Gantry type transfer robot

Abstract

The utility model discloses a gantry type transfer robot which comprises a bottom frame, the upper surface of the bottom frame is fixedly connected with a first guide rail, the upper surface of a mounting plate is fixedly connected with a sliding adjustment electromagnetic chuck transfer mechanism, the lower surface of a side plate is fixedly connected with an electromagnetic chuck device, and the electromagnetic chuck device comprises an electromagnet, a first guide rail and a second guide rail. The lower surface of the electromagnet is fixedly connected with a permanent magnetic chuck, the upper surface of the electromagnetic chuck device is fixedly connected with a visual camera, the electromagnetic chuck carrying mechanism is adjusted in a sliding mode, lifting, carrying and placing of materials are achieved, automatic completion is achieved, convenience and rapidness are achieved, the material carrying efficiency is improved, and a gear and rack driving mode is adopted; the moving distance of the materials can be accurately controlled, the accuracy of the placing position is guaranteed, parallax output with high accuracy can be obtained by arranging the visual detection and analysis device, and therefore the materials can be accurately and rapidly detected and recognized before being carried.

Description

TECHNICAL FIELD

[0001] The utility model relates to a carrying technical field, especially a gantry type carrying robot. BACKGROUND

[0002] The carrying robot has the advantages of high automation, flexible application, safety and reliability, high efficiency and convenient maintenance.

[0003] The existing material carrying is mostly manual operation, which mainly relies on human senses to judge whether the position is reached. Generally, after reaching the terminal around, multiple adjustments are always needed to reach the designated position, and the efficiency is relatively low. For example, a Chinese patent "Gantry Type Carrying Robot" (application number: CN202222455393.8) is disclosed, which includes a mobile robot, a loading device, and a mobile robot top bearing loading device. The loading device includes a three-axis gantry, a fork, and multiple cargo shelves. The fork is connected to the movable end of the three-axis gantry. The legs of each cargo shelf are connected to the carrying table of the three-axis gantry. The device mainly relies on human senses to judge whether the position is reached. Generally, after reaching the terminal around, multiple adjustments are always needed to reach the designated position, and the efficiency is relatively low, with limited applicability. SUMMARY

[0004] The utility model aims to solve one of the technical problems in the prior art, providing a gantry type carrying robot. The device is equipped with a sliding adjustment electromagnetic chuck carrying mechanism, which realizes the lifting, carrying, and placing of materials, and is automatically completed, convenient and fast, improves the material carrying efficiency, adopts a gear and rack driving method, can realize precise control of the material moving distance, ensures the accuracy of the placement position, is equipped with a visual detection and analysis device, can obtain high-precision parallax output, and can accurately and quickly detect and identify the material before carrying.

[0005] The utility model discloses still provide with above -mentioned one gantry type carrying robot, include: underframe, the upper surface fixed connection of underframe has first guide rail, the upper surface fixed connection of first guide rail has first sliding block, the upper surface fixed connection of first sliding block has mounting panel, the upper surface fixed connection of mounting panel has the sliding adjustment electromagnetic chuck carrying mechanism, the sliding adjustment electromagnetic chuck carrying mechanism includes: step motor, the output fixed connection of step motor has second gear, the lateral surface engagement of second gear has second rack, the lateral surface fixed connection of second rack has side plate, through the mutual cooperation between above -mentioned parts, realize the lifting, carrying and placing of material, automation is completed, convenient and fast, promote material carrying efficiency, adopt gear and rack drive mode, can realize accurate control material moving distance, guarantee the accuracy of the placement position.

[0006] The lower surface of the side plate is fixedly connected with an electromagnetic chuck device, the electromagnetic chuck device comprises: an electromagnet, the lower surface of the electromagnet is fixedly connected with a permanent magnet, and the upper surface of the electromagnetic chuck device is fixedly connected with a visual camera. Through the mutual cooperation between the above-mentioned parts, a high-precision parallax output can be obtained, so that the detection and identification of the material before carrying can be accurately and quickly carried out.

[0007] According to the gantry type carrying robot, the upper surface of the second sliding block is fixedly connected with a fixed plate, and the upper surface of the fixed plate is fixedly connected with the step motor. Through the mutual cooperation between the above-mentioned parts, convenient connection and fixation are facilitated.

[0008] According to the gantry type carrying robot, the upper surface of the mounting plate is fixedly connected with a Y-axis adjusting transmission mechanism, and the Y-axis adjusting transmission mechanism comprises: a second guide rail, the upper surface of the second guide rail is fixedly connected with a second sliding block, the upper surface of the mounting plate is fixedly connected with a second motor, the output end of the second motor is fixedly connected with a first pulley, the outer surface of the first pulley is sleeved with a belt, and one end of the belt is sleeved with a second pulley. Through the mutual cooperation between the above-mentioned parts, the moving distance of the Y-axis can be adjusted conveniently, and the material can be carried conveniently.

[0009] According to the gantry type carrying robot, the side surface of the underframe is fixedly connected with a first motor, and the output end of the first motor is fixedly connected with a first gear. Through the mutual cooperation between the above-mentioned parts, the rotation of the first gear can be driven conveniently, and the meshing of the gear can be facilitated.

[0010] According to the gantry type carrying robot, the lower surface of the underframe is fixedly connected with a profile frame, the bottom end side surface of the profile frame is fixedly connected with a reinforcing rib, and the lower surface of the profile frame is fixedly connected with a universal wheel. Through the mutual cooperation between the above-mentioned parts, the overall gantry truss can be moved conveniently, and carrying can be facilitated.

[0011] According to the gantry type carrying robot, the side surface of the fixed plate is fixedly connected with the side surface of the side plate, and the side surface of the side plate is fixedly connected with a drag chain.

[0012] According to the gantry type carrying robot, the side surface of the fixed plate is fixedly connected with the side surface of the side plate, and the side surface of the side plate is fixedly connected with a drag chain.

[0013] According to the gantry type carrying robot, the side surface of the fixed plate is fixedly connected with the side surface of the side plate, and the side surface of the side plate is fixedly connected with a drag chain.

[0014] Beneficial effects

[0015] Compared with the prior art, the sliding adjustment electromagnetic suction disc carrying mechanism is arranged, the lifting, carrying and placing of the material are realized, automation is completed, it is convenient and fast, the material carrying efficiency is improved, the gear and the rack driving mode are adopted, the accurate control of the material moving distance can be realized, the accuracy of the placing position is ensured, the visual detection and analysis device is arranged, the parallax output with high accuracy can be obtained, and therefore the detection and identification of the material before carrying can be accurately and quickly carried out. BRIEF DESCRIPTION OF DRAWINGS

[0016] The utility model is further explained below in combination with the drawings and examples;

[0017] Figure 1 It is the overall structural drawing of the gantry type carrying robot of the utility model;

[0018] Figure 2 It is the sliding adjustment electromagnetic suction disc carrying mechanism structure drawing of the gantry type carrying robot of the utility model;

[0019] Figure 3 It is the Y axis adjustment transmission mechanism structure drawing of the gantry type carrying robot of the utility model; Figure 2 It is the enlarged structure drawing of A in the utility model;

[0020] Figure 4 It is the enlarged structure drawing of A in the utility model; Figure 2 It is the enlarged structure drawing of B in the utility model;

[0021] Figure 5 It is the Y axis adjustment transmission mechanism structure drawing of the gantry type carrying robot of the utility model;

[0022] Legend:

[0023] 1, chassis; 2, first guide rail; 3, first slider; 4, mounting plate; 5, first motor; 6, first gear; 7, first rack; 8, second guide rail; 9, second slider; 10, fixed plate; 11, second motor; 12, first pulley; 13, belt; 14, second pulley; 15, stepper motor; 16, side plate; 17, second rack; 18, second gear; 19, electromagnetic chuck device; 20, electromagnet; 21, permanent magnet chuck; 22, profile rack; 23, universal wheel; 24, reinforcing rib; 25, drag chain; 26, visual camera. DETAILED DESCRIPTION

[0024] This part will describe the specific embodiments of the present application in detail, the preferred embodiments of the present application are shown in the drawings, the role of the drawings is to supplement the description of the text part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the present application, but it cannot be understood as a limitation on the protection scope of the present application.

[0025] Reference Figures 1-5The utility model discloses a kind of gantry type carrying robots, it includes: underframe 1, the side surface of underframe 1 is fixedly connected with first rack 7, first gear 6 is engaged with first rack 7, it is convenient to connect, the lower surface of underframe 1 is fixedly connected with sectional material frame 22, the bottom end side surface of sectional material frame 22 is fixedly connected with reinforcing rib 24, the lower surface of sectional material frame 22 is fixedly connected with universal wheel 23, it is convenient to move overall gantry truss, it is convenient to carry, the side surface of underframe 1 is fixedly connected with first motor 5, the output of first motor 5 is fixedly connected with first gear 6, it is convenient to engage gear, the upper surface of underframe 1 is fixedly connected with first guide rail 2, the upper surface of first guide rail 2 is fixedly connected with first sliding block 3, the upper surface of first sliding block 3 is fixedly connected with mounting plate 4, the upper surface of mounting plate 4 is fixedly connected with Y axis adjustment transmission mechanism, Y axis adjustment transmission mechanism includes: second guide rail 8, the upper surface of second guide rail 8 is fixedly connected with limit block, the upper surface of mounting plate 4 is fixedly connected with limit block by bolt, it is convenient to install and fix, the upper surface of second guide rail 8 is fixedly connected with second sliding block 9, the upper surface of second sliding block 9 is fixedly connected with fixed plate 10, the side surface of fixed plate 10 is fixedly connected with the side surface of side plate 16, the side surface of side plate 16 is fixedly connected with drag chain 25, it is convenient to move Z axis, the upper surface of fixed plate 10 is fixedly connected with step motor 15, it is convenient to connect and fix, the upper surface of mounting plate 4 is fixedly connected with second motor 11, the output of second motor 11 is fixedly connected with first pulley 12, the outer surface of first pulley 12 is sleeved with belt 13, one end of belt 13 is sleeved with second pulley 14, it is convenient to adjust the moving distance of Y axis, it is convenient to carry material, the upper surface of mounting plate 4 is fixedly connected with sliding adjustment electromagnetic chuck carrying mechanism, sliding adjustment electromagnetic chuck carrying mechanism includes: step motor 15, the output of step motor 15 is fixedly connected with second gear 18, the side surface of second gear 18 is engaged with second rack 17, the side surface of second rack 17 is fixedly connected with side plate 16, realize the lifting, carrying and placing of material, automation is completed, it is convenient and fast, improve material carrying efficiency, adopt gear and rack driving mode, can realize accurate control material moving distance, guarantee the accuracy of placement position.

[0026] The lower surface of side plate 16 is fixedly connected with electromagnetic chuck device 19, and the electromagnetic chuck device 19 comprises: an electromagnet 20, the lower surface of the electromagnet 20 is fixedly connected with permanent magnetic chuck 21, the upper surface of the electromagnetic chuck device 19 is fixedly connected with visual camera 26, can obtain higher disparity output, so as to accurately and quickly detect and identify the material before carrying.

[0027] Working principle: when using this device, first of all, the calibrating machine stops working, and the three image processing systems at the farthest end of the output roller of the calibrating machine work simultaneously, automatically detecting the number of workpieces within 6 meters on the roller line, and the total time is within 1 second. The image processing system has completed the visual detection function and delivered to the robot control system during the movement of the gantry robot. Secondly, according to the analysis of the vision camera 26, the order and respective position of the steel plate are determined, and then according to the information from the vision camera 26, the handling robot automatically moves to the position above the steel plate, according to the information from the vision camera 26, it is determined that some permanent magnet suction cups 21 work and some do not work, then the Z axis is lowered (with floating function) to make the permanent magnet suction cup 21 fall on the steel plate and press tightly, then the electromagnet 20 is powered on, so that the electromagnet 20 corresponding to the working position has magnetic attraction to the steel plate, after the steel plate is put down, according to the cutting program, another steel plate is handled, until all the steel plates within 12 meters in length can be handled.

[0028] The embodiments of the utility model are described in detail above in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range possessed by the ordinary skilled in the art without departing from the purpose of the utility model.

Claims

1. A gantry-type transport robot, characterized in that The application relates to a slide adjusting electromagnetic chuck conveying mechanism. The upper surface of the mounting plate (4) is fixedly connected with a Y-axis adjusting transmission mechanism, the Y-axis adjusting transmission mechanism comprises a second guide rail (8), the upper surface of the second guide rail (8) is fixedly connected with a second sliding block (9), the upper surface of the mounting plate (4) is fixedly connected with a second motor (11), the output end of the second motor (11) is fixedly connected with a first belt pulley (12), the outer surface of the first belt pulley (12) is sleeved with a belt (13), one end of the belt (13) is sleeved with a second belt pulley (14). The upper surface of the second sliding block (9) is fixedly connected with a fixed plate (10), and the upper surface of the fixed plate (10) is fixedly connected with the step motor (15).

2. A portal transport robot according to claim 1, characterized in that The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25).

3. A portal transfer robot according to claim 2, characterized in that The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25).

4. The gantry transport robot according to claim 1, characterized in that The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25).

5. The gantry transport robot according to claim 1, characterized in that The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25).

6. A portal transfer robot according to claim 3, characterized in that The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25).

7. A portal transfer robot according to claim 4, characterized in that The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25).

8. The gantry transport robot according to claim 2, characterized in that The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25). The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25). The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25). The side surface of the fixed plate (10) is fixedly connected with the side surface of the side plate (16), and the side surface of the side plate (16) is fixedly connected with a drag chain (25). 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