Anti-collision detection device for Z-axis gantry of logistics truss robot

Abstract

The utility model relates to an anti-collision detection device for a Z-axis gantry of a logistics truss robot, which is characterized in that a grabbing component for grabbing goods is arranged on a tail-section gantry at the lowest end of the Z-axis gantry in a sliding manner and comprises a mounting plate in sliding fit with the tail-section gantry of the Z-axis gantry; a pair of pallet forks capable of rotationally stretching out or retracting is arranged below the mounting plate in an attached mode at an interval, a lifting electric cylinder for pulling up and resetting the gripper assembly is arranged in the middle of the mounting plate, a lining is connected to the end of a piston rod of the lifting electric cylinder, and a trigger steel plate is fixed to the bottom end face of the lining. And a proximity switch for controlling the Z-axis portal frame to stop descending when the trigger steel plate is detected is arranged on the mounting plate. According to the utility model, the proximity switch is arranged on the mounting plate of the gripper assembly, if the Z-axis portal frame continues to descend and an operator does not know when the gripper assembly grabs goods to descend in place, the proximity switch can control the Z-axis portal frame to stop once detecting the trigger steel plate, so as to prevent the Z-axis portal frame from impacting the ground.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an anti-collision detection device for the Z-axis gantry of a logistics truss robot. Background Art

[0002] With the continuous development of intelligent technology, the logistics industry more often uses truss robots for material transfer, realizing fully automated logistics transportation.

[0003] When the truss robot grabs materials, during the movement of the Z-axis gantry, due to uneven ground or the inclination of the gantry, once the operator fails to observe in time, the gantry will continue to descend and hit the ground, causing damage to the truss robot equipment. Content of the Utility Model

[0004] The technical problem to be solved by the utility model is: in order to overcome the deficiencies in the prior art, the utility model provides an anti-collision detection device that can effectively prevent the Z-axis gantry of a logistics truss robot from hitting the ground during the descending process.

[0005] The technical solution adopted by the utility model to solve its technical problem is: an anti-collision detection device for the Z-axis gantry of a logistics truss robot, the Z-axis gantry is a telescopic gantry, and the gripper assembly for grabbing goods is slidably arranged on the last section of the gantry at the lowest end of the Z-axis gantry. The gripper assembly includes a mounting plate slidably matched with the last section of the gantry of the Z-axis gantry, and a pair of forks that can be rotatably extended or retracted are arranged at a distance below the mounting plate in a fitting manner. A driving mechanism for driving the forks to rotate and extend or retract is respectively installed on the mounting plate corresponding to each fork.

[0006] A lifting electric cylinder for pulling the gripper assembly upward to reset is arranged at the middle position of the mounting plate. The end of the piston rod of the lifting electric cylinder is connected with a bushing, and a trigger steel plate is fixed on the bottom end surface of the bushing. A proximity switch for controlling the Z-axis gantry to stop descending when the trigger steel plate is detected is arranged on the mounting plate.

[0007] Specifically, sliders are respectively fixed on both sides of the mounting plate, and linear guide rails slidably matched with the sliders are installed on the last section of the gantry at the lowest end of the Z-axis gantry.

[0008] Furthermore, a partition plate is fixed at the bottom of the mounting plate, a through hole is opened on the partition plate, the end of the piston rod of the lifting electric cylinder is connected with a bushing, the bushing includes a bushing shaft and a bushing flange with an integral structure, the bushing shaft is in clearance fit with the through hole, and the trigger steel plate is fixed on the bottom end surface of the bushing flange.

[0009] Furthermore, the driving mechanism includes a fork seat fixed on the mounting plate. A planetary reducer is installed on the upper end surface of the fork seat. The input end of the planetary reducer is drivingly connected to a servo motor. A fork shaft is rotatably arranged in the fork seat. The output end of the planetary reducer is drivingly connected to the fork shaft. The fork is fixedly connected to the bottom end of the fork shaft.

[0010] The beneficial effects of the present utility model are as follows: By arranging a proximity switch on the mounting plate of the hand claw assembly, if the Z-axis gantry continues to descend when the hand claw assembly grabs the goods and reaches the in-place position and the operator is unaware, once the proximity switch detects the trigger steel plate, it can control the Z-axis gantry to stop, so as to prevent the Z-axis gantry from hitting the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present utility model will be further described below in conjunction with the drawings and embodiments.

[0012] Figure 1 is a three-dimensional structure diagram of the inner side direction of the present utility model.

[0013] Figure 2 is a three-dimensional structure diagram of the outer side direction of the present utility model.

[0014] Figure 3 is an installation structure diagram of the proximity switch of the present utility model.

[0015] In the figure: 1. Mounting plate, 2. Fork, 3. Lifting electric cylinder, 4. Bushing, 4-1. Bushing shaft, 4-2. Bushing flange, 5. Trigger steel plate, 6. Proximity switch, 7. Slide block, 8. Linear guide rail, 9. Baffle, 10. Fork seat, 11. Planetary reducer, 12. Servo motor, 13. Fork shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The present utility model will now be further described in detail with reference to the drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present utility model in a schematic manner, so they only show the components related to the present utility model.

[0017] As Figures 1 to 3 shown, a Z-axis gantry anti-collision detection device for a logistics truss robot. The Z-axis gantry used by the truss robot is a telescopic gantry. The hand claw assembly for grabbing goods is slidably arranged on the last section of the gantry at the lowest end of the Z-axis gantry.

[0018] The hand claw assembly includes a mounting plate 1. Slide blocks 7 are respectively fixed on both sides of the inner side of the mounting plate 1. The linear guide rails 8 slidably matched with the slide blocks 7 are installed on the last section of the gantry at the lowest end of the Z-axis gantry. Through the sliding cooperation between the slide blocks 7 and the linear guide rails 8, the sliding cooperation between the hand claw assembly and the last section of the gantry is realized.

[0019] A pair of rotatable and extendable or retractable forklifts 2 are provided at a distance below the lower edge of the fitting mounting plate 1. A driving mechanism for driving the forklifts 2 to rotate and extend or retract is respectively installed on the mounting plate 1 corresponding to each forklift 2.

[0020] The driving mechanism includes a forklift seat 10 fixed on the inner side surface of the mounting plate 1. A planetary reducer 11 is installed on the upper end surface of the forklift seat 10. The input end of the planetary reducer 11 is drivingly connected with a servo motor 12. A forklift shaft 13 is rotatably arranged in the forklift seat 10. The output end of the planetary reducer 11 is drivingly connected with the forklift shaft 13. The forklift 2 is fixedly connected to the bottom end of the forklift shaft 13. By driving the forklift shaft 13 to rotate through the servo motor 12, when grabbing goods, the forklift 2 rotates and extends out of the outer side surface of the mounting plate 1, and when not grabbing goods, the forklift 2 retracts to the inner side surface of the mounting plate 1.

[0021] A lifting electric cylinder 3 for pulling the gripper assembly up and resetting is arranged at the middle position of the inner side surface of the mounting plate 1. The end of the piston rod of the lifting electric cylinder 3 is threadedly connected with a bushing 4. The bushing 4 includes an integrally structured bushing shaft 4-1 and a bushing flange 4-2. A partition plate 9 is fixed at the bottom of the inner side surface of the mounting plate 1. A through hole is opened on the partition plate 9. The bushing shaft 4-1 is in clearance fit with the through hole. The bushing flange 4-2 is located at the bottom of the bushing shaft 4-1. A trigger steel plate 4 is fixed to the bottom end surface of the bushing flange 4-2. A proximity switch 6 for controlling the Z-axis gantry to stop descending when detecting the trigger steel plate 5 is arranged on the mounting plate 1.

[0022] When the truss robot operates, two sets of opposite Z-axis gantries are used in cooperation to grab goods. When the telescopic Z-axis gantry descends step by step, and finally the gripper assembly descends through the sliding fit with the last section of the gantry, the servo motor 12 is started to drive the forklift 2 to rotate and extend out of the outer side surface of the mounting plate 1 to prepare for extracting goods. If at this time the Z-axis gantry continues to descend and the operator is unaware, once the proximity switch 6 detects the trigger steel plate 4, it can control the Z-axis gantry to stop to prevent the Z-axis gantry from hitting the ground; after the forklift 2 grabs the goods, the lifting electric cylinder is started, and the bushing flange 4-2 is tightly attached to the bottom surface of the partition plate 9 to pull the gripper assembly up to the original position, and the Z-axis gantry ascends step by step to transfer the grabbed goods to the stacking place.

[0023] Inspired by the above ideal embodiments of the present invention, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An anti-collision detection device for the Z-axis gantry of a logistics truss robot. The Z-axis gantry is a telescopic gantry, and the gripper assembly for grasping goods slides on the last section of the gantry at the lowest end of the Z-axis gantry. It is characterized in that: The described hand-gripping assembly includes a mounting plate (1) that is slidably engaged with the end gantry of the Z-axis gantry. A pair of forks (2) that can rotate and extend or retract are provided at a distance below the mounting plate (1) in a fitting manner. A driving mechanism for driving the rotation and extension or retraction of the forks (2) is respectively installed on the mounting plate (1) corresponding to each fork (2). A lifting electric cylinder (3) for pulling the hand-gripping assembly upward to reset is provided at the middle position of the mounting plate (1). The end of the piston rod of the lifting electric cylinder (3) is connected with a bushing (4). A trigger steel plate (5) is fixed to the bottom end surface of the bushing (4). A proximity switch (6) for controlling the Z-axis gantry to stop descending when the trigger steel plate (5) is detected is arranged on the mounting plate (1).

2. The anti-collision detection device for the Z-axis gantry of the logistics truss robot according to claim 1, characterized in that: Sliders (7) are respectively fixed on both sides of the mounting plate (1). A linear guide rail (8) that is slidably engaged with the sliders (7) is installed on the end gantry at the lowest end of the Z-axis gantry.

3. The anti-collision detection device for the Z-axis gantry of the logistics truss robot according to claim 2, characterized in that: A baffle (9) is fixed to the bottom of the mounting plate (1). A through hole is provided on the baffle (9). The bushing (4) includes a bushing shaft (4-1) and a bushing flange (4-2) with an integral structure. The bushing shaft (4-1) is in clearance fit with the through hole. The trigger steel plate (5) is fixed to the bottom end surface of the bushing flange (4-2).

4. The anti-collision detection device for the Z-axis gantry of the logistics truss robot according to claim 1, wherein: The described driving mechanism includes a fork seat (10) fixed on the mounting plate (1). A planetary reducer (11) is installed on the upper end surface of the fork seat (10). The input end of the planetary reducer (11) is drivingly connected with a servo motor (12). A fork shaft (13) is rotatably arranged in the fork seat (10). The output end of the planetary reducer (11) is drivingly connected with the fork shaft (13). The fork (2) is fixedly connected to the bottom end of the fork shaft (13).

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