A three-axis gantry robot for handling

Abstract

This utility model provides a three-axis gantry robot for material handling, belonging to the technical field of gantry robot technology. It addresses the problem that existing traditional gantry robots typically have fixed-size protective structures, posing safety hazards or occupying excessive space when handling goods of varying sizes. The robot includes a gantry body, sliding rods, a drive motor, an extended protective assembly, and a quick-assembly / disassembly assembly. The sliding rods have an "L"-shaped structure, with the left ends of two sliding rods slidably connected inside a fixed box on the left side. The drive motor is fixedly connected to the outside of the fixed box on the right side. The extended protective assembly is located on the outside of the gantry body. The quick-assembly / disassembly assembly is located at the bottom of the actuator. This utility model enables the sliding protective frame to dynamically adjust its protective range according to the workpiece size, improving safety and space adaptability under different working conditions. The tool-less quick-assembly / disassembly structure between the mechanical fixtures significantly shortens the fixture changeover time in multi-variety production.

Description

Technical Field

[0001] This utility model belongs to the field of gantry robot technology, and more specifically, it relates to a three-axis gantry robot for material handling. Background Technology

[0002] With the rapid development of industrial automation and intelligent manufacturing, three-axis gantry robots for material handling, as efficient material transfer equipment, have been widely used in manufacturing, logistics and warehousing, electronic processing and other fields. Based on the design of the rectangular coordinate system, they achieve precise positioning and handling of workpieces in three-dimensional space through the combination of X, Y and Z three-axis linear motion modules. Existing three-axis gantry robots for material handling generally consist of a gantry frame, drive system, control system and mechanical handling fixtures.

[0003] Existing application number: CN202122583977.9, this utility model discloses a three-axis truss manipulator, including a truss manipulator body. Each of the four corners of the truss manipulator body has a column. A caster wheel is fixedly connected to the bottom of each column. A hydraulic rod is fixedly connected to the middle of the outer wall of each column. A telescopic cylinder is provided on the outer wall of the bottom of each column. A mounting bracket corresponding to the hydraulic rod is fixedly connected to the outer wall of the telescopic cylinder. A base is fixedly connected to the bottom of the telescopic cylinder. The base includes a top plate and a bottom plate. Sleeves are fixedly connected to the four corners of the bottom of the top plate. This utility model, through the cooperation of the caster wheel, hydraulic rod, and base, allows the truss manipulator to be moved by simply using the hydraulic rod to raise the telescopic cylinders on the four column side walls. This allows the caster wheel to replace the base in contact with the ground, eliminating the need to disassemble the truss manipulator, saving significant manpower and time, improving work efficiency, and facilitating better user operation.

[0004] Based on the above, the protective structures of traditional gantry robots, such as protective grilles, are usually of fixed size. When handling large workpieces, the workpieces may extend beyond the main frame of the gantry, making it easy for outside personnel to come into contact with the workpieces or moving parts, posing a safety hazard. When handling small workpieces, fixed protective structures will occupy too much space, affecting the operation of surrounding personnel or the layout of equipment. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a three-axis gantry robot for material handling. This addresses the issue that the protective structures of existing traditional gantry robots, such as protective grilles, are typically of fixed size. When handling large workpieces, the workpieces may extend beyond the main frame of the gantry, making it easy for personnel on the periphery to come into contact with the workpieces or moving parts, posing a safety hazard. Conversely, when handling small workpieces, fixed protective structures occupy too much space, affecting the operation of surrounding personnel or the layout of equipment.

[0006] The purpose and function of this utility model's three-axis gantry robot for material handling are achieved through the following specific technical means:

[0007] A three-axis truss robot for material handling includes a truss body, a fixed box, a sliding rod, an actuator, a mechanical clamp, a drive motor, an extended protective assembly, and a quick-assembly assembly. Two fixed boxes are fixedly connected to the top left and right sides of the truss body, respectively. Two sliding rods of an "L" shape are provided, with their left ends slidably connected inside the left fixed box. The actuator is slidably connected inside the truss body. The mechanical clamp is located at the bottom of the actuator. The drive motor is fixedly connected to the outside of the right fixed box. The extended protective assembly is located on the outside of the truss body. The quick-assembly assembly is located at the bottom of the actuator.

[0008] Furthermore, the extended protective assembly includes: a transmission gear and a transmission rack; the transmission gear is coaxially and fixedly connected to the end of the drive motor shaft; two transmission racks are provided, and the two transmission racks are respectively fixedly connected to the right ends of two sliding rods, and the two transmission racks respectively mesh with the transmission gear.

[0009] Furthermore, the extended protective assembly also includes: a sliding protective frame and movable rollers; two sliding protective frames are provided, each slidingly connected inside two sliding rods, and each sliding protective frame is fixedly connected to two transmission racks; four movable rollers are provided, and the four movable rollers are distributed and rotatably connected to the bottom of the two sliding protective frames.

[0010] Furthermore, the quick-assembly assembly includes a fixing block and a mating block; the fixing block is fixedly connected to the mechanical clamp; the mating block is fixedly connected to the bottom of the actuator rod, and the fixing block is inserted into the mating block.

[0011] Furthermore, the quick-assembly assembly also includes: an insertion box, a limiting rod, and an operating rod; the insertion box is fixedly connected to the right side of the mechanical clamp; the limiting rod has an "L" shape structure, and two limiting rods are provided, which are slidably connected inside the insertion box; two operating rods are provided, which are fixedly connected to the bottom of the two limiting rods respectively.

[0012] Furthermore, the quick-release assembly also includes a return spring and a receiving box; the return spring is fixedly connected to the inner side of the two limiting rods; the receiving box is fixedly connected to the bottom right side of the actuator rod.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] First, by setting up extended protective components, the protection range can be dynamically adjusted according to the size of the workpiece being transported. When transporting large workpieces, the sliding protective frame expands outward to increase the shielding area and prevent personnel from contacting dangerous areas. When transporting small workpieces, the protective frame can be retracted to reduce space occupation. This improves transport safety while taking into account space utilization and adaptability to different working conditions.

[0015] Secondly, a quick-release assembly is installed between the actuator and the mechanical fixture. During disassembly, simply pull the actuator inward to release the limit switch, enabling tool-free quick replacement of the mechanical fixture. This improvement significantly shortens the mechanical fixture replacement time and enhances the robot's adaptability to various workpieces. It is especially suitable for flexible production scenarios with frequent switching of handling tasks, simplifying the operation process while ensuring connection reliability.

[0016] This utility model, by setting up extended protective components and quick-assembly components, enables the sliding protective frame to dynamically adjust the protection range according to the size of the workpiece, improving safety and spatial adaptability under different working conditions. The mechanical fixtures are designed with a tool-free quick-assembly structure, which significantly shortens the mechanical fixture replacement time in multi-variety production. Overall, it has significantly improved operational safety and cargo handling efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the sliding rod structure of this utility model.

[0019] Figure 3 This is the utility model Figure 2 A magnified view showing the details at point A in the middle.

[0020] Figure 4 This is a schematic diagram of the sliding protective frame structure of this utility model.

[0021] Figure 5 This is a schematic diagram of the actuator structure of this utility model.

[0022] Figure 6 This is a schematic diagram of the mechanical clamp structure of this utility model.

[0023] Figure 7 This is a schematic diagram of the insertion box structure of this utility model.

[0024] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0025] 1. Truss main body; 2. Fixing box; 3. Sliding rod; 4. Actuating rod; 401. Mechanical clamp; 5. Drive motor; 501. Transmission gear; 6. Transmission rack; 7. Sliding protective frame; 701. Moving roller; 8. Fixing block; 9. Mating block; 10. Insertion box; 11. Limiting rod; 1101. Operating rod; 1102. Return spring; 12. Receiving box. Detailed Implementation

[0026] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0027] Example 1:

[0028] As attached Figure 1 To be continued Figure 7 As shown:

[0029] This utility model provides a three-axis truss robot for material handling, including a truss body 1, a fixed box 2, a sliding rod 3, an actuator 4, a mechanical clamp 401, a drive motor 5, and an extended protective assembly; two fixed boxes 2 are provided, which are respectively fixedly connected to the left and right sides of the top of the truss body 1; the sliding rod 3 has an "L" shaped structure, and two sliding rods 3 are provided, with their left ends slidably connected inside the left fixed box 2; the actuator 4 is slidably connected inside the truss body 1; the mechanical clamp 401 is provided at the bottom of the actuator 4; the drive motor 5 is fixedly connected to the outside of the right fixed box 2; and the extended protective assembly is provided on the outside of the truss body 1.

[0030] The extended protective assembly includes a transmission gear 501 and a transmission rack 6. The transmission gear 501 is coaxially fixedly connected to the end of the shaft of the drive motor 5. Two transmission racks 6 are provided, and the two transmission racks 6 are respectively fixedly connected to the right end of the two sliding rods 3, and the two transmission racks 6 mesh with the transmission gear 501 respectively.

[0031] The extended protective assembly also includes: a sliding protective frame 7 and movable rollers 701; two sliding protective frames 7 are provided, and the two sliding protective frames 7 are slidably connected inside the two sliding rods 3 respectively, and the two sliding protective frames 7 are fixedly connected to the two transmission racks 6 respectively; four movable rollers 701 are provided, and the four movable rollers 701 are distributed and rotatably connected to the bottom of the two sliding protective frames 7.

[0032] The specific usage and function of this embodiment are as follows: When using the equipment, if the items to be transported are large, they may protrude from the four uprights of the truss body 1 during transport. In this case, the drive motor 5 can be started, and the two transmission racks 6 mesh with the transmission gears 501 to form a gear and rack transmission mechanism, which drives the two sliding rods 3 to slide outwards simultaneously. The sliding rods 3 drive the sliding protective frame 7 to move outwards. The moving rollers 701 ensure smoother movement, thereby increasing the overall shielding area and preventing unauthorized personnel from being injured by contact with goods or moving parts. A set of sliding protective frames 7 can also be installed on the left and right sides of the truss body 1 to protect the truss body 1 from all sides. When workers want to enter the truss body 1 to disassemble or assemble mechanical clamps 401, they can grasp the bottom of the sliding protective frame 7 and move it upwards, allowing workers to pass under the sliding protective frame 7. When transporting small goods or workpieces, the drive motor 5 is started to drive the transmission gears 501 to reverse, and the sliding protective frame 7 is retracted, reducing the overall occupied area and facilitating passage for workers around the truss body.

[0033] Example 2:

[0034] Based on Example 1, as shown in the appendix Figure 1 To be continued Figure 7 As shown, it also includes a quick-release assembly, which is located at the bottom of the actuator 4.

[0035] The quick-assembly assembly includes a fixing block 8 and a mating block 9; the fixing block 8 is fixedly connected to the mechanical clamp 401; the mating block 9 is fixedly connected to the bottom of the actuator 4, and the fixing block 8 is inserted into the mating block 9.

[0036] The quick-assembly assembly also includes: an insertion box 10, a limiting rod 11, and an operating rod 1101; the insertion box 10 is fixedly connected to the right side of the mechanical clamp 401; the limiting rod 11 has an "L" shaped structure, and two limiting rods 11 are provided, which are slidably connected inside the insertion box 10; two operating rods 1101 are provided, and the two operating rods 1101 are fixedly connected to the bottom of the two limiting rods 11 respectively.

[0037] The quick-release assembly also includes: a reset spring 1102 and a receiving box 12; the reset spring 1102 is fixedly connected to the inner side of the two limit rods 11; the receiving box 12 is fixedly connected to the bottom right side of the actuator 4.

[0038] The specific usage and function of this embodiment are as follows: When it is necessary to disassemble or assemble the mechanical clamp 401, first disconnect the electrical cable connecting the mechanical clamp 401 and the bottom of the actuator 4, then simultaneously move the two operating rods 1101 inward, causing the two limiting rods 11 to retract completely into the insertion box 10, and then move the mechanical clamp 401 downward to remove it; when installing the new mechanical clamp 401, again simultaneously move the two operating rods 1101 inward, insert the fixing block 8 into the mating block 9, align the insertion box 10 with the receiving box 12 and insert it, release the two operating rods 1101, and under the rebound action of the return spring 1102, the two limiting rods 11 extend out of the insertion box 10 and enter the receiving box 12, and then insert the electrical cable into the interface to complete the installation of the mechanical clamp 401.

[0039] The following points should be noted in this article:

[0040] 1. The accompanying drawings of this embodiment only involve the structures involved in this embodiment; other structures can refer to the general design.

[0041] 2. Where there is no conflict, this embodiment and the features in the embodiment can be combined with each other to obtain new embodiments.

[0042] The above are merely specific implementations of this embodiment, but the protection scope of this embodiment is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this embodiment should be included within the protection scope of this embodiment. Therefore, the protection scope of this embodiment should be determined by the protection scope of the claims.

Claims

1. A three-axis truss manipulator for handling, comprising a truss body (1), a fixed box (2), a sliding rod (3), an execution rod (4), a mechanical clamp (401), a driving motor (5), an elongated protection assembly and a quick disassembly assembly; characterized in that: Two fixed boxes (2) are provided, and the two fixed boxes (2) are respectively fixedly connected to the top left and right sides of the truss body (1); the sliding rod (3) is an "L" shaped structure, and two sliding rods (3) are provided, with the left ends of the two sliding rods (3) being slidably connected to the inside of the left fixed box (2); the actuating rod (4) is slidably connected to the inside of the truss body (1); the mechanical clamp (401) is set at the bottom of the actuating rod (4); the drive motor (5) is fixedly connected to the outside of the right fixed box (2); the extended protective assembly is set on the outside of the truss body (1); the quick disassembly assembly is set at the bottom of the actuating rod (4).

2. The tri-axial truss robot for handling according to claim 1, characterized in that: The extended protective assembly includes: a transmission gear (501) and a transmission rack (6); the transmission gear (501) is coaxially fixedly connected to the end of the shaft of the drive motor (5); two transmission racks (6) are provided, and the two transmission racks (6) are respectively fixedly connected to the right end of two sliding rods (3), and the two transmission racks (6) mesh with the transmission gear (501) respectively.

3. The three-axis gantry robot for handling as described in claim 2, characterized in that: The extended protective assembly also includes: a sliding protective frame (7) and movable rollers (701); two sliding protective frames (7) are provided, and the two sliding protective frames (7) are slidably connected inside the two sliding rods (3), and the two sliding protective frames (7) are fixedly connected to the two transmission racks (6); four movable rollers (701) are provided, and the four movable rollers (701) are distributed and rotatably connected to the bottom of the two sliding protective frames (7).

4. The three-axis gantry robot for handling as described in claim 1, characterized in that: The quick assembly includes a fixing block (8) and a mating block (9); the fixing block (8) is fixedly connected to the mechanical clamp (401); the mating block (9) is fixedly connected to the bottom of the actuator (4), and the fixing block (8) is inserted into the mating block (9).

5. The three-axis gantry robot for handling as described in claim 1, characterized in that: The quick assembly and disassembly assembly also includes: an insertion box (10), a limiting rod (11), and an operating rod (1101); the insertion box (10) is fixedly connected to the right side of the mechanical clamp (401); the limiting rod (11) has an "L" shaped structure, and two limiting rods (11) are provided, which are slidably connected inside the insertion box (10); two operating rods (1101) are provided, which are fixedly connected to the bottom of the two limiting rods (11) respectively.

6. The three-axis gantry robot for handling as described in claim 5, characterized in that: The quick-release assembly also includes a reset spring (1102) and a receiving box (12); the reset spring (1102) is fixedly connected to the inside of the two limiting rods (11); the receiving box (12) is fixedly connected to the bottom right side of the actuator (4).

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