading robot, applicable to any of the gantry-type loading and unloading robots described above, comprising: S1: Position adjustment, the support rod moves along the XYZ axis of the main body to control the position of the mechanical claw and bring the mechanical claw closer to the object; S2: Stamping. When the mechanical claw approaches the object, the return stamp and pressure ring will touch the object first and stamp the object to leave a mark. S3: Refilling and Returning Oil. Each time the stamp is used, the push rod will be raised and lowered once. The push rod will drive the fourth gear and cam to rotate one revolution through the rack. One revolution of the cam will drive the third gear to rotate one tooth until the cam touches the button, which controls the oil box to refill the return oil stamp. S4: Conveying. After stamping, the mechanical claw will grip the object and slide along the main body to move the object to the designated position to complete the conveying.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The main body and clamping part of this invention can use visual positioning to drive the mechanical claw to automatically complete the positioning and loading / unloading of objects, ensuring the smoothness and stability of the operation. In use, the support rod moves along the main body to adjust the position of the mechanical claw, and the camera runs to assist in positioning so that the mechanical claw can stably approach the object. After the object is stamped, the mechanical claw will clamp the object and use the support rod to move the object to the designated position to realize loading / unloading. The stamping unit, control unit, and drive unit of the present invention can automatically control the replenishment of ink to the stamp by utilizing the kinetic energy generated when stamping and leaving marks, thereby reducing energy consumption, streamlining the workflow, and improving automation. Before the mechanical claw descends and approaches the object, the pressure ring and the return ink stamp will first touch the surface of the object and leave marks on the surface. At the same time, the pressure ring will rise during the stamping process and push the top rod and rack to rise, causing the rack to drive the fourth gear and cam to rotate. The cam will drive the third gear to rotate. If the cam touches the button, it can control the ink box to replenish ink to the return ink stamp. Attached Figure Description

[0019] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts. Wherein: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the entire invention from the left. Figure 3 This is a schematic diagram of the support rod in this invention; Figure 4 This is a schematic diagram of the clamping part in the present invention; Figure 5 This is a schematic diagram showing the position of the stamping part in this invention; Figure 6 This is a schematic diagram of the structure of the stamping part in this invention; Figure 7 This is a schematic diagram showing the location of the control unit in this invention; Figure 8 This is a cross-sectional schematic diagram of the control unit in this invention; Figure 9 This is a schematic diagram showing the position of the button in this invention; Figure 10 This is a schematic diagram of the drive unit in the present invention; Figure 11 This is a cross-sectional schematic diagram of the push rod in this invention.

[0020] The diagram is labeled as follows: 10. Main body; 11. Electric guide rail; 12. Slide plate; 13. First motor; 14. First gear; 15. First helical gear; 16. Support rod; 17. Second motor; 18. Second gear; 19. Second helical gear; 20. Clamping part; 21. Mounting plate; 22. Mechanical claw; 23. Clamping plate; 24. Adhesive strip; 25. Camera; 30. Stamping part; 31. Support plate; 32. Oil return stamp; 33. Pressure ring; 34. Oil box; 35. Oil pump; 36. Oil pipe; 40. Control part; 41. Top rod; 42. Mounting box; 43. Third gear; 44. Wire; 45. Cam; 46. Button; 50. Drive part; 51. Fourth gear; 52. Rack; 53. Magnetic plate; 54. Magnetic block. Detailed Implementation

[0021] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention. Example 1

[0022] like Figures 1 to 11 As shown, this is the first embodiment of the present invention, which provides a gantry-type loading and unloading robot, comprising: The main body 10 has a support rod 16 on its side. The clamping part 20 includes a mechanical claw 22, and a camera 25 is provided on the side of the mechanical claw 22; The stamping part 30 includes an ink return stamp 32, a pressure ring 33 connected to the lower end of the ink return stamp 32, and an ink box 34 provided above the ink return stamp 32. Control unit 40 includes push rod 41, push rod 41 is connected above pressure ring 33, mounting box 42 is provided above oil return stamp 32, third gear 43 is provided inside mounting box 42, cam 45 is connected inside mounting box 42, and button 46 is provided on the outer ring of third gear 43. The drive unit 50 includes a fourth gear 51, which is connected to the cam 45. A rack 52 is slidably connected to the inner cavity of the push rod 41, and the rack 52 meshes with the fourth gear 51. When the pressure ring 33 is pressed down, it drives the push rod 41 and the rack 52 to rise, causing the fourth gear 51 to rotate, which in turn causes the cam 45 to drive the third gear 43 to rotate and touch the button 46, controlling the oil box 34 to replenish the oil stamp 32.

[0023] It should be noted that, in order to ensure the stable operation and use of the device, suitable electrical control components and drive structures should be installed inside the device so as to drive the various electrical components inside the device to operate stably according to the established program.

[0024] In this embodiment, during use, the support rod 16 moves along the main body 10 to adjust the position of the mechanical claw 22. Simultaneously, the camera 25 assists in positioning, ensuring the mechanical claw 22 can stably approach the object. Before the mechanical claw 22 descends and approaches the object, the pressure ring 33 and the return ink stamp 32 first touch the object's surface, leaving a stamp mark. During the stamping process, the pressure ring 33 rises, pushing the top rod 41 and rack 52 upwards. This causes the rack 52 to drive the fourth gear 51 and cam 45 to rotate, while the cam 45 drives the third gear 43 to rotate. If the cam 45 touches the button 46, it controls the oil box 34 to replenish oil in the return ink stamp 32. After stamping, the mechanical claw 22 clamps the object and, using the further movement of the support rod 16, transports the object to a designated position for loading and unloading.

[0025] Please refer to it again. Figures 1 to 3 Electric guide rails 11 are provided on both the front and rear sides of the lower end of the main body 10. The main body 10 is slidably connected to the inner cavity of the electric guide rail 11. A slide plate 12 is slidably connected to the side of the main body 10. A first motor 13 is fixedly installed in the middle of the slide plate 12. A first gear 14 is fixedly connected to the output shaft of the first motor 13. A first helical gear 15 is fixedly connected to the side of the main body 10. The outer ring of the first gear 14 meshes with the surface of the first helical gear 15. A support rod 16 is slidably connected to the middle of the slide plate 12. A second motor 17 is fixedly installed in the middle of the slide plate 12. A second gear 18 is fixedly connected to the output shaft of the second motor 17. A second helical gear 19 is fixedly connected to the front of the support rod 16. The outer ring of the second gear 18 meshes with the outer ring of the second helical gear 19.

[0026] It should be noted that the two sets of electric guide rails 11 should be connected in series to ensure that they can operate synchronously and avoid affecting the normal movement of the main body 10.

[0027] In this embodiment, during use, the electric guide rail 11 can drive the main body 10 to slide left and right in the horizontal direction, thereby achieving position adjustment in the X-axis direction; the first motor 13 drives the first gear 14 to rotate, and the first gear 14 meshes with the first helical gear 15, which can drive the slide plate 12 to adjust in the Y-axis direction along the main body 10; the second motor 17 drives the second gear 18 to rotate, and the second gear 18 meshes with the second helical gear 19, which can drive the support rod 16 to adjust in the Z-axis direction along the slide plate 12, thereby stably driving the mechanical claw 22 to move to the designated material picking position.

[0028] Please refer to it again. Figures 4 to 5The clamping part 20 also includes a mounting plate 21, which is fixedly connected to the bottom of the support rod 16. A mechanical claw 22 is fixedly installed at the lower end of the mounting plate 21. A clamping plate 23 is rotatably connected to the lower end of the mechanical claw 22 through a torsion spring shaft. A rubber strip 24 is fixedly connected to the inner ring of the clamping plate 23. A camera 25 is fixedly connected to the middle part of the mounting plate 21.

[0029] It should be noted that, under normal conditions, the clamping plate 23 always maintains a 60-degree angle with the bottom of the mechanical claw 22; The clamp 23 has an arc-shaped structure to accommodate objects of different shapes and sizes; Here, when the mechanical gripper 22 is gripping an object, it will use the clamping plate 23 to increase the gripping area and use the rotatable state of the clamping plate 23 to make it fit the surface of the object more closely, thereby improving the stability of gripping. The camera 25 is a vision inspection camera structure, designed to accurately position objects during use so that the mechanical gripper 22 can accurately grasp the objects; Here, the camera 25 uses the OpenMV vision module to acquire images in real time, extracts the centroid coordinates of the material through a multi-constraint target recognition algorithm, and estimates the depth distance based on the area inverse ratio method. By acquiring the XY axis data of the object, the mechanical claw 22 is controlled to move so that the mechanical claw 22 can grip the main force points of the object and ensure the stability of loading and unloading.

[0030] In this embodiment, when the mounting plate 21 moves above the object along with the support rod 16, the camera 25 identifies and locates the position of the object. After the mechanical claw 22 falls and contacts the object, the clamping plate 23 rotates and opens under the pressure of the outer wall of the object. Finally, with the torque of the torsion spring shaft, the clamping plate 23 clamps the object. The rubber strip 24 increases the friction, making the clamping plate 23 hold the object more stably.

[0031] Please refer to it again. Figures 5 to 7 The stamping part 30 also includes a support plate 31, which is fixedly connected to the side of the mounting plate 21. A return oil stamp 32 is fixedly connected to the lower end of the support plate 31, and a pressure ring 33 is slidably connected to the lower end of the return oil stamp 32. An oil box 34 is fixedly connected to the upper end of the support plate 31, and an oil pump 35 is fixedly connected to the upper end of the support plate 31. An oil pipe 36 is connected to the inlet and outlet of the oil pump 35. The oil pipe 36 at the inlet is connected to the oil box 34, while the oil pipe 36 at the outlet passes through the support plate 31 and is connected to the return oil stamp 32.

[0032] It should be noted that the upper part of the inner cavity of the return ink stamp 32 should be provided with a sponge structure to store the ink (this is a common technical structure in the prior art, and will not be described in detail here). The oil pipe 36 located at the outlet of the oil pump 35 should contact the sponge structure inside the return oil stamp 32 in order to replenish oil; The shape and specific color of the return stamp 32 are not limited here, and should be chosen according to the actual processing needs (as long as it has a pressure ring 33 and does not affect the normal stamp). In this embodiment, a circle is preferred.

[0033] In this embodiment, during use, the support plate 31 moves above the object along with the mounting plate 21. After the ink return stamp 32 descends with the mounting plate 21, it first contacts the surface of the object. After being pressed, the pressure ring 33 slides upward along the ink return stamp 32, pushing the stamp surface of the ink return stamp 32 to contact the object to complete the stamping. The ink box 34 stores the ink. When the ink pump 35 receives the power signal and starts, it can transport the ink in the ink box 34 to the inside of the ink return stamp 32 through the ink pipe 36 to complete the automatic ink replenishment operation.

[0034] Please refer to it again. Figures 7 to 10 A push rod 41 is fixedly connected to the upper end of the pressure ring 33. The upper end of the push rod 41 passes through and is slidably connected to the middle of the support plate 31. A mounting box 42 is fixedly connected to the upper end of the support plate 31. The upper end of the push rod 41 passes through the mounting box 42 and is slidably connected to the inner cavity of the mounting box 42. A third gear 43 is rotatably connected to the inner cavity of the mounting box 42 through a damping bearing. A wire 44 is fixedly connected to the shaft of the third gear 43. The wire 44 passes through the mounting box 42 and is electrically connected to the oil pump 35. A cam 45 is rotatably connected to the inner cavity of the mounting box 42 via a ball bearing. The outer ring of the cam 45 meshes with the tooth groove of the third gear 43. A button 46 is fixedly connected in the tooth groove of the third gear 43. The button 46 is electrically connected to the wire 44.

[0035] It should be noted that a contact power supply device is provided between the wire 44 and the third gear 43, which is intended to ensure that the rotation of the third gear 43 will not affect the connection with the wire 44. Button 46 is used to control the operation of oil pump 35; The outer ring of the cam 45 is provided with only one tooth, which is designed so that the cam 45 can only drive the third gear 43 to rotate one tooth per revolution, and the third gear 43 can only trigger the button 46 once per revolution, so as to avoid excessive oil replenishment and causing problems. The number of teeth on the third gear 43 should be set according to actual needs to avoid excessive or insufficient oil replenishment affecting the use of the device.

[0036] In this embodiment, when the pressure ring 33 rises, it pushes the top rod 41 to rise synchronously. The rise of the top rod 41 drives the rack 52 to rise as a whole. When the cam 45 rotates and drives the third gear 43 to rotate, the convex teeth will mesh with the tooth groove of the third gear 43 and drive it to rotate. As the number of stampings increases, the third gear 43 will gradually rotate until the convex teeth of the cam 45 press against the button 46. After the button 46 is triggered, it will conduct the circuit of the oil pump 35 through the wire 44, so that the oil pump 35 starts to complete the oil replenishment.

[0037] Please refer to it again. Figures 8 to 11 The rear end of the cam 45 is fixedly connected to the fourth gear 51, and the middle part of the push rod 41 is provided with a through groove, and a rack 52 is slidably connected in the through groove. The front of the rack 52 is located below the fourth gear 51. A magnetic plate 53 is fixedly connected to the middle of the rear end of the rack 52, and a magnetic block 54 is fixedly connected to the rear side of the inner cavity of the mounting box 42, with the magnetic block 54 located behind the magnetic plate 53.

[0038] It should be noted that each time the rack 52 rises, it can drive the fourth gear 51 and the cam 45 to rotate one revolution. The upper end of the rack 52 is provided with a ramp, and the overall thickness of the rack 52 should be less than the thickness of the push rod 41. This is intended so that when the push rod 41 rises, the mounting box 42 can use the ramp at the upper end of the rack 52 to press the rack 52 back into the inner cavity of the push rod 41, so as to avoid driving the fourth gear 51 to rotate in the opposite direction again when descending, which would affect the normal operation of the oil replenishment program. The magnetic plates 53 and 54 have the same magnetic poles on their adjacent sides. This is intended to use the principle of like poles repulsion to allow the push rod 41 to descend to the designated position. Then, the magnetic block 54 uses magnetic force to push the magnetic plates 53 and rack 52 back to their original positions, so that the rack 52 can drive the fourth gear 51 to rotate again. The rack 52 is a U-shaped structure with both its upper and lower ends slidably connected to the inner cavity of the push rod 41, thereby limiting the range of motion of the rack 52.

[0039] In this embodiment, when the push rod 41 rises, the rack 52 drives the fourth gear 51 and the cam 45 to rotate one revolution, completing one drive of the third gear 43. During the rising process, the inner wall of the mounting box 42 will press the upper slope of the rack 52, pressing the rack 52 into the inner cavity of the push rod 41, preventing the rack 52 from driving the fourth gear 51 to rotate in the opposite direction during the descent. After the push rod 41 returns to its original position with the pressure ring 33, the magnetic block 53 and the magnetic plate 54 are aligned. The magnetic force of like poles repelling each other will push the rack 52 out of the push rod 41, completing the reset. When the push rod 41 rises again, it can drive the fourth gear 51 to rotate again, ensuring that the cam 45 completes one rotation drive for each stamping, stably triggering the oil replenishment program. Example 2

[0040] A method of using a gantry-type loading and unloading robot, applicable to any of the gantry-type loading and unloading robots described above, comprising: S1: Position adjustment, the support rod 16 moves along the XYZ axis of the main body 10 to control the position of the mechanical claw 22, so that the mechanical claw 22 is close to the object; S2: Stamping. When the mechanical claw 22 approaches the object, the return stamp 32 and the pressure ring 33 will touch the object first and stamp the object to leave a mark. S3: Refilling oil, the return oil stamp 32 will drive the top rod 41 to rise and fall once each time it is stamped. The top rod 41 will drive the fourth gear 51 and cam 45 to rotate one revolution through the rack 52. The rotation of cam 45 will drive the third gear 43 to rotate one tooth until cam 45 touches button 46, which controls the oil box 34 to refill oil into the return oil stamp 32. S4: Conveying. After stamping, the mechanical claw 22 will grip the object and slide along the main body 10 to move the object to the designated position to complete the conveying.

[0041] In this embodiment, when performing the S2 operation, the mechanical claw 22 should be driven into the open state first to avoid affecting the stamping operation; When performing S2 operations, if the object is in the loading state, there is no need to stamp it; simply clamp it. If it is in the unloading state, then stamp it to leave a mark.

[0042] The working principle of this invention is as follows: When in use, the electric guide rail 11 can drive the main body 10 to slide left and right in the horizontal direction. The first motor 13 drives the first gear 14 to rotate, which drives the slide plate 12 to adjust along the Y-axis direction of the main body 10. The second motor 17 drives the second gear 18 to rotate, which drives the support rod 16 to adjust its position along the Z-axis direction of the slide plate 12. After the mounting plate 21 moves above the object along with the support rod 16, the camera 25 identifies and positions the object. Before clamping the object, the return ink stamp 32, after descending with the mounting plate 21, first contacts the object surface. The pressure ring 33, under pressure, slides upwards along the return ink stamp 32, pushing the stamp's surface to contact the object and complete the stamping. As the pressure ring 33 rises, it pushes the top rod 41 to rise synchronously. The top rod 41 uses the rack 52 to drive the fourth gear 51 and cam 45 to rotate one revolution, completing one drive of the third gear 43. When the cam 45 rotates, pushing the third gear 43 to rotate, the convex teeth mesh with the tooth groove of the third gear 43, causing it to rotate. As the number of stamps increases, the third gear 43 gradually rotates until the convex teeth reach their maximum rotation. The protruding teeth of wheel 45 press against button 46. After button 46 is triggered, it will conduct the circuit of oil pump 35 through wire 44, so that oil pump 35 can start to complete oil replenishment. During the process of the push rod 41 rising, the inner wall of mounting box 42 will press the upper slope of rack 52, pressing rack 52 into the inner cavity of push rod 41, so as to prevent rack 52 from driving the fourth gear 51 to rotate in the opposite direction during the descent. When push rod 41 returns to its original position with pressure ring 33, magnetic block 53 and magnetic plate 54 are aligned. The magnetic force of like poles repelling each other will push rack 52 out of push rod 41 to complete the reset. When push rod 41 rises again, it can drive the fourth gear 51 to rotate again, ensuring that cam 45 will complete one rotation drive for each stamping, stably triggering the oil replenishment program.

[0043] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A gantry-type loading and unloading robot, characterized in that: include: The main body (10) has a support rod (16) on its side. The clamping part (20) includes a mechanical claw (22), and a camera (25) is provided on the side of the mechanical claw (22). Stamping part (30), the stamping part (30) includes an oil return stamp (32), the lower end of the oil return stamp (32) is connected to a pressure ring (33), and an oil box (34) is provided above the oil return stamp (32); The control unit (40) includes a push rod (41) connected above the pressure ring (33), an installation box (42) is provided above the return stamp (32), a third gear (43) is provided inside the installation box (42), a cam (45) is connected inside the installation box (42), and a button (46) is provided on the outer ring of the third gear (43). The drive unit (50) includes a fourth gear (51) connected to a cam (45), and a rack (52) slidably connected to the inner cavity of the push rod (41), which meshes with the fourth gear (51). When the pressure ring (33) is pressed down, it drives the push rod (41) and rack (52) to rise, causing the fourth gear (51) to rotate, which in turn causes the cam (45) to drive the third gear (43) to rotate and touch the button (46), controlling the oil box (34) to replenish the oil stamp (32).

2. The gantry-type loading and unloading robot according to claim 1, characterized in that: Electric guide rails (11) are provided on both the front and rear sides of the lower end of the main body (10). The main body (10) is slidably connected to the inner cavity of the electric guide rail (11). A slide plate (12) is slidably connected to the side of the main body (10). A first motor (13) is fixedly installed in the middle of the slide plate (12). A first gear (14) is fixedly connected to the output shaft of the first motor (13). A first helical gear (15) is fixedly connected to the side of the main body (10). The outer ring of the first gear (14) meshes with the surface of the first helical gear (15). A support rod (16) is slidably connected to the middle of the slide plate (12). A second motor (17) is fixedly installed in the middle of the slide plate (12). A second gear (18) is fixedly connected to the output shaft of the second motor (17). A second helical gear (19) is fixedly connected to the front of the support rod (16). The outer ring of the second gear (18) meshes with the outer ring of the second helical gear (19).

3. The gantry-type loading and unloading robot according to claim 2, characterized in that: The clamping part (20) also includes a mounting plate (21), which is fixedly connected to the bottom of the support rod (16). A mechanical claw (22) is fixedly installed at the lower end of the mounting plate (21). A clamping plate (23) is rotatably connected to the lower end of the mechanical claw (22) through a torsion spring shaft. A rubber strip (24) is fixedly connected to the inner ring of the clamping plate (23). A camera (25) is fixedly connected to the middle part of the mounting plate (21).

4. The gantry-type loading and unloading robot according to claim 3, characterized in that: The stamping part (30) also includes a support plate (31), which is fixedly connected to the side of the mounting plate (21). The lower end of the support plate (31) is fixedly connected to a return oil stamp (32), and the lower end of the return oil stamp (32) is slidably connected to a pressure ring (33).

5. The gantry-type loading and unloading robot according to claim 4, characterized in that: An oil box (34) is fixedly connected to the upper end of the support plate (31), and an oil pump (35) is fixedly connected to the upper end of the support plate (31). An oil pipe (36) is connected to the inlet and outlet of the oil pump (35). The oil pipe (36) at the inlet is connected to the oil box (34), while the oil pipe (36) at the outlet passes through the support plate (31) and is connected to the return oil stamp (32).

6. The gantry-type loading and unloading robot according to claim 5, characterized in that: The upper end of the pressure ring (33) is fixedly connected to a push rod (41). The upper end of the push rod (41) passes through and is slidably connected to the middle of the support plate (31). The upper end of the support plate (31) is fixedly connected to a mounting box (42). The upper end of the push rod (41) passes through the mounting box (42) and is slidably connected to the inner cavity of the mounting box (42). The inner cavity of the mounting box (42) is rotatably connected to a third gear (43) through a damping bearing. A wire (44) is fixedly connected to the shaft of the third gear (43). The wire (44) passes through the mounting box (42) and is electrically connected to the oil pump (35).

7. The gantry-type loading and unloading robot according to claim 6, characterized in that: The inner cavity of the mounting box (42) is rotatably connected to a cam (45) via a ball bearing. The outer ring of the cam (45) meshes with the tooth groove of the third gear (43). A button (46) is fixedly connected in the tooth groove gap of the third gear (43). The button (46) is electrically connected to the wire (44).

8. The gantry-type loading and unloading robot according to claim 7, characterized in that: The rear end of the cam (45) is fixedly connected to the fourth gear (51), and the middle part of the push rod (41) is provided with a through groove, and a rack (52) is slidably connected in the through groove. The front of the rack (52) is located below the fourth gear (51).

9. The gantry-type loading and unloading robot according to claim 8, characterized in that: A magnetic plate (53) is fixedly connected to the middle of the rear end of the rack (52), and a magnetic block (54) is fixedly connected to the rear side of the inner cavity of the mounting box (42), and the magnetic block (54) is located on the rear side of the magnetic plate (53).

10. A method of using a gantry-type loading and unloading robot, characterized in that: The gantry-type loading and unloading robot applicable to any one of claims 1 to 9 includes: S1: Position adjustment, the support rod (16) moves along the XYZ axis of the main body (10) to control the position of the mechanical claw (22) so that the mechanical claw (22) is close to the object; S2: Stamping. When the mechanical claw (22) approaches the object, the return stamp (32) and the pressure ring (33) will touch the object first and stamp the object. S3: Refilling oil, returning oil stamp (32) Each time the stamp is stamped, the top rod (41) will be driven to rise and fall once. The top rod (41) will drive the fourth gear (51) and cam (45) to rotate one revolution through the rack (52). The rotation of cam (45) will drive the third gear (43) to rotate one tooth until cam (45) touches the button (46) to control the oil box (34) to refill oil into the returning oil stamp (32); S4: After stamping, the mechanical claw (22) will hold the object and slide along the main body (10) to move the object to the designated position to complete the transport.

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