Truss robot

Abstract

The utility model discloses a truss mechanical hand, including gantry, horizontal slide vertical board, elevating column, object carrying sliding table subassembly, the gantry is a kind of steel structure support frame, and two columns and top beam constitute portal structure, and it is the mounting frame body of entire mechanical hand, the elevating column bottom end is fixed with the object carrying sliding table subassembly of horizontal arrangement, the object carrying sliding table subassembly includes link frame, object carrying table, sliding table motor, the link frame is the frame body of the open both ends of front and back, and the middle part is equipped with cavity, the object carrying table is located in the cavity of link frame, object carrying table is slidably connected with link frame by slide rail three, sliding block three, and object carrying table is driven to slide forward and backward by sliding table motor through driving gear, rack three, the utility model discloses a truss mechanical hand, and object carrying table can be telescopic forward and backward, and it is convenient to stretch into the space of top closed or having obstruction from side to unload workpiece or article.

Description

Technical Field

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

[0002] A gantry robot (also known as a Cartesian coordinate robot or gantry robot) is an automated material handling device based on a Cartesian coordinate system (X, Y, and Z axes). It performs operations such as workpiece gripping, transfer, and assembly through program control, and is widely used in CNC machine tool loading and unloading, production line logistics transfer, and heavy workpiece handling. Although this technology is relatively mature, existing designs still have the following significant drawbacks:

[0003] Most gantry robots use grippers or vacuum suction cups to pick up workpieces. When picking up and putting down workpieces, the robot is always above the workpiece. This is not suitable for some work scenarios, such as when sending a workpiece to a certain position or station, but the top of that position or station is blocked or interfered with by objects (framework, baffle), and the workpiece can only be sent in from the side. In this case, traditional gantry robots cannot send the workpiece in. For example, sending a workpiece into a carriage with only a rear opening; or sending a workpiece into a stamping machine or edge trimming machine with stamping or blanking parts on the top.

[0004] When traditional gantry robots place workpieces into enclosed equipment, the vertical direction is obstructed by the top plate of the equipment. The workpieces can only be hoisted to the side of the equipment and then manually pushed in, which is inefficient and prone to workpiece damage. If a six-axis robot is used for lateral delivery, the cost is high and the space required is large. Utility Model Content

[0005] The purpose of this utility model is to provide a gantry robot with a simple and reasonable structural design and stable and reliable operation; the loading platform can extend and retract forward and backward, making it convenient to extend from the side into a closed or obstructed space at the top to unload workpieces or objects.

[0006] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0007] A gantry robot includes a gantry frame, a horizontal sliding plate, a lifting column, and a loading slide assembly;

[0008] The gantry frame is a steel structure support frame, consisting of two columns and a top beam forming a portal structure, which serves as the mounting frame for the entire robotic arm;

[0009] Two horizontal slide rails are provided above the crossbeam; a horizontal rack is provided between the horizontal slide rails.

[0010] The horizontal sliding plate is a flat panel, vertically installed, with a horizontal slider fixed to its rear side; the horizontal slider is sleeved on the horizontal slide rail. A horizontally positioned transverse motor is located at the front of the horizontal sliding plate, and the output shaft of the transverse motor is connected to a drive gear, which meshes with a horizontal rack. Rotation of the transverse motor drives the drive gear to rotate, thus driving the horizontal sliding plate to slide left and right along the horizontal slide rail.

[0011] The front side of the horizontal sliding plate is also provided with a vertical slider, and the rear side is also provided with a horizontally arranged lifting motor, the output shaft of which is connected to the second drive gear.

[0012] The rear side of the lifting column is provided with two vertically arranged vertical slide rails, and a vertical rack is vertically arranged between the vertical slide rails. The vertical slider is sleeved on the vertical slide rails, and the second drive gear meshes with the vertical rack. By rotating the lifting motor, the second drive gear is driven to rotate, which drives the horizontal sliding plate to slide up and down along the vertical slide rails.

[0013] The bottom end of the lifting column is fixed with a horizontally arranged loading slide assembly.

[0014] The loading slide assembly includes a connecting frame, a loading platform, and a slide motor. The connecting frame is a frame with openings at both ends and a cavity in the middle. The loading platform is located within the cavity of the connecting frame. The slide motor is located on the right outer wall of the connecting frame, and sliders are located on both its left and right inner walls. The loading platform has slide rails on both its left and right sides, and a horizontally arranged rack on its right outer wall. The output shaft of the slide motor is connected to a drive gear. The sliders are mounted on the slide rails, and the drive gear meshes with the rack for transmission. The loading platform is slidably connected to the connecting frame via the slide rails and sliders, and is driven to slide back and forth by the slide motor through the drive gear and rack.

[0015] The platform includes an unloading motor, a conveyor belt, a drive roller, a driven roller, a support plate, and a mounting frame. The mounting frame is horizontally positioned, with a horizontally positioned drive roller and driven roller at its front and rear ends, respectively. The conveyor belt is fitted onto the drive roller and driven roller at its front and rear ends, respectively. The output shaft of the unloading motor is connected to the drive roller, driving its rotation and thus the conveyor belt. The support plate is horizontally positioned below the conveyor belt, with its edges fixed to the mounting frame, to support the conveyor belt and maintain its horizontal position.

[0016] The beneficial effects of this utility model are:

[0017] Its structural design is simple and reasonable, and its operation is stable and reliable; the platform can be extended and retracted back and forth, making it convenient to unload workpieces or objects from the side into the closed or obstructed space at the top. Attached Figure Description

[0018] Figure 1 This is a structural schematic diagram of a gantry robot according to the present invention;

[0019] Figure 2 for Figure 1 A magnified view of the lower middle section;

[0020] Figure 3 This is a rear view of a gantry robot according to the present invention;

[0021] Figure 4 for Figure 3 A magnified view of a portion of the image;

[0022] Figure 5 This is a schematic diagram showing the connection relationship between the drive gear, horizontal rack, vertical rack, and drive gear two, omitting any obstructions. Detailed Implementation

[0023] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this utility model, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0024] like Figures 1-5 As shown, a gantry robot includes a gantry frame 1, a horizontal sliding plate 2, a lifting column 3, and a loading slide assembly 4;

[0025] The gantry frame 1 is a steel structure support frame, consisting of two columns 11 and a top beam 12 forming a portal structure, which serves as the mounting frame for the entire robot arm;

[0026] Two horizontal slide rails 13 are provided above the crossbeam 12; a horizontal rack 14 is provided between the horizontal slide rails 13.

[0027] The horizontal sliding plate 2 is a flat panel, vertically arranged, with a horizontal slider 21 fixed to its rear side; the horizontal slider 21 is sleeved on the horizontal slide rail 13. A horizontally arranged transverse motor 22 is provided on the front side of the horizontal sliding plate 2, and the output shaft of the transverse motor 22 is connected to a drive gear 23, which meshes with a horizontal rack 14. By rotating the transverse motor 22, the drive gear 23 is driven to rotate, thus driving the horizontal sliding plate 2 to slide left and right along the horizontal slide rail 13.

[0028] The horizontal sliding plate 2 is also provided with a vertical slider 24 on the front side and a horizontally arranged lifting motor 25 on the rear side. The output shaft of the lifting motor 25 is connected to the second drive gear 26.

[0029] The rear side of the lifting column 3 is provided with two vertically arranged vertical slide rails 31, and a vertical rack 32 is vertically arranged between the vertical slide rails 31. The vertical slider 24 is sleeved on the vertical slide rails 31, and the second drive gear 26 is meshed with the vertical rack 32. By rotating the lifting motor 25, the second drive gear 26 is driven to rotate, which drives the horizontal sliding plate 2 to slide up and down along the vertical slide rails 31.

[0030] The bottom end of the lifting column 3 is fixed with a horizontally arranged loading slide assembly 4.

[0031] The loading slide assembly 4 includes a connecting frame 41, a loading platform 42, and a slide motor 43. The connecting frame 41 is a frame with openings at both ends and a cavity in the middle. The loading platform 42 is located within the cavity of the connecting frame 41. The slide motor 43 is located on the outer right wall of the connecting frame 41, and sliders 44 are located on the inner walls of both its left and right sides. The loading platform 42 has slide rails 45 on both its left and right sides, and a horizontally arranged rack 46 on its outer right side. The output shaft of the slide motor 43 is connected to a drive gear. The sliders 44 are fitted onto the slide rails 45, and the drive gear meshes with the rack 46 for transmission. The loading platform 42 is slidably connected to the connecting frame 41 via the slide rails 45 and sliders 44, and is driven by the slide motor 43 to slide back and forth via the drive gear and rack 46.

[0032] The platform 42 includes a discharge motor 421, a conveyor belt 422, a drive roller 423, a driven roller 424, a support plate 425, and a mounting frame 426. The mounting frame 426 is horizontally arranged, with a drive roller 423 and a driven roller 424 horizontally arranged at its front and rear ends, respectively. The conveyor belt 422 is fitted onto the drive roller 423 and the driven roller 424 at its front and rear ends, respectively. The output shaft of the discharge motor 421 is connected to the drive roller 423, driving the drive roller 423 to rotate, which in turn drives the conveyor belt 422. The support plate 425 is horizontally arranged below the conveyor belt 422, with its edge fixed to the mounting frame 426, to support the conveyor belt 422 and maintain its horizontal position.

[0033] Preferably, the front side of the horizontal sliding plate 2 is also provided with a vertically arranged lifting cylinder 5, the bottom of which is detachably connected to the top of the loading slide assembly 4. The lifting motor 25 drives the loading slide assembly 4 to rise and fall quickly and rigidly; when the workpiece or item being transported is fragile, the lifting motor 25 can be turned off, and the lifting cylinder 5 can be used instead to drive the loading slide assembly 4 to rise and fall.

[0034] Preferably, the front side of the platform 42 is provided with a pointed insertion end, which is flat and pointed to facilitate entry into the unloading area.

[0035] Briefly describe its working principle:

[0036] The loading slide assembly 4 of this application can be lifted and lowered by the lifting column 3 and moved along the horizontal slide rail 13. The loading platform 42 of the loading slide assembly 4 can be driven to slide back and forth by the slide motor 43, drive gear, and rack 46, that is, the loading platform 42 can realize three-dimensional space movement. The workpiece to be loaded, unloaded or transferred is placed on the loading platform 42, and the loading platform 42 can move it to the required position; it can also facilitate unloading. The unloading motor 421 drives the conveyor belt 422 to drive the workpiece on the conveyor belt 422 to be unloaded from the loading platform 42.

[0037] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings, but this utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and alterations to these embodiments without departing from the principles and spirit of this utility model will still fall within the protection scope of this utility model.

Claims

1. A gantry robot, comprising a gantry frame, a horizontal sliding plate, and a lifting column, characterized in that: It also includes a cargo slide assembly; The gantry frame is a steel structure support frame, consisting of two columns and a top beam forming a portal structure, which serves as the mounting frame for the entire robotic arm; Two horizontal slide rails are provided above the crossbeam; a horizontal rack is provided between the horizontal slide rails. The horizontal sliding plate is a flat panel, vertically set, with a horizontal slider fixed to its rear side; the horizontal slider is sleeved on the horizontal sliding rail; a horizontally set horizontal movement motor is provided on the front side of the horizontal sliding plate, the output shaft of the horizontal movement motor is connected to a drive gear, and the drive gear meshes with a horizontal rack. The horizontal sliding plate is also provided with a vertical slider on the front side and a horizontally arranged lifting motor on the rear side. The output shaft of the lifting motor is connected to the second drive gear. The rear side of the lifting column is provided with two vertically arranged vertical slide rails, and a vertical rack is provided between the vertical slide rails; the vertical slider is sleeved on the vertical slide rails, and the second drive gear meshes with the vertical rack. The bottom end of the lifting column is fixed with a horizontally arranged loading slide assembly.

2. The gantry robot according to claim 1, characterized in that: The loading slide assembly includes a connecting frame, a loading platform, and a slide motor; the connecting frame is a frame body with openings at both ends and a cavity in the middle; the loading platform is located inside the cavity of the connecting frame; The connecting frame has a sliding table motor on its right outer wall and sliders on its left and right inner walls; the platform has slide rails on its left and right sides and a horizontally arranged rack on its right outer wall; the output shaft of the sliding table motor is connected to a drive gear; the sliders are mounted on the slide rails, and the drive gear meshes with the rack; the platform is slidably connected to the connecting frame via the slide rails and sliders, and the platform is driven to slide back and forth by the sliding table motor through the drive gear and rack.

3. The gantry robot according to claim 2, characterized in that: The loading platform includes an unloading motor, a conveyor belt, a drive roller, a driven roller, a support plate, and a mounting frame; the mounting frame is horizontally arranged, with a horizontally arranged drive roller and driven roller respectively at its front and rear ends, and the front and rear ends of the conveyor belt are respectively sleeved on the drive roller and driven roller; the output shaft of the unloading motor is connected to the drive roller, driving the drive roller to rotate; The support plate is horizontally positioned below the conveyor belt, with its edges fixed to the mounting frame to support the conveyor belt and maintain its horizontal position.

4. The gantry robot according to any one of claims 1-3, characterized in that: The front side of the horizontal sliding plate is also equipped with a vertically installed lifting cylinder, and the bottom of the lifting cylinder is detachably connected to the top of the loading slide assembly.

5. The gantry robot according to claim 2 or 3, characterized in that: The front side of the stage is provided with a pointed insertion end.

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