Multifunctional gantry truss manipulator

Abstract

The utility model discloses a multifunctional gantry truss manipulator, which relates to the technical field of truss manipulators, and comprises a mechanical arm and an end effector, a quick connecting device is arranged between the mechanical arm and the end effector, and the quick connecting device consists of a first connector and a second connector; the first connector comprises a first fixing block, a linear rigid positioning block and the like, the second connector comprises a second fixing block, an isosceles trapezoid block and the like, and connection is achieved through a unique mechanical and magnetic attraction structure. According to the utility model, firstly, the working efficiency can be improved, compared with the traditional connection, the replacement time of the end effector is greatly shortened, the equipment shutdown is reduced, for example, the process conversion is faster in the processing of automobile parts, and the yield is improved; connection is stable and reliable, mechanical and magnetic attraction are combined, loosening displacement is prevented, and operation precision and product quality are guaranteed; operation is easy and convenient, an operator can easily control connection and disassembly, the skill requirement is lowered, and training and errors are reduced; and fourthly, the universality is enhanced, and the device is suitable for various end effectors.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, and in particular to a multifunctional gantry robot. Background Technology

[0002] In the field of industrial automation, gantry robots are widely used on various production lines, undertaking key tasks such as material handling and processing operations. However, traditional gantry robots present many inconveniences in terms of end effector replacement. In the past, the connection between the end effector and the robot arm usually adopted relatively complex methods such as bolt fastening and pin positioning. These connection methods are cumbersome and time-consuming when switching end effectors with different functions. Each replacement requires the use of special tools to disassemble and install a large number of connecting parts, such as wrenches to unscrew multiple bolts. After installing the new end effector, meticulous debugging is also required to ensure that its positional accuracy and working performance meet production requirements. This not only consumes a lot of manpower and time, but also leads to a significant increase in equipment downtime when the end effector is frequently replaced.

[0003] For example, in the manufacturing process of automotive parts, the transition from the gripping process to the welding process, and then to the subsequent inspection process, requires the use of different end effectors such as grippers, welding tools, and inspection probes. Using traditional connection methods, each replacement can take several hours or even longer to disassemble, install, and debug the connecting components, which greatly limits the improvement of production efficiency, increases production costs, and fails to meet the urgent needs of modern industrial production for efficient and flexible manufacturing. Therefore, developing a technology that enables quick and convenient connection and disassembly of end effectors and robotic arms has become an urgent problem to be solved in the industry. In view of this, this paper proposes a multi-functional gantry crane robot. Utility Model Content

[0004] The main objective of this invention is to provide a multifunctional gantry crane robot that can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A multifunctional gantry crane robot includes a robotic arm and an end effector. A quick-connect device is provided between the end of the robotic arm and the end effector. The quick-connect device is mainly composed of a first connector and a second connector. One end of the first connector is fixedly installed on one side of the end effector, and one end of the second connector is fixedly installed on the end of the robotic arm.

[0007] The first connector is mainly composed of a first fixed block and a linear rigid positioning block. The linear rigid positioning block is fixedly installed on one side of the first fixed block. Two mutually symmetrical locking tongues are movably installed inside the linear rigid positioning block. An isosceles trapezoidal groove is provided inside the linear rigid positioning block. A ferromagnetic limiting block is fixedly installed on the inner bottom surface of the isosceles trapezoidal groove. A spring is stretched between the two locking tongues and the ferromagnetic limiting block.

[0008] The second connector is mainly composed of a second fixing block and an isosceles trapezoidal block. The second fixing block is provided with a positioning groove that fits into the outer wall of the linear rigid positioning block. The two sides of the positioning groove are symmetrically provided with interconnected slots. The isosceles trapezoidal block is coaxially and vertically installed in the positioning groove. The two locking tongues are respectively provided with guide slopes on the side end face near the central axis of the linear rigid positioning block, which correspond to the two compression slopes on both sides of the isosceles trapezoidal block. Two electromagnets are fixedly installed at the top of the isosceles trapezoidal block.

[0009] Preferably, a first magnetic connector is fixedly installed on the ferromagnetic limiting block, and a second magnetic connector corresponding to the first magnetic connector is fixedly installed at the top of the isosceles trapezoidal block, with the second magnetic connector positioned between the two electromagnets.

[0010] Preferably, the linear rigid positioning block is provided with guide grooves on both sides, and the two guide grooves are respectively connected and provided on both sides of the isosceles trapezoidal groove, and the two locking tongues are respectively slidably telescopically installed in the two guide grooves.

[0011] Preferably, one end of the first fixing block is vertically fixedly connected to a first threaded post for connecting to an end effector, and one end of the second fixing block is vertically fixedly connected to a second threaded post for connecting to the end of a robotic arm.

[0012] Preferably, two parallel guide columns are vertically connected in the positioning groove of the second fixing block, and the isosceles trapezoidal block is lifted and installed on the two guide columns.

[0013] Preferably, the compression slopes on both sides of the isosceles trapezoidal block correspond to the two inclined inner walls in the isosceles trapezoidal groove.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. Improve work efficiency:

[0016] The quick-connect device design allows for rapid connection and disconnection of the end effector and the robotic arm. Compared to traditional connection methods, it saves a significant amount of time on tool changes and debugging. On production lines that require frequent switching between end effectors with different functions, it can significantly reduce equipment downtime and improve overall production efficiency. For example, in the processing and production of automotive parts, it may be necessary to quickly switch end effectors between different processes such as clamping, welding, and inspection. The quick-connect device of this multi-functional gantry robot can greatly shorten the changeover time for each process, thereby increasing the output per unit time.

[0017] 2. Stable and reliable connection performance:

[0018] The quick-connect device employs a combination of mechanical and magnetic connection methods. Through the cooperation of the isosceles trapezoidal block and the isosceles trapezoidal groove, the locking of the latch and the slot, and the adsorption between the magnetic connectors, the connection's strength and stability are ensured. During high-speed, high-precision operations, it effectively prevents loosening or displacement between the end effector and the robotic arm, guaranteeing operational accuracy and product quality stability. For example, in the welding of precision electronic components, a stable connection ensures the positional accuracy and welding quality of the welding points, reducing the scrap rate.

[0019] 3. Easy to operate:

[0020] The connection and disassembly process is simple and easy to understand, requiring no complex operation and debugging by professional technicians. Operators only need to control the movement of the robotic arm and the on / off state of the electromagnet to quickly replace the end effector, reducing the skill requirements for operators, reducing personnel training costs and the possibility of operational errors, and improving the safety and reliability of the production process.

[0021] 4. Enhance equipment versatility:

[0022] It can be adapted to various types of end effectors, such as grippers, suction cups, welding torches, or spray guns. This means that a single gantry robot can complete a variety of different tasks by simply changing the end effector, greatly expanding the application range of the equipment. Whether in industries such as electronics manufacturing, machining, logistics handling, or welding assembly, the same robot can be used. Simply select the appropriate end effector according to the specific work requirements, which effectively reduces the equipment procurement and maintenance costs for enterprises and improves the utilization rate and return on investment of the equipment. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a schematic diagram of the structure of the first connector in this utility model;

[0025] Figure 3 This is an exploded view of the first connector in this utility model;

[0026] Figure 4 This is a schematic diagram of the connection structure of the two locking tongues in this utility model;

[0027] Figure 5 This is a schematic diagram of the structure of the second connector in this utility model;

[0028] Figure 6 This is an exploded view of the second connector in this utility model;

[0029] Figure 7 This is a schematic diagram of the connection structure between the first connector and the second connector in this utility model.

[0030] In the diagram: 1. First connector; 101. First fixing block; 102. First threaded post; 103. Linear rigid positioning block; 104. Isosceles trapezoidal groove; 105. Locking tongue; 106. Guide slope; 107. Ferromagnetic limiting block; 108. First magnetic connection seat; 109. Guide groove; 110. Inclined inner wall; 111. Spring; 2. Second connector; 201. Second fixing block; 202. Positioning groove; 203. Slot; 204. Isosceles trapezoidal block; 205. Electromagnet; 206. Second magnetic connection seat; 207. Second threaded post; 208. Compression slope; 209. Guide post. Detailed Implementation

[0031] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0032] like Figures 1-7 As shown, a multi-functional gantry manipulator includes a robotic arm and an end effector. A quick-connect device is provided between the end of the robotic arm and the end effector. This quick-connect device mainly consists of a first connector 1 and a second connector 2. One end of the first connector 1 is vertically fixed to one side of the end effector via a first threaded post 102, such as the housing of a common end effector made of grippers, suction cups, welding, or spray gun, so as to facilitate quick replacement of end effectors with different functions, thereby realizing the multi-functional characteristics of this utility model. One end of the second connector 2 is vertically fixed to the end of the robotic arm via a second threaded post 207.

[0033] refer to Figures 1-4As shown, the first connector 1 mainly consists of a first fixing block 101 and a linear rigid positioning block 103. The linear rigid positioning block 103 is fixedly installed on one side of the first fixing block 101. An isosceles trapezoidal groove 104 is provided in the linear rigid positioning block 103. A ferromagnetic limiting block 107 is fixedly installed on the inner bottom surface of the isosceles trapezoidal groove 104, and a first magnetic connector 108 is fixedly installed on the ferromagnetic limiting block 107. The first magnetic connector 108 is connected to the required power supply end through a wire. The circuits in the actuator are connected. The linear rigid positioning block 103 has guide grooves 109 on both sides. The two guide grooves 109 are respectively connected to the two sides of the isosceles trapezoidal groove 104. The two mutually symmetrical locking tongues 105 are slidably and telescopically installed in the two guide grooves 109. The two locking tongues 105 and the ferromagnetic limiting block 107 are all connected by springs 111. The springs 111 are in a stretched state, and their elastic force is to cause the locking tongues 105 to retract towards the ferromagnetic limiting block 107.

[0034] refer to Figure 5 and Figure 6 As shown, the second connector 2 mainly consists of a second fixing block 201 and an isosceles trapezoidal block 204. The second fixing block 201 has a positioning groove 202 that engages with the outer wall of the linear rigid positioning block 103. Symmetrical slots 203 are provided on both sides of the positioning groove 202. The isosceles trapezoidal block 204 is coaxially and vertically installed within the positioning groove 202. Specifically, this vertical installation is achieved through two parallel guide posts 209 vertically connected within the positioning groove 202, allowing the isosceles trapezoidal block 204 to move stably up and down within the positioning groove 202. Two electromagnets 205 are fixedly installed at the top of the isosceles trapezoidal block 204. The electromagnets 205 are connected by a second magnetic connector 206. The electromagnets 205 are connected to the circuit in the robotic arm via wires and the second magnetic connector 206. The two locking tongues 105 are respectively provided with guide slopes 106 on the side end face near the central axis of the linear rigid positioning block 103, which correspond to the two compression slopes 208 on both sides of the isosceles trapezoidal block 204. The compression slopes 208 on both sides of the isosceles trapezoidal block 204 correspond to the two inclined inner walls 110 in the isosceles trapezoidal groove 104. This structural design allows the isosceles trapezoidal block 204 to interact with the locking tongues 105 during the up and down movement, so as to realize the function of connection and locking.

[0035] In this embodiment, the process of quickly connecting the first connector 1 and the second connector 2 in the quick-connect device is as follows:

[0036] When connecting the end effector and the robotic arm, the robotic arm first moves the second connector 2, aligning the isosceles trapezoidal block 204 in the second connector 2 with the isosceles trapezoidal groove 104 in the first connector 1. This means aligning the linear rigid positioning block 103 in the first connector 1 with the positioning groove 202 in the second connector 2. Next, the two electromagnets 205 at the top of the isosceles trapezoidal block 204 are energized, generating magnetic force. Under this magnetic force, the isosceles trapezoidal block 204 is attracted upwards along the two guide posts 209 and connected to the ferromagnetic limiting block 107. At this point, the mutually attracted isosceles trapezoidal block 204 and the second magnetic connection seat 206 and the first magnetic connection seat 108 on the ferromagnetic limiting block 107 are mutually attracted and connected, thus completing the connection. The circuit connection between the first connector 1 and the second connector 2 is formed to realize the electrical connection between the end effector and the robotic arm, ensuring that the end effector can work normally. During the process of the isosceles trapezoidal block 204 approaching the ferromagnetic limiting block 107, the two compression slopes 208 in the isosceles trapezoidal block 204 will contact the guide slope 106 on the locking tongue 105 and push the two locking tongues 105 to move outward along the guide groove 109. The ends of the two locking tongues 105 are respectively inserted into the two slots 203 on both sides of the inner cavity of the positioning groove 202, thereby achieving the function of locking the first connector 1 and the second connector 2 in the quick-connect device, and thus completing the quick connection between the end effector and the robotic arm. The whole process is simple and quick to operate, which can effectively improve work efficiency.

[0037] When the end effector needs to be disassembled, the magnetic force in the two electromagnets 205 is removed. At this time, several springs 111 in a stretched state will use their stretching force to automatically retract the two locking tongues 105 into the two guide grooves 109 in the linear rigid positioning block 103 until the two locking tongues 105 respectively abut against the two sides of the ferromagnetic limiting block 107, releasing the restriction of the locking tongues 105 on the separation between the first connector 1 and the second connector 2. In this way, the first connector 1 can be easily pulled out from the second connector 2, realizing the quick replacement of the end effector. This allows for the replacement of different types of end effectors according to different work requirements, further enhancing the versatility and adaptability of the gantry robot.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multi-functional gantry truss robot comprising a robot arm and an end effector, characterized by: The quick connecting device is mainly composed of a first connecting head (1) and a second connecting head (2), one end of the first connecting head (1) is fixedly installed on one side of the end effector, and one end of the second connecting head (2) is fixedly installed on the end of the mechanical arm. The first connecting head (1) is mainly composed of a first fixed block (101) and a linear rigid positioning block (103), the linear rigid positioning block (103) is fixedly installed on one side of the first fixed block (101), two symmetrical locking tongues (105) are movably installed in the linear rigid positioning block (103), an isosceles trapezoidal groove (104) is arranged in the linear rigid positioning block (103), a ferromagnetic limiting block (107) is fixedly installed on the inner bottom surface of the isosceles trapezoidal groove (104), and springs (111) are connected between the two locking tongues (105) and the ferromagnetic limiting block (107). The second connecting head (2) is mainly composed of a second fixed block (201) and an isosceles trapezoidal block (204), the second fixed block (201) is provided with a positioning groove (202) which is embedded with the outer wall of the linear rigid positioning block (103), the positioning groove (202) is symmetrically provided with two intercommunicating clamping grooves (203) on the two sides, the isosceles trapezoidal block (204) is coaxially and vertically installed in the positioning groove (202), and the two locking tongues (105) are respectively provided with two guide inclined surfaces (106) which correspond to the two compression inclined surfaces (208) on the two sides of the isosceles trapezoidal block (204), and the top end of the isosceles trapezoidal block (204) is fixedly installed with two electromagnets (205).

2. The multi-functional gantry gantry crane robot according to claim 1, characterized in that: The ferromagnetic limiting block (107) is fixedly installed with a first magnetic attraction connecting seat (108), the top end of the isosceles trapezoidal block (204) is fixedly installed with a second magnetic attraction connecting seat (206) which corresponds to the first magnetic attraction connecting seat (108), and the second magnetic attraction connecting seat (206) is arranged between the two electromagnets (205).

3. The multi-functional gantry gantry crane robot according to claim 1, characterized in that: The two sides of the linear rigid positioning block (103) are provided with guide grooves (109), the two guide grooves (109) are respectively arranged on the two sides of the isosceles trapezoidal groove (104), and the two locking tongues (105) are respectively slidably installed in the two guide grooves (109).

4. The multi-functional gantry gantry crane robot according to claim 1, characterized in that: One end of the first fixed block (101) is vertically fixedly connected with a first threaded column (102) for connecting the end effector, and one end of the second fixed block (201) is vertically fixedly connected with a second threaded column (207) for connecting the end of the mechanical arm.

5. The multi-functional gantry gantry crane robot according to claim 1, characterized in that: The positioning groove (202) in the second fixed block (201) is vertically connected with two parallel guide columns (209), and the isosceles trapezoidal block (204) is vertically installed on the two guide columns (209).

6. The multi-functional gantry gantry crane robot according to claim 1, characterized in that: The two compression inclined surfaces (208) on the two sides of the isosceles trapezoidal block (204) correspond to the two inclined inner walls (110) in the isosceles trapezoidal groove (104).

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