Manipulator gantry for logistics robot

Abstract

The utility model relates to the technical field of gantries, in particular to a manipulator gantry for a logistics robot, which comprises a gantry body, a left gripper component and a right gripper component, the left gripper component and the right gripper component are arranged on the gantry body in a relative sliding manner, and the left gripper component and the right gripper component are arranged on the gantry body in a sliding manner through matching of sliders and linear guide rails. The sliding block and the linear guide rail are arranged up and down in the height direction of the portal frame body, during use, the sliding block and the linear guide rail are arranged in the height direction of the portal frame body, and through cooperation of the bearing deviation preventing mechanism, the unbalance loading phenomenon generated when the left gripper assembly and the right gripper assembly fork goods is effectively prevented; the mechanical arm portal frame body for the logistics robot avoids the phenomenon that one side of the sliding block and one side of the linear guide rail are seriously abraded, guarantees stable and reliable sliding between the sliding block and the linear guide rail, prolongs maintenance of the sliding block and the linear guide rail, reduces maintenance cost, meanwhile, increases the cargo forking bearing capacity of the mechanical arm portal frame body for the logistics robot, and is suitable for the load capacity of more cargoes. And the applicability of the manipulator portal frame for the logistics robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of gantry frames, in particular to a manipulator gantry frame for a logistics robot. Background Art

[0002] In cargo storage equipment, the logistics robot forks the cargo through the manipulator on the gantry, and then stores or takes out the cargo. The existing Chinese utility model patent has the patent number 202222771101.1 and the application date 20221020. The invention is named as a manipulator grasping device, which mainly includes a left gripper assembly and a right gripper assembly on the gantry. The gantry is provided with a first control mechanism for controlling the rotation of the left gripper assembly and the right gripper assembly, and the gantry is provided with a second control mechanism for controlling the relative approach or distance between the left gripper assembly and the right gripper assembly. The gantry is provided with a linear guide rail, and the left gripper assembly and the right gripper assembly are both provided with a linear guide rail matching the linear guide rail. The slider is slidingly arranged on the linear guide rail. It can be seen that the existing left gripper assembly and the right gripper assembly are realized by cooperating with the slider and the linear guide rail to slide on the door frame. The slider is installed on the side of the left gripper assembly and the right gripper assembly close to the door frame, and the linear guide rail is installed on the side of the door frame. The slider and the linear guide rail are installed along one side of the door frame to the other side. In this installation method, when the fork tines of the left gripper assembly and the right gripper assembly extend outward and fork the goods, for some heavy-loaded goods, the left gripper assembly and the right gripper assembly tilt inward, which causes serious wear on one side of the slider and the linear guide rail in the long term, shortens the maintenance cycle of the door frame, increases maintenance costs, is not suitable for heavy-load environments, and also reduces the applicability of the door frame. Utility Model Content

[0003] The technical problem to be solved by the present invention is: in order to solve the problem that the existing left gripper assembly and the right gripper assembly are cooperated with the slider and the linear guide to achieve sliding on the door frame, the slider is installed on the side of the left gripper assembly and the right gripper assembly close to the door frame, the linear guide is installed on one side of the door frame, and the slider and the linear guide are installed along one side of the door frame toward the other side. However, such an installation method causes the left gripper assembly and the right gripper assembly to tilt inward for some heavy-loaded goods when the fork tines of the left gripper assembly and the right gripper assembly extend outward and fork the goods, which causes serious wear on one side of the slider and the linear guide in the long term, shortening the maintenance cycle of the door frame, increasing the maintenance cost, being not suitable for heavy-load environments, and reducing the applicability of the door frame. A manipulator door frame for a logistics robot is now provided.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a manipulator gantry for a logistics robot, including a gantry body and a left gripper assembly and a right gripper assembly relatively slidingly arranged on the gantry body, the left gripper assembly and the right gripper assembly are both slidably arranged on the gantry body through sliders and linear guides, the sliders and linear guides are arranged up and down along the height direction of the gantry body, and a load-bearing anti-deflection mechanism is provided between the gantry body and the left gripper assembly and between the gantry body and the right gripper assembly, the load-bearing anti-deflection mechanism is used to prevent deflection between the corresponding left gripper assembly or right gripper assembly and the gantry body. Compared with the existing technology, this solution sets the slider and linear guide along the height direction of the gantry body, and through the cooperation of the load-bearing anti-bias mechanism, effectively prevents the left gripper assembly and the right gripper assembly from being overloaded when forking goods, avoids severe wear on one side of the slider and the linear guide, ensures stable and reliable sliding between the slider and the linear guide, extends the maintenance of the slider and the linear guide, reduces maintenance costs, and also increases the load capacity of the manipulator gantry body for forking goods for a logistics robot, is suitable for the load capacity of more goods, and improves the applicability of a manipulator gantry for a logistics robot.

[0005] In order to realize the load-bearing anti-deflection mechanism, some preferred embodiments include a plurality of load-bearing anti-deflection mechanism, wherein the load-bearing anti-deflection mechanism includes a plurality of load-bearing rollers, and the plurality of load-bearing rollers are rotatably mounted on the portal body. The plurality of load-bearing rollers are arranged along the displacement direction of the left gripper assembly and the right gripper assembly, and the rotation center axes of the plurality of load-bearing rollers are arranged along the height direction of the portal body. One end of the left gripper assembly and the right gripper assembly extends out of the portal body and has an anti-deflection plate, and the anti-deflection plate is abutted against the load-bearing rollers. The load-bearing rollers are located between the corresponding anti-deflection plate and the left gripper assembly or the right gripper assembly. By rotatably arranging the load-bearing rollers on the portal body, the anti-deflection plates contact the load-bearing rollers when they move, thereby preventing the left gripper assembly or the right gripper assembly from deflecting from the portal body and increasing the load-bearing weight of the left gripper assembly and the right gripper assembly.

[0006] In some preferred embodiments, two sets of sliders and linear guide rails are provided between the left gripper assembly and the right gripper assembly and the portal body along the height direction of the portal body.

[0007] Because the left and right gripper assemblies are positioned one above the other on the mast body and are subject to their own weight, in order to better ensure stable and reliable sliding of the left and right gripper assemblies, in some preferred embodiments, the load-bearing anti-deflection mechanism is located between the two sets of sliders and the linear guide rails. By positioning the sliders of the left and right gripper assemblies at the top and the linear guide rails at the bottom providing support, stable and reliable operation of the left and right gripper assemblies is ensured.

[0008] In some preferred embodiments, a guide groove matching the anti-deflection plate is provided on the rear end surface of the door frame body, and one end of the anti-deflection plate is arranged in the guide groove.

[0009] The beneficial effects of the utility model are as follows: when the manipulator gantry of the logistics robot is in use, the slider and the linear guide are arranged along the height direction of the gantry body, and the cooperation of the load-bearing anti-bias mechanism effectively prevents the left gripper assembly and the right gripper assembly from being overloaded when forking goods, avoids serious wear on one side of the slider and the linear guide rail, ensures stable and reliable sliding between the slider and the linear guide rail, prolongs the maintenance of the slider and the linear guide rail, reduces maintenance costs, and also increases the load capacity of the manipulator gantry body for forking goods for the logistics robot, is suitable for the load weight of more goods, improves the applicability of the manipulator gantry for the logistics robot, and avoids the existing The left gripper assembly and the right gripper assembly are achieved by sliding on the gantry body through the cooperation of sliders and linear guides. The sliders are installed on the side of the left gripper assembly and the right gripper assembly close to the gantry, and the linear guides are installed on one side of the gantry body. The sliders and the linear guides are installed along the direction from one side of the gantry to the other side. In this installation method, when the fork tines of the left gripper assembly and the right gripper assembly extend outward and fork the goods, for some heavy-loaded goods, the left gripper assembly and the right gripper assembly will tilt inward, which will cause serious wear on one side of the slider and the linear guide in the long term, shortening the maintenance cycle of the gantry and increasing the maintenance cost. It is not suitable for heavy-load environments and also reduces the applicability of the gantry. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0011] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0012] Figure 2 It is the main view of the utility model;

[0013] Figure 3 It is a left view of the utility model;

[0014] Figure 4 It is a rear view of the utility model;

[0015] Figure 5 It is a top view of the utility model;

[0016] Figure 6 yes Figure 2 Middle AA section view;

[0017] Figure 7 yes Figure 6 A partial enlarged view of middle B;

[0018] Figure 8yes Figure 3 A partial enlarged view of center C;

[0019] Figure 9 yes Figure 4 A partial enlarged view of middle D;

[0020] Figure 10 yes Figure 5 A partial enlarged view of E in the middle.

[0021] In the figure: 1. gantry body, 2. left gripper assembly, 3. right gripper assembly, 4. slider, 5. linear guide rail, 6. load-bearing anti-deflection mechanism, 7. load-bearing roller, 8. anti-deflection plate, 9. guide groove. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below with reference to the following embodiments:

[0023] The present invention is not limited to the following specific embodiments. Based on the disclosure of this invention, a person skilled in the art can adopt a variety of other specific embodiments to implement the present invention. Any simple changes or modifications made to the design structure and concept of this invention fall within the scope of protection of this invention. It should be noted that the embodiments and features of the embodiments of this invention can be combined with each other unless there is a conflict.

[0024] In the description of the present invention, 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 orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 limiting the present invention. 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 the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0025] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0026] like Figure 1-10 As shown, a manipulator gantry for a logistics robot includes a gantry body 1, a left gripper assembly 2 and a right gripper assembly 3, the left gripper assembly 2 and the right gripper assembly 3 are relatively slidably arranged on the gantry body 1, the left gripper assembly 2 and the right gripper assembly 3 are both slidably arranged on the gantry body 1 through a slider 4 and a linear guide 5, the slider 4 and the linear guide 5 are arranged up and down along the height direction of the gantry body 1, and a load-bearing anti-deflection mechanism 6 is provided between the gantry body 1 and the left gripper assembly 2 and between the gantry body 1 and the right gripper assembly 3. The load-bearing anti-deflection mechanism 6 is used to prevent the corresponding left gripper assembly 2 or right gripper assembly 3 from deflecting from the gantry body 1. In this embodiment, the up and down direction of the gantry body 1 is the height direction and the Z axis, the left and right direction is the length direction and the X axis, and the front and back direction is the width direction and the Y axis.

[0027] The load-bearing and anti-deflection mechanism 6 includes a number of load-bearing rollers 7, which are rotatably installed on the portal body 1. The load-bearing rollers 7 are arranged along the displacement direction of the left gripper assembly 2 and the right gripper assembly 3, that is, the load-bearing rollers 7 are arranged along the X-axis direction, and the rotation center axes of the load-bearing rollers 7 are arranged along the height direction of the portal body 1, that is, the rotation center axes of the load-bearing rollers 7 are arranged along the Z-axis direction. One end of the left gripper assembly 2 and the right gripper assembly 3 extends out of the portal body 1 and has an anti-deflection plate 8. The anti-deflection plate 8 has a connecting section and a load-bearing section in sequence. The connecting section is fixed on the left gripper assembly 2 and the right gripper assembly 3, the connecting section is arranged along the Y-axis direction, and the load-bearing section is arranged along the Z-axis direction. The anti-deflection plate 8 is abutted against the load-bearing roller 7, and the load-bearing roller 7 is located between the corresponding anti-deflection plate 8 and the left gripper assembly 2 or the right gripper assembly 3.

[0028] Two groups of sliders 4 and linear guides 5 are arranged between the left gripper assembly 2 and the right gripper assembly 3 and the portal body 1 along the height direction of the portal body 1. The load-bearing anti-deflection mechanism 6 is located between the two groups of sliders 4 and the linear guides 5. A guide groove 9 matching the anti-deflection plate 8 is provided on the rear end face of the portal body 1, and one end of the anti-deflection plate 8 is arranged in the guide groove 9.

[0029] The gantry body 1 is provided with a first control mechanism for controlling the rotation of the left gripper assembly 2 and the right gripper assembly 3, and the gantry body 1 is provided with a second control mechanism for controlling the left gripper assembly 2 and the right gripper assembly 3 to move relatively close to or away from each other. The left gripper assembly 2 and the right gripper assembly 3 both include a rotary sleeve, a rotary shaft and a fork tine, the fork tine is fixed on the rotary shaft, and the rotary shaft is rotatably arranged on the rotary sleeve. The first control mechanism includes a first servo motor and a spline shaft, the first servo motor is arranged on the gantry body 1, and the spline shaft is rotatably arranged on the gantry body 1. The output end of the first servo motor is connected to the spline shaft for transmission, and the rotation The shaft and the spline shaft are connected to each other through a gear set. A first bevel gear is rotatably arranged on the rotary sleeve. A spline hole matching the spline shaft is opened on the first bevel gear. The spline shaft is arranged in the spline hole. A second bevel gear is arranged on the rotating shaft. The first bevel gear and the second bevel gear are engaged with each other. The second control mechanism includes a second servo motor and a screw. The second servo motor is arranged on the gantry body 1. The screw is rotatably arranged on the gantry body 1. The screw and the spline shaft are arranged parallel to each other. Two threaded sections with opposite rotation directions are arranged on the screw. The left gripper assembly 2 and the right gripper assembly 3 are respectively threadedly connected to the two threaded sections.

[0030] When the above-mentioned manipulator gantry of the logistics robot is adjusted, the first control mechanism controls the left gripper assembly 2 and the right gripper assembly 3 to rotate to the required position, and then the second servo motor at the second control mechanism drives the screw to rotate, and the screw drives the rotary sleeve of the left gripper assembly 2 and the rotary sleeve of the right gripper assembly 3 to move relatively closer or farther away, so that the slider 4 on the left gripper assembly 2 slides on the linear guide rail 5 on the gantry body 1, and the anti-deflection plate 8 on the left gripper assembly 2 is displaced on the bearing roller 7 on the gantry body 1, and the slider 4 on the right gripper assembly 3 slides on the linear guide rail 5 on the gantry body 1, and the anti-deflection plate 8 on the right gripper assembly 3 is displaced on the bearing roller 7 on the gantry body 1, so that the left gripper assembly 2 and the right gripper assembly 3 are adjusted to the required position;

[0031] During use, the goods are picked up by the fork tines on the left gripper assembly 2 and the right gripper assembly 3. At this time, the weight of the goods is pressed on the fork tines, and the fork tines are subjected to force and transmitted to the corresponding left gripper assembly 2 and right gripper assembly 3. At this time, the left gripper assembly 2 and the right gripper assembly 3 are subjected to force through the anti-deflection plate 8 and the load-bearing roller 7 behind the gantry body 1, as well as the slider 4 and the linear guide rail 5 between the left gripper assembly 2 and the right gripper assembly 3 and the gantry body 1, which increases the overall cargo load capacity of a manipulator gantry for a logistics robot and ensures that the left gripper assembly 2 and the right gripper assembly 3 will not be deflected on the gantry body 1.

[0032] The above-described preferred embodiments of the present invention are intended as a guide. Based on the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of the present invention. The technical scope of the present invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A manipulator gantry for a logistics robot, comprising a gantry body (1) and a left gripper assembly (2) and a right gripper assembly (3) relatively slidably arranged on the gantry body (1), characterized in that: The left gripper assembly (2) and the right gripper assembly (3) are both slidably arranged on the door frame body (1) through a slider (4) and a linear guide rail (5); the slider (4) and the linear guide rail (5) are arranged up and down along the height direction of the door frame; a load-bearing anti-deflection mechanism (6) is provided between the door frame and the left gripper assembly (2) and between the door frame and the right gripper assembly (3); the load-bearing anti-deflection mechanism (6) is used to prevent the corresponding left gripper assembly (2) or right gripper assembly (3) from deflecting from the door frame.

2. The manipulator gantry for a logistics robot according to claim 1, characterized in that: The load-bearing anti-deflection mechanism (6) includes a plurality of load-bearing rollers (7), and the plurality of load-bearing rollers (7) are rotatably mounted on the door frame body (1). The plurality of load-bearing rollers (7) are arranged along the displacement direction of the left gripper assembly (2) and the right gripper assembly (3), and the rotation center axes of the plurality of load-bearing rollers (7) are arranged along the height direction of the door frame body (1). One end of the left gripper assembly (2) and the right gripper assembly (3) extends out of the door frame body (1) and has an anti-deflection plate (8), and the anti-deflection plate (8) is abutted against the load-bearing roller (7). The load-bearing roller (7) is located between the corresponding anti-deflection plate (8) and the left gripper assembly (2) or the right gripper assembly (3).

3. The manipulator gantry for a logistics robot according to claim 1, characterized in that: Two groups of sliding blocks (4) and linear guide rails (5) are provided between the left gripper assembly (2), the right gripper assembly (3) and the mast body (1) along the mast height direction.

4. The manipulator gantry for a logistics robot according to claim 3, characterized in that: The load-bearing anti-deflection mechanism (6) is located between the two groups of slide blocks (4) and the linear guide rail (5).

5. The manipulator gantry for a logistics robot according to claim 1, characterized in that: The slider (4) is fixedly mounted on the corresponding left gripper assembly (2) or right gripper assembly (3), the linear guide rail (5) is fixedly mounted on the door frame body (1), and the slider (4) is slidably arranged above the linear guide rail (5).

6. The manipulator gantry for a logistics robot according to claim 1, characterized in that: A guide groove (9) matching the anti-deflection plate (8) is provided on the rear end surface of the door frame body (1), and one end of the anti-deflection plate (8) is arranged in the guide groove (9).

Images