Truss robot for grabbing steel support

Abstract

The utility model provides a truss robot for grabbing a steel support, and aims to solve the problems that in the prior art, time and labor are wasted and the efficiency is low when the steel support is transferred manually. The device mainly comprises a vertical truss, an X-axis moving assembly, a Y-axis moving assembly, an extension arm, a grabbing assembly and a plurality of steel support caching libraries arranged in front of the vertical truss, according to the truss robot, the X-axis moving assembly and the Y-axis moving assembly are adopted, and the truss robot has two degrees of freedom; a transmission mode that a servo motor is matched with a rack and a guide rail is adopted, through the precise mechanical structure and a power driving system, the robot can achieve high-precision positioning in the moving process and conduct continuous operation at the same time, and therefore manual steel support transferring is replaced, and efficiency can be remarkably improved.

Description

Technical Field

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

[0002] In industries such as logistics, warehousing, and timber processing, steel pallets are a commonly used cargo-carrying tool, and their handling and gripping operations are frequent and crucial. Traditional steel pallet gripping methods mainly rely on manual operation. However, manual handling of steel pallets has many drawbacks. On the one hand, steel pallets are large and heavy, resulting in high labor intensity and low work efficiency. On the other hand, prolonged repetitive physical labor can easily lead to worker fatigue, thereby causing safety accidents and increasing the company's labor costs and potential risks. Utility Model Content

[0003] This application addresses the shortcomings of the prior art by providing a gantry robot for steel pallet gripping. It employs X-axis and Y-axis movement components, providing two degrees of freedom. Both components utilize a transmission method that combines servo motors with racks and guide rails. This precise mechanical structure and power drive system enable the robot to achieve high-precision positioning during movement and perform continuous operations, thereby replacing manual labor in the transfer of steel pallets and significantly improving efficiency.

[0004] The technical solution adopted in this utility model is as follows:

[0005] A gantry robot for gripping steel pallets includes a vertical gantry, an X-axis moving assembly arranged along the transverse direction of the vertical gantry, a Y-axis moving assembly located at the free end of the X-axis moving assembly, an extension arm located at the free end of the Y-axis moving assembly, a gripping component for gripping steel pallets mounted on the extension arm, and multiple steel pallet buffers located at the front of the vertical gantry.

[0006] Furthermore, the gripping assembly includes a flange plate disposed at the end of the extension arm, a rectangular frame mounted under the flange plate, a plurality of cylinders disposed on the lower surface of the rectangular frame, a lower guide rail disposed on one side of the rectangular frame surface of each cylinder, a slide block slidably disposed on the lower guide rail, a hanging plate connected to the slide block, and the drive end of the cylinder connected to the hanging plate.

[0007] Furthermore, the X-axis moving assembly includes two sets of parallel first guide rails disposed on the front surface of the vertical truss. An X-axis slide is slidably disposed on the first guide rails, and a first servo motor is disposed on the X-axis slide. A first rack is also disposed on one side of one set of first guide rails. A gear is disposed on the drive end of the first servo motor, and the gear meshes with the first rack for transmission.

[0008] Furthermore, the top of the vertical truss is provided with a first drag chain groove, and a first drag chain is provided in the drag chain groove.

[0009] Furthermore, a keel is provided at the center of the X-axis slide, a second rack is provided on the front surface of the keel, a second guide rail is provided on its side surface, a Y-axis slide is slidably provided on the second guide rail, a second servo motor is provided on the Y-axis slide, and a gear is provided at the drive end of the second servo motor, the gear meshing with the second rack for transmission.

[0010] Furthermore, a second cable chain groove is provided inside one side of the X-axis slide, and a second cable chain is provided in the second cable chain groove.

[0011] Furthermore, the vertical truss is provided with steel support inlets and steel support outlets on the front two sides respectively, and multiple steel support buffers are provided between the steel support inlets and steel support outlets.

[0012] Furthermore, the bottom of the vertical truss is fixed to the ground by adjustable feet with chemical bolts.

[0013] The beneficial effects of this utility model are as follows:

[0014] Compared with existing technologies, the gantry robot provided by this utility model adopts X-axis and Y-axis moving components, which have two degrees of freedom. Both adopt a transmission method that combines servo motors with racks and guide rails. This precise mechanical structure and power drive system enable the robot to achieve high-precision positioning during movement and perform continuous operations, thereby replacing manual labor for the transfer of steel pallets and significantly improving efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the result of this utility model;

[0016] Figure 2 This is a schematic diagram of the X-axis moving component, Y-axis moving component, and gripping component in this utility model.

[0017] Among them: 1. Vertical truss;

[0018] 2. X-axis moving assembly; 21. First guide rail; 22. X-axis slide; 23. First servo motor; 24. First rack;

[0019] 3. Y-axis moving assembly; 31. Keel; 32. Second rack; 33. Second guide rail; 34. Second servo motor; 35. Y-axis slide;

[0020] 4. Extension arm;

[0021] 5. Gripping assembly; 51. Flange plate; 52. Rectangular frame; 53. Cylinder; 54. Lower guide rail; 55. Hanging plate;

[0022] 6. Steel support buffer; 7. First cable chain; 8. Second cable chain; 9. Adjustable feet with chemical bolts. Detailed Implementation

[0023] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0024] This invention provides a gantry robot for gripping steel pallets, aiming to solve the problems of time-consuming, labor-intensive, and inefficient manual transfer of steel pallets in existing technologies.

[0025] like Figure 1 and Figure 2 As shown, this utility model includes a vertical truss 1, an X-axis moving assembly 2 arranged along the transverse direction of the vertical truss 1, a Y-axis moving assembly 3 arranged at the free end of the X-axis moving assembly 2, an extension arm 4 arranged at the free end of the Y-axis moving assembly 3, a gripping assembly 5 for gripping steel supports arranged on the extension arm 4, and multiple steel support buffers 6 arranged at the front of the vertical truss 1.

[0026] In one embodiment of this utility model, the gripping component 5 includes a flange plate 51 disposed at the end of the extension arm 4. A rectangular frame 52 is installed under the flange plate 51. Multiple sets of cylinders 53 are disposed on the lower surface of the rectangular frame 52. A lower guide rail 54 is also disposed on one side surface of the rectangular frame 52 of each cylinder 53. A slide block is slidably disposed on the lower guide rail 54. A hanging plate 55 is connected to the slide block. The driving end of the cylinder 53 is connected to the hanging plate 55.

[0027] In one embodiment of this utility model, the X-axis moving component 2 includes two sets of parallel first guide rails 21 disposed on the front surface of the vertical truss 1. An X-axis slide 22 is slidably disposed on the first guide rails 21. A first servo motor 23 is disposed on the X-axis slide 22. A first rack 24 is also disposed on one side of one set of first guide rails 21. A gear is disposed on the driving end of the first servo motor 23. The gear meshes with the first rack 24 for transmission.

[0028] In one embodiment of this utility model, the top of the vertical truss 1 is further provided with a first drag chain groove, and a first drag chain 7 is provided in the drag chain groove.

[0029] It should be noted that a first cable chain 7 and a second cable chain 8 are set up; during the frequent and large-amplitude movement of the gantry robot, various internal cables are displaced accordingly with the movement. Through the flexible and retractable structural design of the cable chains, the cables can be neatly stored and guided, so that they can follow the robot smoothly when it moves.

[0030] In one embodiment of this utility model, a keel 31 is provided at the center of the X-axis slide 22, a second rack 32 is provided on the front surface of the keel 31, a second guide rail 33 is provided on its side surface, a Y-axis slide 35 is slidably provided on the second guide rail 33, a second servo motor 34 is provided on the Y-axis slide 35, and a gear is provided at the drive end of the second servo motor 34, the gear meshing with the second rack 32 for transmission.

[0031] In one embodiment of this utility model, a second drag chain groove is provided inside one side of the X-axis slide table 22, and a second drag chain 8 is provided in the second drag chain groove.

[0032] In one embodiment of this utility model, steel support inlets and steel support outlets are respectively provided on the front two sides of the vertical truss 1, and multiple steel support buffers 6 are provided between the steel support inlets and steel support outlets.

[0033] In one embodiment of this invention, the bottom of the vertical truss 1 is fixed to the ground by adjustable feet 9 using chemical bolts. A chemical bolt is an anchoring component that achieves a tight connection with the foundation structure by combining a chemical agent with a screw. When installing the truss robot, chemical bolts are used to firmly fix the robot's main structure to the foundation ground of the work site. Compared to ordinary mechanical bolt connections, chemical bolts have stronger anchoring force and can withstand greater tensile and shear forces, which is crucial for the steel-support gripping truss robot.

[0034] The specific structure and working principle of this utility model are as follows:

[0035] This embodiment focuses on a gantry robot used for steel pallet gripping, aiming to solve the problems of time-consuming, labor-intensive, and inefficient manual transfer of steel pallets in the prior art.

[0036] The entire gantry robot mainly consists of a vertical gantry 1 and various components mounted on it. The front two sides of the vertical gantry 1 are respectively equipped with steel support inlets and outlets, with two steel support buffers 6 distributed between them. In the transverse direction of the vertical gantry 1, an X-axis moving assembly 2 is provided. This assembly includes two sets of first guide rails 21 parallel to each other mounted on the front surface of the vertical gantry 1. An X-axis slide 22 is slidably connected to the first guide rails 21, and a first servo motor 23 is equipped on the X-axis slide 22. A first rack 24 is provided on one side of one set of first guide rails 21. The gear on the drive end of the first servo motor 23 meshes with the first rack 24, thereby enabling the X-axis slide 22 to move along the first guide rails 21. Furthermore, a keel 31 is provided at the center of the X-axis slide 22. A second rack 32 is provided on the front surface of the keel 31, and a second guide rail 33 is provided on the side surface. A Y-axis slide 35 is slidably mounted on the second guide rail 33. A second servo motor 34 is mounted on the Y-axis slide 35. The gear at its drive end meshes with the second rack 32 to realize movement in the Y-axis direction.

[0037] A Y-axis moving component 3 is connected to the free end of the X-axis moving component 2. An extension arm 4 is installed at the free end of the Y-axis moving component 3. A gripping component 5 for gripping the steel pallet is set on the extension arm 4. The gripping component 5 includes a flange plate 51 installed at the end of the extension arm 4. A rectangular frame 52 is connected below the flange plate 51. Four sets of cylinders 53 are distributed on the lower surface of the rectangular frame 52. A lower guide rail 54 is also provided on the surface of the rectangular frame 52 on one side of each cylinder 53. A slide block is slidably set on the lower guide rail 54. The slide block is connected to a hanging plate 55. The drive end of the cylinder 53 is connected to the hanging plate 55. The lifting and lowering of the hanging plate 55 is realized by the extension and retraction of the cylinder 53, thereby completing the gripping action of the steel pallet.

[0038] To ensure the safety and orderly operation of cables during robot operation, a first cable chain groove is provided at the top of the vertical truss 1, and a first cable chain 7 is installed in the groove; a second cable chain groove is provided inside one side of the X-axis slide 22, in which a second cable chain 8 is installed. These cable chains, through their flexible and extendable structure, orderly store and guide the internal cables, ensuring that the cables can move smoothly with the robot's movement.

[0039] In addition, the bottom of the vertical truss 1 is fixed to the ground by chemical bolts and adjustable feet. The chemical bolts use chemical agents combined with screws to firmly anchor the main structure of the robot to the foundation ground of the work site. Compared with ordinary mechanical bolt connections, they have stronger anchoring force and can withstand greater tensile and shear forces, ensuring the stability of the robot's operation. The adjustable feet are used to precisely adjust the robot's level and height, ensuring that the robot is always in the best working condition.

[0040] The above description is an explanation of the present utility model and not a limitation thereof. The scope of the present utility model is defined by the claims. Within the protection scope of the present utility model, any form of modification may be made.

Claims

1. A truss robot for steel support grabbing, characterized by: Including vertical truss (1), X axis moving assembly (2) is arranged along the transverse direction of vertical trraft (1), the free end of X axis moving assembly (2) is provided with Y axis moving assembly (3), the free end of Y axis moving assembly (3) is provided with extension arm (4), and the extension arm (4) is provided with grabbing assembly (5) for grabbing steel support, and the front of vertical truss (1) is provided with multiple steel support buffer storehouse (6); The grabbing assembly (5) includes a flange plate (51) arranged at the end of the extension arm (4), a rectangular frame (52) mounted below the flange plate (51), a plurality of air cylinders (53) arranged on the lower surface of the rectangular frame (52), a lower guide rail (54) arranged on one side of the surface of each air cylinder (53), a sliding seat slidably arranged on the lower guide rail (54), and a hanging plate (55) connected to the sliding seat, and the driving end of the air cylinder (53) is connected to the hanging plate (55).

2. A truss robot for steel support grabbing as claimed in claim 1 characterized by: The X axis moving assembly (2) includes two groups of parallel first guide rails (21) arranged on the front surface of the vertical truss (1), an X axis sliding table (22) slidably arranged on the first guide rail (21), a first servo motor (23) arranged on the X axis sliding table (22), one side of one group of first guide rails (21) is further provided with a first rack (24), the driving end of the first servo motor (23) is provided with a gear, and the gear is in meshing transmission with the first rack (24).

3. A truss robot for steel support grabbing as claimed in claim 2, characterized in that: The top of the vertical truss (1) is further provided with a first drag chain slot, and a first drag chain (7) is arranged in the drag chain slot.

4. A truss robot for steel support grabbing as claimed in claim 2, characterized in that: The center of the X axis sliding table (22) is provided with a keel (31), the front surface of the keel (31) is provided with a second rack (32), the side surface of the keel (31) is provided with a second guide rail (33), a Y axis sliding table (35) is slidably arranged on the second guide rail (33), a second servo motor (34) is arranged on the Y axis sliding table (35), the driving end of the second servo motor (34) is provided with a gear, and the gear is in meshing transmission with the second rack (32).

5. A truss robot for steel support grabbing as claimed in claim 2, characterized in that: The inside of one side of the X axis sliding table (22) is provided with a second drag chain slot, and a second drag chain (8) is arranged in the second drag chain slot.

6. A truss robot for steel support grabbing as claimed in claim 1 characterized by: The front of the vertical truss (1) is provided with a steel support inlet and a steel support outlet on both sides, respectively, and a plurality of steel support buffer storehouses (6) are arranged between the steel support inlet and the steel support outlet.

7. A truss robot for steel support grabbing as claimed in claim 1 characterized by: The bottom of the vertical truss (1) is fixed to the ground through a chemical bolt adjustable foot (9).

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