Portal frame type cargo automatic grabbing and placing loading and unloading robot

Abstract

The portal frame type cargo automatic grabbing and placing loading and unloading robot comprises a supporting frame, a supporting plate is arranged in the supporting frame, the left side face and the right side face of the supporting plate are each provided with a sliding way, the interior of each sliding way is connected with a connecting block in a sliding mode through a sliding block, and the connecting blocks are arranged on the left side face and the right side face of the supporting plate. The bottom ends of the two connecting blocks are jointly and fixedly connected with a connecting plate, the connecting plate is located below the supporting plate, the bottom surface of the connecting plate is fixedly connected with a mounting plate, the interior of the mounting plate is fixedly connected with a hydraulic cylinder, and the bottom surface of the connecting plate is fixedly connected with two sets of hydraulic rods; the bottom ends of the two hydraulic rods are jointly and fixedly connected with an electric mechanical arm. According to the device, through the arranged electric mechanical arm, under the cooperation of a hydraulic rod and a hydraulic cylinder, the electric mechanical arm plays a role in supporting and protecting the device, and the situation that when the electric mechanical arm loads and unloads heavy goods, the weight of the goods is too large, and consequently the connecting position of the electric mechanical arm and the connecting plate is broken is prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of gantry frames, in particular to a gantry-type cargo automatic grabbing, placing and loading and unloading robot. Background Art

[0002] Gantry, also known as mobile lifting gantry, is a small lifting gantry developed according to the daily production needs of medium and small factories (companies) to carry equipment, warehouse goods in and out, lift and repair heavy equipment and transport materials.

[0003] The gantry is a portal frame composed of two columns and a crossbeam for vertical transportation of materials and small components. The lifting height is 15 to 30 meters. It is suitable for mold manufacturing, auto repair factories, mines, civil construction sites and other occasions where lifting is required. It is commonly used for material transportation and the up and down use of construction personnel in construction. The realization of mechanization of lifting can reduce manpower, reduce production and operation costs, and improve work efficiency. However, when facing heavier goods, the existing gantry loading and unloading robots have excessive weight and long-term work, which causes damage to the mechanical arm, resulting in the inability to load and unload the goods normally. For this reason, we propose a gantry-type cargo automatic grasping and placing loading and unloading robot to solve the above problem. Utility Model Content

[0004] The utility model aims to provide a gantry-type cargo automatic grabbing and placing loading and unloading robot to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A gantry-type automatic cargo grabbing, placing and loading and unloading robot comprises a support frame, a support plate is provided inside the support frame, a slideway is provided on the left side and the right side of the support plate, a connecting block is slidably connected to the inside of each slideway through a slider, the bottom ends of two connecting blocks are commonly fixedly connected to a connecting plate, the connecting plate is located below the support plate, the bottom surface of the connecting plate is fixedly connected to a mounting plate, a hydraulic cylinder is fixedly connected to the inside of the mounting plate, two groups of hydraulic rods are fixedly connected to the bottom surface of the connecting plate, an electric mechanical arm is commonly fixedly connected to the bottom ends of the two groups of hydraulic rods, and the output end of the hydraulic cylinder is fixedly connected to the electric mechanical arm.

[0007] In a further embodiment, a slot is provided on the upper surface of the support plate, and a symmetrical first bearing is fixedly embedded in the inner wall of the slot, the inner rings of the two first bearings are commonly fixedly connected with a first screw, the outer surface of the first screw is threadedly connected with a threaded block, and the bottom surface of the threaded block is fixedly connected to the connecting plate.

[0008] In a further embodiment, a mounting groove is provided on the upper surface of the support plate, a driving motor is fixedly connected inside the mounting groove, and an output end of the driving motor is fixedly connected to the first screw rod.

[0009] In a further embodiment, the inner side wall of the support frame is provided with symmetrical sliding grooves, the inner side wall of each sliding groove is fixedly embedded with a second bearing, the inner ring of each group of the second bearings is fixedly connected with a second screw, and the two second screws are threadedly connected to the support plate through a threaded plate.

[0010] In a further embodiment, a servo motor is fixedly connected to the right side surface of the support frame, and an output end of the servo motor is fixedly connected to one of the second screw rods.

[0011] In a further embodiment, two groups of supporting legs are provided below the supporting frame, and top ends of the two groups of supporting legs are fixedly connected to the bottom surface of the supporting frame.

[0012] In a further embodiment, the bottom surface of each group of support legs is fixedly connected with a support pad, and the material of each group of support pads is rubber.

[0013] In a further embodiment, a fixing plate is placed below the support frame, and three sets of electronic induction scales are fixedly connected inside the fixing plate.

[0014] In a further embodiment, the upper surface of each group of the electronic induction scales is fixedly connected to a first signal sensor, and the bottom surface of the electric mechanical arm is fixedly connected to a second signal sensor.

[0015] In a further embodiment, a control panel is fixedly connected to the front side of one of the supporting legs, and the control panel is electrically connected to the drive motor, the servo motor, the first signal sensor, the second signal sensor, the hydraulic cylinder and the electric robotic arm through wires.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The device sets an electric mechanical arm, and under the cooperation of the hydraulic rod and the hydraulic cylinder, the two groups of hydraulic rods cooperate with each other, and the electric mechanical arm plays a supporting and protective role to prevent the electric mechanical arm from being damaged due to the excessive weight of the goods causing the connection between the electric mechanical arm and the connecting plate to break when the electric mechanical arm is loading and unloading heavy goods, and under the sliding connection of the slide, the friction generated by the movement of the electric mechanical arm is reduced, thereby increasing the service life of the electric mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional image of a gantry-type automatic cargo grabbing and placing loading and unloading robot.

[0019] Figure 2 A perspective view of a gantry-type automatic cargo grabbing and placing loading and unloading robot from the side.

[0020] Figure 3 A three-dimensional diagram of a top view of a gantry-type automatic cargo grabbing and placing loading and unloading robot.

[0021] Figure 4 A gantry-type cargo automatic grabbing and placing loading and unloading robot Figure 1 A schematic diagram of the enlarged structure in the middle.

[0022] Figure 5 It is a three-dimensional view of the front section of a gantry-type automatic cargo grabbing and placing loading and unloading robot.

[0023] In the figure: 1. support frame; 2. support leg; 3. control panel; 4. support pad; 5. fixing plate; 6. electronic induction scale; 7. first signal sensor; 8. servo motor; 9. connecting block; 10. second screw rod; 11. second bearing; 12. electric manipulator; 13. driving motor; 14. mounting groove; 15. connecting plate; 16. threaded block; 17. hydraulic rod; 18. mounting plate; 19. first bearing; 20. notch; 21. slide groove; 22. slideway; 23. second signal sensor; 24. first screw rod; 25. support plate; 26. hydraulic cylinder. DETAILED DESCRIPTION

[0024] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figure 1-4 In the utility model, a gantry type cargo automatic grabbing and placing loading and unloading robot comprises a support frame 1, a support plate 25 is arranged inside the support frame 1, a slideway 22 is provided on the left side and the right side of the support plate 25, a connecting block 9 is slidably connected to the inside of each slideway 22 through a slider, a connecting plate 15 is fixedly connected to the bottom ends of the two connecting blocks 9, the connecting plate 15 is located below the support plate 25, the bottom surface of the connecting plate 15 is fixedly connected to the mounting plate 18, a hydraulic cylinder 26 is fixedly connected to the inside of the mounting plate 18, two groups of hydraulic rods 17 are fixedly connected to the bottom surface of the connecting plate 15, an electric mechanical arm 12 is fixedly connected to the bottom ends of the two groups of hydraulic rods 17, an output end of the hydraulic cylinder 26 is fixedly connected to the electric mechanical arm 12, and the hydraulic cylinder 26 is provided to support the electric mechanical arm 12 in cooperation with the hydraulic rod 17 to prevent the electric mechanical arm 12 from being damaged due to excessive cargo weight.

[0028] The upper surface of the support plate 25 is provided with a notch 20, and the inner side wall of the notch 20 is fixedly inlaid with a symmetrical first bearing 19, the inner rings of the two first bearings 19 are fixedly connected with a first screw 24, the outer surface of the first screw 24 is threadedly connected with a thread block 16, and the bottom surface of the thread block 16 is fixedly connected to the connecting plate 15, and the upper surface of the support plate 25 is provided with a mounting groove 14, and the inside of the mounting groove 14 is fixedly connected with a drive motor 13, and the output end of the drive motor 13 is fixedly connected to the first screw 24. The inner side wall of the support frame 1 is provided with a There are symmetrical slide grooves 21, and the inner wall of each slide groove 21 is fixedly inlaid with a second bearing 11. The inner ring of each group of second bearings 11 is fixedly connected with a second screw 10. The two second screws 10 are threadedly connected to the support plate 25 through a threaded plate. The right side of the support frame 1 is fixedly connected with a servo motor 8, and the output end of the servo motor 8 is fixedly connected to one of the second screws 10. Through the set servo motor 8, the servo motor 8 drives the electric mechanical arm 12 to move through the second screw 10, which is convenient for loading and unloading of goods.

[0029] Two groups of support legs 2 are provided below the support frame 1, and the top ends of the two groups of support legs 2 are fixedly connected to the bottom surface of the support frame 1, and the bottom surface of each group of support legs 2 is fixedly connected to a support pad 4, and the material of each group of support pads 4 is rubber. A fixing plate 5 is placed below the support frame 1, and three groups of electronic induction scales 6 are fixedly connected inside the fixing plate 5, and the upper surface of each group of electronic induction scales 6 is fixedly connected to a first signal sensor 7, and the bottom surface of the electric mechanical arm 12 is fixedly connected to a second signal sensor 23. A control panel 3 is fixedly connected to the front of one of the support legs 2, and the control panel 3 is electrically connected to the drive motor 13, the servo motor 8, the first signal sensor 7, the second signal sensor 23, the hydraulic cylinder 26 and the electric mechanical arm 12 through wires. The electronic induction scale 6 is provided to facilitate the staff to check the weight of each cargo through the electronic induction scale 6.

[0030] The working principle of the utility model is:

[0031] When in use, the staff moves the goods to the electronic induction scale 6 above the fixed plate 5, and then starts the drive motor 8 and the servo motor 13. The drive motor 8 drives the support plate 25 to move horizontally through the first screw 10, and then the servo motor 13 drives the electric mechanical arm 12 to move forward and backward through the second screw 24. During the movement, the first signal sensor 7 and the second signal sensor 23 sense each other. When they move to the appropriate position, the drive motor 8 and the servo motor 13 are stopped. Then, driven by the hydraulic cylinder 26, the electric mechanical arm 12 is raised and lowered to load and unload the goods, and the two sets of hydraulic rods 17 always support and protect the electric mechanical arm 12 during the loading and unloading process, so that the electric mechanical arm 12 completes the loading and unloading of the goods.

[0032] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A gantry type cargo automatic grabbing and placing loading and unloading robot, characterized in that: The invention comprises a support frame (1), wherein a support plate (25) is provided inside the support frame (1), a slideway (22) is provided on the left side and the right side of the support plate (25), the inside of each slideway (22) is slidably connected to a connecting block (9) via a slider, the bottom ends of the two connecting blocks (9) are commonly fixedly connected to a connecting plate (15), the connecting plate (15) is located below the support plate (25), the bottom surface of the connecting plate (15) is fixedly connected to a mounting plate (18), the inside of the mounting plate (18) is fixedly connected to a hydraulic cylinder (26), the bottom surface of the connecting plate (15) is fixedly connected to two groups of hydraulic rods (17), the bottom ends of the two groups of hydraulic rods (17) are commonly fixedly connected to an electric mechanical arm (12), and the output end of the hydraulic cylinder (26) is fixedly connected to the electric mechanical arm (12).

2. The gantry type cargo automatic grabbing and placing loading and unloading robot according to claim 1, characterized in that: The upper surface of the support plate (25) is provided with a notch (20), and the inner side wall of the notch (20) is fixedly inlaid with a symmetrical first bearing (19), the inner rings of the two first bearings (19) are commonly fixedly connected with a first screw rod (24), the outer surface of the first screw rod (24) is threadedly connected with a thread block (16), and the bottom surface of the thread block (16) is fixedly connected to the connecting plate (15).

3. The gantry type cargo automatic grabbing and placing loading and unloading robot according to claim 2, characterized in that: The upper surface of the support plate (25) is provided with a mounting groove (14), the interior of the mounting groove (14) is fixedly connected with a driving motor (13), and the output end of the driving motor (13) is fixedly connected to the first screw rod (24).

4. The gantry type cargo automatic grabbing and placing loading and unloading robot according to claim 1, characterized in that: The inner wall of the support frame (1) is provided with symmetrical sliding grooves (21), and the inner wall of each sliding groove (21) is fixedly embedded with a second bearing (11), and the inner ring of each group of the second bearings (11) is fixedly connected with a second screw rod (10), and the two second screw rods (10) are threadedly connected to the support plate (25) through a threaded plate.

5. The gantry type cargo automatic grabbing and placing loading and unloading robot according to claim 1, characterized in that: A servo motor (8) is fixedly connected to the right side surface of the support frame (1), and an output end of the servo motor (8) is fixedly connected to one of the second screw rods (10).

6. The gantry type cargo automatic grabbing and placing loading and unloading robot according to claim 1, characterized in that: Two groups of support legs (2) are provided below the support frame (1), and the top ends of the two groups of support legs (2) are fixedly connected to the bottom surface of the support frame (1).

7. The gantry type cargo automatic grabbing and placing loading and unloading robot according to claim 6, characterized in that: The bottom surface of each group of support legs (2) is fixedly connected to a support pad (4), and the material of each group of support pads (4) is rubber.

8. The gantry type cargo automatic grabbing and placing loading and unloading robot according to claim 1, characterized in that: A fixing plate (5) is placed below the support frame (1), and three sets of electronic induction scales (6) are fixedly connected inside the fixing plate (5).

9. The gantry type cargo automatic grabbing and placing loading and unloading robot according to claim 8, characterized in that: The upper surface of each group of the electronic induction scales (6) is fixedly connected to a first signal sensor (7), and the bottom surface of the electric mechanical arm (12) is fixedly connected to a second signal sensor (23).

10. The gantry type cargo automatic grabbing and placing loading and unloading robot according to claim 6, characterized in that: A control panel (3) is fixedly connected to the front of one of the support legs (2), and the control panel (3) is electrically connected to the drive motor (13), the servo motor (8), the first signal sensor (7), the second signal sensor (23), the hydraulic cylinder (26) and the electric mechanical arm (12) through wires.

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