Gantry truss lifting, discharging and stacking manipulator
By designing a gantry truss lifting and stacking robot, the robotic arms and mechanical claw components are used to achieve automatic cutting and stacking, solving the problems of low cutting efficiency, high labor intensity and safety hazards in the existing technology, and achieving safe and efficient tobacco leaf cutting and stacking.
Patent Information
- Application Number
- CN202421721683.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-19
- Publication Date
- 2025-04-29
- Estimated Expiration
- 2034-07-19
AI Technical Summary
During tobacco transportation, the prior art cutting methods are inefficient and labor-intensive, and have safety hazards, which may lead to the breaking of tobacco leaves and secondary breaking.
A gantry truss lifting and stacking robot is designed to drive the robot arm movable seat and mechanical claw assembly to move along the length of the frame through the connecting frame to realize automatic loading and stacking.
It achieves no manual cutting, reduces the labor intensity of workers, avoids tobacco leaf breakage and secondary breakage, and simplifies the stacking process.
Smart Images
Figure CN222808901U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of manipulators, in particular to a gantry truss lifting material unloading and stacking manipulator. Background Art
[0002] During tobacco transportation, tobacco bales are transported by loading them onto trucks. After arriving at the destination, most unloading methods involve manually dropping the bales off the truck, which can easily cause the tobacco leaves to break. The bales are then transported to designated locations for storage by hand or by forklift. This unloading method is not only inefficient, but also labor-intensive for workers and poses safety risks. During the unloading process, workers often step on the bales, which results in secondary breakage of the tobacco raw materials. Utility Model Content
[0003] In order to overcome the defects of the prior art, the utility model provides a gantry truss lifting unloading stacking manipulator aimed at solving the problems in the prior art.
[0004] The technical solution adopted by the utility model to solve its technical problems is: a gantry truss lifting unloading and stacking robot, including a frame body on both sides, a movable robot device is installed on the upper end of the frame body on both sides, the robot device includes a connecting frame, both ends of the connecting frame are connected to the frame bodies on both sides through a driving plate assembly to enable the connecting frame to move along the length direction of the frame body, a robot arm movable seat is movably installed on the upper end of the connecting frame, a robot arm is inserted in the robot arm movable seat to enable the robot arm to move up and down, and a robot claw assembly is installed on the lower end of the robot arm.
[0005] In the above-mentioned gantry truss lifting, unloading and stacking robot, a first linear guide is installed at the upper end of the frame along its length direction, and the driving plate assembly includes a connecting plate, and the lower end of the connecting plate is connected to the first linear guide through a first slider, and a first rack is installed on one side of the first linear guide, and the end of the connecting frame is installed on the connecting plate, and a first motor is installed on the connecting plate, and a first gear is installed on the motor shaft of the first motor, and the first gear is meshed with the first rack.
[0006] In the above-mentioned gantry truss lifting, unloading and stacking robot, a second linear guide is installed on the upper end of the connecting frame, a second rack is installed on one side of the second linear guide, slides are installed on both sides of the movable seat of the robot arm, the lower end of the slide is connected to the second linear guide through a second slider, a second motor is installed on the slide, and a second gear is installed on the motor shaft of the second motor, and the second gear is meshed with the second rack.
[0007] In the above-mentioned gantry truss lifting, unloading and stacking robot, the robot arm movable seat has a hollow cavity for accommodating the robot arm, the inner wall of the hollow cavity is installed with a third slider, the surface of the robot arm is provided with a third linear guide, the third slider is connected to the third linear guide, at least one side of the robot arm is provided with a third rack located on one side of the third linear guide, the robot arm movable seat is installed with a third motor, the motor shaft of the third motor is installed with a third gear, and the third gear is meshed with the third rack.
[0008] In the above-mentioned gantry truss lifting unloading and stacking robot, the mechanical claw assembly includes a mounting plate installed at the lower end of the robot arm, the mounting plate is fixedly installed on the buffer seat, and swingable clamps are installed on both sides of the lower end of the buffer seat, and a material pressing plate installed at the lower end of the buffer seat is arranged between the clamps on both sides.
[0009] In the above-mentioned gantry truss lifting unloading and stacking robot, the buffer seat includes a buffer upper plate and a buffer lower plate, the buffer upper plate is fixedly connected to the mounting plate, the buffer upper plate and the buffer lower plate are connected by a guide rod, and the upper and lower ends of the guide rod are both provided with limiting nuts, and a buffer spring sleeved on the guide rod is provided between the buffer upper plate and the buffer lower plate.
[0010] In the above-mentioned gantry truss lifting unloading and stacking robot, both sides of the lower end of the buffer lower plate are installed with rotating shaft seats, a rotating shaft is installed between the rotating shaft seats, the clamping hand is fixedly installed on the rotating shaft, and the lower end of the buffer lower plate is also hingedly installed with a first cylinder, the cylinder shaft of the first cylinder is hingedly installed with a clamping seat, and the clamping seat is connected to the rotating shaft.
[0011] In the above-mentioned gantry truss lifting unloading and stacking robot, the upper end of the pressing plate is connected to a second cylinder, and the second cylinder is fixedly mounted on the buffer lower plate.
[0012] The beneficial effect of the utility model is that the connecting frame can drive the movable seat of the mechanical arm to move along the length direction of the frame, and the mechanical claw assembly can move up and down in the movable seat of the mechanical arm, so as to drive the mechanical claw assembly to grab the tobacco leaf packages on the vehicle and move them for unloading. The entire unloading process does not require manual unloading of the materials, which reduces the labor intensity of the workers and prevents the tobacco leaves from being broken due to the loss of the packages. Moreover, the stacking during the unloading process does not require manual operation, which prevents the tobacco leaves from being broken again due to trampling. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a three-dimensional structural schematic diagram of the gantry truss lifting unloading and stacking manipulator of the utility model.
[0014] Figure 2It is a schematic diagram of the three-dimensional structure of the connecting frame, the movable seat of the robotic arm, the robotic arm and the robotic claw assembly.
[0015] Figure 3 It is a schematic diagram of the three-dimensional structure of the drive plate assembly.
[0016] Figure 4 It is a schematic diagram of the partial three-dimensional structure of the movable seat of the robotic arm.
[0017] Figure 5 A schematic diagram of the partial three-dimensional structure of the robotic arm.
[0018] Figure 6 It is a schematic diagram of the three-dimensional structure of the mechanical claw assembly.
[0019] In the figure: frame 1, first linear guide 2, manipulator device 3, connecting frame 4, drive plate assembly 5, second linear guide 6, manipulator arm movable seat 7, manipulator arm 8, mechanical claw assembly 9, connecting plate 10, first motor 11, first gear 12, first slider 13, first rack 14, slide plate 15, second slider 16, second motor 17, second gear 18, second rack 19, third motor 20, third slider 21, third rack 22, mounting plate 23, buffer upper plate 24, buffer lower plate 25, guide rod 26, buffer spring 27, rotating shaft seat 28, first cylinder 29, clamp seat 30, rotating shaft 31, clamp 32, pressing plate 33, second cylinder 34. DETAILED DESCRIPTION
[0020] The specific implementation methods of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these implementation methods is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each implementation method of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0021] Combination Figures 1 to 6The gantry truss lifting material stacking robot shown in the figure comprises a frame body 1 on both sides, and a movable manipulator device 3 is mounted on the upper end of the frame body 1 on both sides. The manipulator device 3 comprises a connecting frame 4, and both ends of the connecting frame 4 are connected to the frame bodies 1 on both sides through a driving plate assembly 5, so that the connecting frame 4 can move along the length direction of the frame body 1. A mechanical arm movable seat 7 is movably installed on the upper end of the connecting frame 4, and a mechanical arm 8 is inserted in the mechanical arm movable seat 7 to enable the mechanical arm 8 to move up and down. A mechanical claw assembly 9 is installed at the lower end of the mechanical arm 8; the frames on both sides of this embodiment A space is formed between the bodies 1 to accommodate vehicles. The connecting frame 4 can drive the mechanical arm movable seat 7 to move along the length direction of the frame body 1. At the same time, the mechanical claw assembly 9 can move up and down in the mechanical arm movable seat 7, so as to drive the mechanical claw assembly 9 to grab the tobacco leaf packages on the vehicle and move them for unloading. The entire unloading process does not require manual unloading, which reduces the labor intensity of workers and prevents tobacco leaves from being broken due to bag loss. Moreover, stacking during the unloading process does not require manual operation to prevent secondary breakage of tobacco leaves due to trampling.
[0022] See also Figure 3 In this embodiment, a first linear guide 2 is installed at the upper end of the frame 1 along its length direction, and the driving plate assembly 5 includes a connecting plate 10. The lower end of the connecting plate 10 is connected to the first linear guide 2 through a first slider 13. A first rack 14 is installed on one side of the first linear guide 2. The end of the connecting frame 4 is installed on the connecting plate 10. A first motor 11 is installed on the connecting plate 10. The motor shaft of the first motor is installed with a first gear 12, and the first gear 12 is meshed with the first rack 14; the first motor 11 drives the first gear 12 to rotate on the first rack 14, so that the connecting plate 10 drives the connecting frame 4 to move on the first linear guide 2, so that the mechanical claw assembly 9 can clamp and move materials on the vehicle.
[0023] See also Figure 2 and Figure 4 In this embodiment, a second linear guide 6 is installed at the upper end of the connecting frame 4, a second rack 19 is installed on one side of the second linear guide 6, and slides 15 are installed on both sides of the robot arm movable seat 7. The lower end of the slide 15 is connected to the second linear guide 6 through a second slider 16. A second motor 17 is installed on the slide 15, and a second gear 18 is installed on the motor shaft of the second motor 17. The second gear 18 is meshed with the second rack 19; the second gear 18 is driven by the second motor 17 to move on the second rack 19, thereby driving the robot arm movable seat 7 to move on the connecting frame 4, so as to facilitate the mechanical claw assembly 9 to adjust its position.
[0024] See also Figure 4 and Figure 5In this embodiment, the mechanical arm movable seat 7 has a hollow cavity for accommodating the mechanical arm 8, and the inner wall of the hollow cavity is installed with a third slider 21. The surface of the mechanical arm 8 is provided with a third linear guide rail, and the third slider 21 is connected to the third linear guide rail. At least one side of the mechanical arm 8 is provided with a third rack 22 located on one side of the third linear guide rail. A third motor 20 is installed on the mechanical arm movable seat 7, and the motor shaft of the third motor 20 is installed with a third gear, and the third gear is meshed with the third rack 22; the third motor 20 drives the third gear to move on the third rack 22, so that the mechanical arm 8 can move up and down on the third linear guide rail in the mechanical arm movable seat 7, so as to stack and clamp the tobacco bales, which is more flexible to use.
[0025] See also Figure 6 The mechanical claw assembly 9 of this embodiment includes a mounting plate 23 installed at the lower end of the mechanical arm 8, and the mounting plate 23 is fixedly installed on the buffer seat. Swingable clamping hands 32 are installed on both sides of the lower end of the buffer seat, and a pressing plate 33 installed at the lower end of the buffer seat is arranged between the clamping hands 32 on both sides; when the mechanical claw assembly 9 is pressed down, the tobacco leaf package can be buffered under the action of the buffer seat, and the tobacco leaf package can be clamped by swinging the clamping hands 32, and the pressing plate 33 is used to press against the surface of the tobacco leaf package, so that the tobacco leaf package is more stable when clamped to prevent shaking.
[0026] The buffer seat of this embodiment includes a buffer upper plate 24 and a buffer lower plate 25. The buffer upper plate 24 is fixedly connected to the mounting plate 23. The buffer upper plate 24 and the buffer lower plate 25 are connected by a guide rod 26. Limiting nuts are provided at the upper and lower ends of the guide rod 26. A buffer spring 27 is provided between the buffer upper plate 24 and the buffer lower plate 25 and is sleeved on the guide rod 26. Under the action of the buffer spring 27, the clamping hand 32 can better perform buffering before clamping the tobacco leaf package, thereby reducing the phenomenon of crushing the tobacco leaf package.
[0027] In this embodiment, rotating shaft seats 28 are installed on both sides of the lower end of the buffer lower plate 25, and a rotating shaft 31 is installed between the rotating shaft seats 28. The clamping hands 32 are fixedly installed on the rotating shaft 31. The lower end of the buffer lower plate 25 is also hingedly installed with a first cylinder 29, and the cylinder shaft of the first cylinder 29 is hingedly installed with a clamping seat 30, and the clamping seat 30 is connected to the rotating shaft 31; the first cylinder 29 can drive the rotating shaft 31 to rotate, thereby driving the clamping hands 32 to swing, so as to clamp the tobacco leaf package by the edge and release the tobacco leaf package.
[0028] The upper end of the pressing plate 33 of this embodiment is connected to a second cylinder 34, which is fixedly mounted on the buffer lower plate 25; the pressing plate 33 is pressed downward by the second cylinder 34, thereby preventing the tobacco bale from shaking when it is lifted when clamping the tobacco bale.
[0029] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.
Claims
1. A gantry truss lifting unloading stacking robot, comprising a frame (1) on both sides, characterized in that: A movable manipulator device (3) is mounted on the upper ends of the frames (1) on both sides. The manipulator device (3) comprises a connecting frame (4). Both ends of the connecting frame (4) are connected to the frames (1) on both sides via a driving plate assembly (5) so that the connecting frame (4) can move along the length direction of the frame (1). A manipulator arm movable seat (7) is movably mounted on the upper end of the connecting frame (4). A manipulator arm (8) is inserted into the manipulator arm movable seat (7) so that the manipulator arm (8) can move up and down. A manipulator claw assembly (9) is mounted on the lower end of the manipulator arm (8).
2. The gantry truss lifting unloading stacking manipulator according to claim 1 is characterized in that: A first linear guide rail (2) is installed at the upper end of the frame body (1) along its length direction; the drive plate assembly (5) comprises a connecting plate (10); the lower end of the connecting plate (10) is connected to the first linear guide rail (2) via a first slider (13); a first rack (14) is installed on one side of the first linear guide rail (2); an end of the connecting frame (4) is installed on the connecting plate (10); a first motor (11) is installed on the connecting plate (10); a first gear (12) is installed on the motor shaft of the first motor; the first gear (12) is meshed with the first rack (14).
3. The gantry truss lifting unloading stacking manipulator according to claim 1 is characterized in that: A second linear guide rail (6) is mounted on the upper end of the connecting frame (4), a second rack (19) is mounted on one side of the second linear guide rail (6), slide plates (15) are mounted on both sides of the mechanical arm movable seat (7), the lower end of the slide plate (15) is connected to the second linear guide rail (6) via a second slider (16), a second motor (17) is mounted on the slide plate (15), a second gear (18) is mounted on the motor shaft of the second motor (17), and the second gear (18) is meshed with the second rack (19).
4. The gantry truss lifting unloading stacking manipulator according to claim 3 is characterized in that: The mechanical arm movable seat (7) has a hollow cavity for accommodating the mechanical arm (8), the inner wall of the hollow cavity is installed with a third slider (21), the surface of the mechanical arm (8) is provided with a third linear guide rail, the third slider (21) is connected to the third linear guide rail, at least one side of the mechanical arm (8) is provided with a third rack (22) located on one side of the third linear guide rail, the mechanical arm movable seat (7) is installed with a third motor (20), the motor shaft of the third motor (20) is installed with a third gear, and the third gear is meshed with the third rack (22).
5. The gantry truss lifting unloading stacking manipulator according to claim 1 is characterized in that: The mechanical claw assembly (9) comprises a mounting plate (23) mounted at the lower end of the mechanical arm (8), the mounting plate (23) being fixedly mounted on a buffer seat, swingable grippers (32) being mounted on both sides of the lower end of the buffer seat, and a material holding plate (33) mounted on the lower end of the buffer seat being arranged between the grippers (32) on both sides.
6. The gantry truss lifting unloading stacking manipulator according to claim 5 is characterized in that: The buffer seat comprises a buffer upper plate (24) and a buffer lower plate (25), the buffer upper plate (24) being fixedly connected to the mounting plate (23), the buffer upper plate (24) and the buffer lower plate (25) being connected via a guide rod (26), the upper and lower ends of the guide rod (26) being provided with limit nuts, and a buffer spring (27) sleeved on the guide rod (26) being provided between the buffer upper plate (24) and the buffer lower plate (25).
7. The gantry truss lifting unloading stacking manipulator according to claim 6 is characterized in that: A rotating shaft seat (28) is installed on both sides of the lower end of the buffer lower plate (25), a rotating shaft (31) is installed between the rotating shaft seats (28), and the clamping hand (32) is fixedly installed on the rotating shaft (31). The lower end of the buffer lower plate (25) is also hingedly installed with a first cylinder (29), and the cylinder shaft of the first cylinder (29) is hingedly installed with a clamping seat (30), and the clamping seat (30) is connected to the rotating shaft (31).
8. The gantry truss lifting unloading stacking manipulator according to claim 6 is characterized in that: The upper end of the pressing plate (33) is connected to a second cylinder (34), and the second cylinder (34) is fixedly mounted on the buffer lower plate (25).