Feeding and discharging truss manipulator

Abstract

The utility model relates to the technical field of truss mechanical arms, in particular to a feeding and discharging truss mechanical arm which comprises a structural frame and a tool clamp which is arranged on the inner side of the structural frame and can move in the X-axis direction, the Y-axis direction and the Z-axis direction which are perpendicular to one another, the tool clamp comprises a main frame body, a vacuum suction cup, a clamping plate and a connecting rod, and the vacuum suction cup is installed at the bottom of the main frame body; the clamping plates are elastically arranged on the inner side wall of the main frame body; and the other end of the connecting rod is rotationally connected with the main frame body. The work fixture comprises the main frame body, the vacuum suction cup, the clamping plate and the connecting rod, when a workpiece is carried, if the vacuum suction cup leaks air, the clamping plate can be pushed by the connecting rod to abut against one side of the workpiece, and therefore the vacuum suction cup is replaced to clamp the workpiece, the situation that the workpiece falls off when the vacuum suction cup loses efficacy can be avoided, and the work efficiency is improved. And it is ensured that the tool clamp can stably clamp the workpiece.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, specifically a loading and unloading gantry robot. Background Technology

[0002] In the field of modern industrial automation, gantry robots, as fully automated industrial equipment based on a Cartesian X, Y, and Z coordinate system, are widely used for tasks such as adjusting workpiece positions or achieving specific trajectory movements. Depending on the different shapes, sizes, and material properties of the workpieces, existing gantry robots are equipped with various types of tooling fixtures, including but not limited to vacuum suction cups, chucks, lifting mechanisms, and pin clamps.

[0003] For cardboard box handling applications, traditional solutions often use vacuum suction cups as the primary tooling fixture for gantry robots. However, in practice, it has been found that due to the inherent softness and deformability of cardboard, vacuum suction cups can cause surface deformation, leading to poor sealing between the suction cup and the cardboard box, ultimately resulting in air leakage. This not only affects handling efficiency but can also cause instability during transport, increasing the risk of dropping and damage. To address these issues, this invention proposes a loading / unloading gantry robot. Utility Model Content

[0004] The purpose of this utility model is to provide a loading and unloading gantry robot to solve the problems mentioned in the background art.

[0005] This utility model is achieved through the following technical solution:

[0006] A loading and unloading gantry robot includes a structural frame and a tooling fixture movable inside the structural frame along mutually perpendicular X, Y, and Z axes. The tooling fixture includes a main frame, a vacuum suction cup, a clamping plate, and a connecting rod. The vacuum suction cup is installed at the bottom of the main frame. The clamping plate is elastically disposed on the inner side wall of the main frame. One end of the connecting rod is rotatably connected to the clamping plate, and the other end is rotatably connected to the main frame.

[0007] Optionally, a pull rod is provided on the top of the clamping plate, and the tooling fixture also includes an electric push rod and an unlocking rod. The electric push rod is mounted on the main frame, and the unlocking rod is fixed to the output end of the electric push rod. A protruding structure is provided on the pull rod located on the unlocking rod.

[0008] Optionally, the protruding structure is a roller.

[0009] Optionally, the number of clamps is two, and the two clamps are respectively disposed on two opposite inner side walls of the main frame.

[0010] Optionally, the side of the clamping plate facing away from the workpiece is elastically connected to the main frame via a spring, and a plug rod is provided through the spring. The main frame is provided with an elongated insertion hole that engages with the plug rod.

[0011] Optionally, the clamping plate has anti-slip texture on the side facing the workpiece, and the anti-slip texture is perpendicular to the direction of gravity acting on the workpiece.

[0012] Optionally, a guide edge is provided at the lower end of the clamping plate, and the guide edge bends outward toward the main frame.

[0013] Optionally, a rotary cylinder is installed on the top of the main frame, which drives the tooling fixture to rotate along the plane formed by the X-axis and Y-axis.

[0014] Compared with the prior art, this utility model provides a loading and unloading gantry robot with the following features:

[0015] Beneficial effects:

[0016] 1. The tooling fixture of this utility model includes a main frame, a vacuum suction cup, a clamping plate and a connecting rod. When the workpiece is being transported, if the vacuum suction cup leaks air, the clamping plate will be pushed by the connecting rod to press against the workpiece, thereby clamping the workpiece instead of the vacuum suction cup. This can prevent the workpiece from falling when the vacuum suction cup fails and ensure that the tooling fixture can stably clamp the workpiece.

[0017] 2. The tooling fixture of this utility model also includes an electric push rod and an unlocking rod. When it is necessary to contact the clamping plate to clamp the workpiece, the unlocking rod can be moved by pushing the electric push rod to quickly release the clamping plate from the workpiece, thereby making it easier to put the workpiece off the tooling fixture.

[0018] 3. This utility model has anti-slip texture on the side of the clamping plate facing the workpiece, which increases the friction between the clamping plate and the workpiece, so that the clamping plate can clamp the workpiece more tightly when the vacuum suction cup fails. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a three-dimensional structural diagram of the tooling fixture of this utility model;

[0021] Figure 3 This is a schematic diagram of the main structure of the tooling fixture of this utility model.

[0022] In the diagram: 1. Main frame; 2. Vacuum suction cup; 3. Clamping plate; 4. Connecting rod; 5. Pull rod; 6. Electric push rod; 7. Unlocking rod; 8. Roller; 9. Spring; 10. Insert rod; 11. Insertion hole; 12. Anti-slip texture; 13. Guide edge; 14. Rotary cylinder; 15. Frame body; 16. Crossbeam; 17. Mounting bracket; 18. Lifting bracket; 19. Workpiece; 20. First rotating shaft; 21. Second rotating shaft. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Example: Please refer to Figures 1 to 3 According to an embodiment of the present invention, a loading and unloading gantry robot is provided, including a structural frame and a tooling fixture movable inside the structural frame along mutually perpendicular X-axis, Y-axis and Z-axis directions. The tooling fixture includes a main frame 1, a vacuum suction cup 2, a clamping plate 3, a connecting rod 4 and an unlocking component. The vacuum suction cup 2 is installed at the bottom of the main frame 1. The clamping plate 3 is elastically disposed on the inner side wall of the main frame 1. Specifically, the side of the clamping plate 3 facing away from the workpiece 19 is elastically connected to the main frame 1 through a spring 9. A plug rod 10 is provided through the spring 9. The main frame 1 is provided with a long strip-shaped insertion hole 11 that engages with the plug rod 10. One end of the connecting rod 4 is rotatably connected to the clamping plate 3 through a first rotating shaft 20, and the other end is rotatably connected to the main frame 1 through a second rotating shaft 21.

[0025] The loading and unloading gantry robot with the above structure uses a tooling fixture to transfer workpiece 19 within the inner space of the structural frame. When the tooling fixture grips workpiece 19, workpiece 19 enters the inner side of the main frame 1 from the bottom and elastically abuts against the clamping plate 3. At the same time, the vacuum suction cup 2 adsorbs workpiece 19, thus gripping workpiece 19. During the handling process, if the vacuum suction cup 2 leaks air, workpiece 19 will tend to fall downwards. At this time, due to the friction between the clamping plate 3 and workpiece 19, the clamping plate 3 will be pushed by the connecting rod 4 to press against and clamp workpiece 19. This can prevent workpiece 19 from falling when the vacuum suction cup 2 fails, ensuring that the tooling fixture can stably hold workpiece 19.

[0026] In this exemplary embodiment, the structural frame includes a frame body 15, a crossbeam 16, a mounting frame 17, and a lifting frame 18. The crossbeam 16 is slidably connected to the top of the frame body 15 along the X-axis via guide rails. The mounting frame 17 is slidably connected to the crossbeam 16 along the Y-axis via guide rails. The lifting frame 18 is slidably connected to the mounting frame 17 along the Z-axis via guide rails. The main frame 1 of the tooling fixture is mounted at the bottom of the mounting frame 17. Furthermore, the movement of the crossbeam 16, the mounting frame 17, and the lifting frame 18 can be transmitted by transmission components, including but not limited to gear and rack structures, ball screw structures, synchronous belt drives, chain drives, and wire rope drives.

[0027] In this exemplary embodiment, a pull rod 5 is provided on the top of the clamping plate 3. The tooling fixture also includes an electric push rod 6 and an unlocking rod 7. The electric push rod 6 is mounted on the main frame 1, and the unlocking rod 7 is fixed to the output end of the electric push rod 6. A protruding structure is provided on the pull rod 5 located on the unlocking rod 7. With this configuration, when it is necessary to contact the clamping plate 3 to clamp the workpiece 19, the electric push rod 6 pushes the unlocking rod 7 to move upward. After the unlocking rod 7 contacts the protruding structure of the pull rod 5, it pushes the pull rod 5 and the clamping plate 3 upward, so that the clamping plate 3 moves obliquely upward (i.e., away from the workpiece 19) under the push of the connecting rod 4. In this way, the clamping plate 3 can be quickly released from clamping the workpiece 19, making it easy to put the workpiece 19 off the tooling fixture.

[0028] When the unlocking lever 7 pushes the protruding structure upward, the protruding structure will move along the length direction of the unlocking lever 7. At this time, in order to reduce the resistance between the protruding structure and the unlocking lever 7 during relative movement, in this exemplary embodiment, the protruding structure is a roller 8.

[0029] In this exemplary embodiment, there are two clamping plates 3, which are respectively disposed on two opposite inner sidewalls of the main frame 1. In another embodiment, there may be only one clamping plate 3, which is disposed on the left inner wall of the main frame 1. In this configuration, the clamping plate 3 and the right inner wall of the main frame 1 work together to clamp the workpiece 19.

[0030] In this exemplary embodiment, the clamping plate 3 has anti-slip texture 12 on the side facing the workpiece 19, and the anti-slip texture 12 is perpendicular to the direction of gravity acting on the workpiece 19. This arrangement increases the friction between the clamping plate 3 and the workpiece 19, allowing the clamping plate 3 to clamp the workpiece 19 more tightly when the vacuum suction cup 2 fails.

[0031] In this exemplary embodiment, a guide edge 13 is provided at the lower end of the clamping plate 3, and the guide edge 13 bends outward toward the main frame 1. This arrangement allows the workpiece 19 to enter between the two clamping plates 3 more smoothly.

[0032] In this exemplary embodiment, a rotary cylinder 14 is mounted on the top of the main frame 1. The rotary cylinder 14 is used to drive the tooling fixture to rotate along the plane formed by the X-axis and Y-axis. Specifically, the rotary cylinder 14 is disposed between the main frame 1 and the lifting frame 18. With this arrangement, the posture of the workpiece 19 can be adjusted by the rotary cylinder 14 to ensure that the workpiece 19 can be lowered to the receiving position in a suitable posture.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A feeding and discharging gantry robot, characterized in that, The utility model provides a kind of work fixture, including structural framework and the work fixture movable inside described structural framework along mutually perpendicular X axis, Y axis and Z axis direction, and the work fixture includes: A main frame (1) is provided. A vacuum chuck (2) is installed at the bottom of the main frame (1). A clamping plate (3) is elastically arranged on the inner wall of the main frame (1). A connecting rod (4) is rotatably connected to one end of the clamping plate (3) and rotatably connected to the other end of the main frame (1).

2. The loading and unloading gantry robot according to claim 1, characterized in that: A pull rod (5) is arranged on the top of the clamping plate (3), and the work fixture further comprises an electric push rod (6) and an unlocking rod (7), the electric push rod (6) is installed on the main frame (1), the unlocking rod (7) is fixed on the output end of the electric push rod (6), and a protruding structure is arranged on the pull rod (5) located on the unlocking rod (7).

3. The loading and unloading gantry robot according to claim 2, characterized in that: The protruding structure is a roller (8).

4. The loading and unloading gantry robot according to claim 1, characterized in that: The number of the clamping plate (3) is two, and two clamping plates (3) are arranged on two opposite inner walls of the main frame (1) respectively.

5. The loading and unloading gantry robot according to claim 4, characterized in that: The side of the clamping plate (3) away from the workpiece (19) is elastically connected to the main frame (1) by a spring (9), a plug rod (10) is arranged in the spring (9), and a long slot-shaped insertion hole (11) is arranged on the main frame (1) and matched with the plug rod (10).

6. The loading and unloading gantry robot according to claim 4, characterized in that: The side of the clamping plate (3) facing the workpiece (19) is provided with anti-skid lines (12), and the anti-skid lines (12) are perpendicular to the direction of gravity received by the workpiece (19).

7. The loading and unloading gantry robot according to claim 4, characterized in that: The lower end of the clamping plate (3) is provided with a guide edge (13), and the guide edge (13) is bent towards the outside of the main frame (1).

8. The loading and unloading gantry robot according to claim 1, characterized in that: A rotary air cylinder (14) is installed on the top of the main frame (1), and the rotary air cylinder (14) is used to drive the work fixture to rotate along the plane formed by X axis and Y axis.

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