Gantry palletizing robot

Abstract

The utility model discloses a kind of gantry stacking manipulator, belong to gantry stacking manipulator technical field, including gantry mobile frame, the gantry mobile frame includes first mobile end and second mobile end;Lifting assembly, the lifting assembly is connected on the horizontal end of second mobile end, and the lifting end bottom of lifting assembly is connected with grabbing assembly, the lifting assembly is used for the up-down height adjustment of grabbing assembly;The grabbing assembly is used for the abutment positioning of yarn spindle tube inner wall.By the setting of grabbing assembly, the yarn spindle tube is grabbed by the way of inner wall support positioning, to realize the transfer operation of yarn spindle, and this kind of grabbing mode can realize the mutual contact of yarn spindle stacking when carrying out yarn spindle, to improve the compactness of yarn spindle stacking, avoid yarn spindle stacking loose to reduce its stacking stability.

Description

Technical Field

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

[0002] A gantry palletizing robot is an automated device mainly used for the efficient and accurate palletizing of goods of different shapes, sizes and weights. It is widely used in various industries. It adopts a gantry frame structure and consists of columns, beams, horizontal moving mechanism, vertical lifting mechanism and gripping device. It has a large working space and high stability and can adapt to the palletizing needs of different scenarios.

[0003] An investigation revealed that a Chinese utility model patent (publication number: CN221836276U) discloses a gantry palletizing robot, comprising two pairs of support columns installed parallel to each other. A longitudinal linear guide rail is fixedly mounted at the top of each support column, and a slider is slidably connected to the linear guide rail. A moving mechanism is fixedly mounted at the top of each slider, and a pair of movable blocks are mounted on the moving mechanism. An electric telescopic rod is mounted on the ground-facing end of each movable block, and a gripper mechanism is fixedly mounted on the electric telescopic rod facing the center of the moving mechanism. By setting two pairs of support columns and longitudinally mounting linear guide rails at the top of the support columns, and then horizontally mounting the moving mechanism across the linear guide rails, the moving mechanism can move back and forth via the linear guide rails. The moving mechanism, in turn, enables the gripper to move up and down and back and forth, thus improving the gripper's practicality.

[0004] The aforementioned patent uses a side clamping method to grasp and transfer yarn spindles during the stacking process. However, this side clamping prevents the yarn spindles from getting close to each other during stacking, resulting in loose stacking and affecting the stability and firmness of the stacking.

[0005] Therefore, this utility model provides a gantry palletizing robot to solve the above problems. Utility Model Content

[0006] (a) Technical problems to be solved

[0007] This utility model provides a gantry palletizing robot, which aims to solve the problems mentioned in the background art.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, this utility model provides the following technical solution: a gantry palletizing robot, comprising a gantry moving frame, wherein the gantry moving frame includes a first moving end and a second moving end;

[0010] A lifting assembly is connected to the horizontal end of the second moving end, and a gripping assembly is connected to the bottom of the lifting end of the lifting assembly. The lifting assembly is used to adjust the vertical height of the gripping assembly.

[0011] The gripping component includes a positioning frame, which is fixedly connected to the bottom of the lifting end of the lifting component. A sleeve is fixedly connected to the bottom of the positioning frame. The gripping component is used for abutment positioning against the inner wall of the yarn spindle tube.

[0012] As a preferred technical solution of this application, both the first mobile end and the second mobile end are used for horizontal displacement adjustment of the lifting component, and the moving directions of the first mobile end and the second mobile end are perpendicular.

[0013] As a preferred technical solution of this application, the lifting assembly includes a housing, which is fixedly connected to the upper surface of the second moving end. A first motor is fixedly connected to the outer wall of the housing. A nut pair is rotatably connected inside the housing, and a worm gear is fixedly connected to the outer wall of the nut pair. A worm is meshed with the outside of the worm gear, and both ends of the worm are rotatably connected to the housing through bearings. One end of the worm is connected to the output end of the first motor. A lead screw is connected inside the nut pair, and the lead screw is the lifting end of the lifting assembly.

[0014] As a preferred technical solution of this application, the second mobile end is internally fixedly connected with a guide sleeve, and a guide shaft is slidably passed through the inside of the guide sleeve. Two guide sleeves and two guide shafts are provided, and the two guide sleeves and guide shafts are symmetrically distributed on both sides of the lead screw.

[0015] As a preferred technical solution of this application, a reinforcing plate is fixedly connected to the top of the guide shaft and the lead screw, a motor bracket is fixedly connected to one side of the second moving end, and a first motor is fixedly connected to the outer wall of the motor bracket. A positioning frame is connected to the bottom of the guide shaft and the lead screw.

[0016] As a preferred technical solution of this application, the positioning frame includes two support plates, and a connecting column is fixedly connected at the corner between the two support plates. An electric push rod is fixedly connected to the upper surface of the lower support plate, and the lifting end of the electric push rod extends through to the bottom of the lower support plate and is fixedly connected to a telescopic shaft.

[0017] As a preferred technical solution of this application, the telescopic shaft extends into the interior of the sleeve, and a hinge rod is hinged to the outer wall of the telescopic shaft inside the sleeve. A rotating rod is hinged to the other end of the hinge rod. One end of the rotating rod is rotatably connected to the sleeve through the hinge shaft, and an abutment rod is threaded to the other end of the rotating rod.

[0018] As a preferred technical solution of this application, the end of the sleeve away from the positioning frame is fixedly connected to an end cap, and the end of the end cap inserted into the sleeve is slidably connected to a telescopic shaft.

[0019] As a preferred technical solution of this application, the sleeve is provided with three mounting grooves evenly distributed around its circumference, and a hinge shaft is fixedly connected inside each mounting groove. The hinge shaft is used for the rotational connection and positioning of the rotating rod, and the diameter of the rotating rod is smaller than the width of the mounting groove.

[0020] As a preferred technical solution of this application, the end of the abutment rod away from the rotating rod is spherical, and the outer wall of the spherical structure is covered with an anti-slip rubber pad. The outer wall of the threaded section of the abutment rod is also provided with scale lines.

[0021] (III) Beneficial Effects

[0022] The beneficial effects of this application are as follows:

[0023] 1. This utility model uses a gripping component to grip the yarn bobbin through inner wall support and positioning, thereby realizing the transfer of yarn bobbins. Moreover, this gripping method can achieve mutual contact between the yarn bobbins during stacking, thereby improving the compactness of the yarn bobbin stacking and preventing the yarn bobbin stacking from becoming loose and reducing its stacking stability.

[0024] 2. This utility model, through the adjustable structure of the gripping component, allows it to be adapted to gripping and stacking yarn bobbins of different diameters, thereby improving the adaptability and flexibility of the device. At the same time, the extension and retraction length of the abutment rod can be adjusted, so that the extension and retraction length of the abutment rod at different layers can be adjusted to present a conical abutment positioning, further improving the adaptability and stability of the device's gripping, and meeting the abutment gripping of the inner wall of vertical tubes or conical tubes.

[0025] 3. By setting up a lifting component, this utility model uses a worm gear screw lifting mechanism to adjust the gripping height, which makes the vertical height adjustment range of the gripping component larger. At the same time, it can expand the range of gripping component height adjustment without extending the height of the overall frame, thereby further improving the gripping flexibility of the device. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present utility model;

[0027] Figure 2 This is a schematic diagram of the connection state structure of the lifting component of this utility model;

[0028] Figure 3 This is a partial exploded view of the lifting component of this utility model;

[0029] Figure 4 For the present utility model Figure 3 A magnified structural diagram of A in the middle;

[0030] Figure 5 This is a partial exploded view of the gripping component of this utility model;

[0031] Figure 6 This is a partial cross-sectional view of the gripping component of this utility model.

[0032] In the picture:

[0033] 1. Gantry moving frame; 11. First moving end; 12. Second moving end; 2. Lifting assembly; 21. Housing; 22. First motor; 23. Nut pair; 24. Guide sleeve; 25. Guide shaft; 26. Worm gear; 27. Worm; 28. Lead screw; 29. ​​Reinforcing plate; 3. Gripping assembly; 31. Positioning frame; 32. Electric push rod; 33. Telescopic shaft; 34. Sleeve; 35. End cap; 36. Hinge shaft; 37. Rotating rod; 38. Abutment rod; 39. Hinge rod. Detailed Implementation

[0034] 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.

[0035] like Figure 1-6As shown, this utility model provides a gantry palletizing robot, including a gantry moving frame 1, which includes a first moving end 11 and a second moving end 12; a lifting assembly 2, which is connected to the horizontal end of the second moving end 12, and a gripping assembly 3 is connected to the bottom of the lifting end of the lifting assembly 2. The lifting assembly 2 is used to adjust the vertical height of the gripping assembly 3; the gripping assembly 3 includes a positioning frame 31, which is fixedly connected to the bottom of the lifting end of the lifting assembly 2. A sleeve 34 is fixedly connected to the bottom of the positioning frame 31. The gripping assembly 3 is used for abutment positioning against the inner wall of the spindle tube. The first moving end 11 and the second moving end 12... The movable end 12 is used for horizontal displacement adjustment of the lifting component 2, and the moving directions of the first movable end 11 and the second movable end 12 are perpendicular. The lifting component 2 drives the gripping component 3 to adjust its height. At the same time, under the horizontal displacement of the first movable end 11 and the second movable end 12, the horizontal position of the gripping component 3 is further adjusted, thereby realizing the flexible adjustment of the gripping position of the gripping component 3. Then, under the support and gripping of the inner wall of the gripping component 3, the inner wall of the yarn bobbin is gripped, making the yarn bobbin stacking more compact and avoiding the loose stacking caused by traditional side clamping.

[0036] Furthermore, the lifting assembly 2 includes a housing 21, which is fixedly connected to the upper surface of the second moving end 12. A first motor 22 is fixedly connected to the outer wall of the housing 21. A nut pair 23 is rotatably connected inside the housing 21, and a worm gear 26 is fixedly connected to the outer wall of the nut pair 23. A worm 27 is meshed with the outside of the worm gear 26, and both ends of the worm 27 are rotatably connected to the housing 21 through bearings. One end of the worm 27 is connected to the output end of the first motor 22. A lead screw 28 is connected inside the nut pair 23, and the lead screw 28 is the lifting end of the lifting assembly 2. The first motor 22 drives the worm 27 to rotate, which in turn drives the worm gear 26 to rotate. The rotation of the worm gear 26 drives the nut pair 23 to rotate, thereby realizing the up-and-down adjustment of the lead screw 28.

[0037] Furthermore, a guide sleeve 24 is fixedly connected through the interior of the second moving end 12, and a guide shaft 25 slides through the interior of the guide sleeve 24. There are two guide sleeves 24 and two guide shafts 25, and the two guide sleeves 24 and guide shafts 25 are symmetrically distributed on both sides of the lead screw 28. The guide sleeves 24 and guide shafts 25 mainly play a good guiding and positioning role for the lead screw 28, ensuring the stability of the vertical displacement of the lead screw 28. A reinforcing plate 29 is fixedly connected to the top of the guide shaft 25 and the lead screw 28. A motor bracket is also fixedly connected to one side of the second moving end 12, and a first motor 22 is fixedly connected to the outer wall of the motor bracket. A positioning frame 31 is connected to the bottom of the guide shaft 25 and the lead screw 28.

[0038] Furthermore, the positioning frame 31 includes two support plates, and connecting columns are fixedly connected at the corners between the two support plates. An electric push rod 32 is fixedly connected to the upper surface of the lower support plate, and a telescopic shaft 33 is fixedly connected to the lifting end of the electric push rod 32 through the lower support plate. The telescopic shaft 33 passes through the inside of the sleeve 34, and a hinge rod 39 is hinged to the outer wall of the telescopic shaft 33 inside the sleeve 34. A rotating rod 37 is hinged to the other end of the hinge rod 39. One end of the rotating rod 37 is rotatably connected to the sleeve 34 through the hinge shaft 36, and the other end of the rotating rod 37 is threadedly connected to an abutment rod 38. By setting the electric push rod 32 to drive the telescopic shaft 33 to pull and adjust, the rotating rod 37 can be rotated by the hinge support of the hinge rod 39 under the displacement of the telescopic shaft 33, and then the abutment rod 38 completes the abutment and gripping of the inner wall of the spindle tube.

[0039] Furthermore, an end cap 35 is fixedly connected to the end of the sleeve 34 away from the positioning frame 31, and a telescopic shaft 33 is slidably inserted into the end of the end cap 35 that is inserted into the inside of the sleeve 34. By installing the end cap 35, the telescopic shaft 33 can be further guided, thereby further reinforcing the displacement of the telescopic shaft 33.

[0040] Furthermore, the sleeve 34 has three mounting slots evenly spaced around its circumference, and each mounting slot is fixedly connected to a hinge shaft 36. The hinge shaft 36 is used for the rotational connection and positioning of the rotating rod 37. The diameter of the rotating rod 37 is smaller than the width of the mounting slot. The end of the abutment rod 38 away from the rotating rod 37 is spherical, and the outer wall of the spherical structure is covered with an anti-slip rubber pad. The outer wall of the threaded section of the abutment rod 38 is also provided with scale lines. Through the threaded connection between the rotating rod 37 and the abutment rod 38, its extension length can be flexibly adjusted. By adjusting the extension length of the rotating rod 37 and the abutment rod 38 at different layers, the external abutment distance of the abutment rod 38 changes, thereby achieving the abutment gripping of the conical inner wall and further improving the adaptability of the device's gripping.

[0041] Working principle: First, the contact length of the rotating rod 37 and the contact rod 38 is adjusted according to the shape of the inner wall of the spindle tube, so that the gripping component 3 can better fit the inner wall of the spindle tube for contact and gripping. Then, the device drives the gripping component 3 to adjust its horizontal displacement under the horizontal displacement of the first moving end 11 and the second moving end 12. Under the lifting drive of the lifting component 2, the gripping component 3 is driven to adjust its vertical height, so that the tight stacking of the spindle can be achieved under the gripping of the gripping component 3.

[0042] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A gantry palletizing robot, characterized in that: It includes a gantry moving frame (1), which includes a first moving end (11) and a second moving end (12); Lifting component (2), the lifting component (2) is connected to the horizontal end of the second moving end (12), and the bottom of the lifting end of the lifting component (2) is connected to the gripping component (3), the lifting component (2) is used to adjust the vertical height of the gripping component (3); The gripping component (3) includes a positioning frame (31), and the positioning frame (31) is fixedly connected to the bottom of the lifting end of the lifting component (2). A sleeve (34) is fixedly connected to the bottom of the positioning frame (31). The gripping component (3) is used for abutting and positioning the inner wall of the yarn spindle tube.

2. The gantry palletizing robot according to claim 1, characterized in that: The first moving end (11) and the second moving end (12) are both used for horizontal displacement adjustment of the lifting assembly (2), and the moving directions of the first moving end (11) and the second moving end (12) are perpendicular.

3. The gantry palletizing robot according to claim 2, characterized in that: The lifting assembly (2) includes a housing (21), which is fixedly connected to the upper surface of the second moving end (12). A first motor (22) is fixedly connected to the outer wall of the housing (21). A nut pair (23) is rotatably connected inside the housing (21), and a worm gear (26) is fixedly connected to the outer wall of the nut pair (23). A worm (27) is meshed with the outside of the worm gear (26), and both ends of the worm (27) are rotatably connected to the housing (21) through bearings. One end of the worm (27) is connected to the output end of the first motor (22). A lead screw (28) is connected inside the nut pair (23), and the lead screw (28) is the lifting end of the lifting assembly (2).

4. A gantry palletizing robot according to claim 3, characterized in that: The second moving end (12) is internally fixedly connected to a guide sleeve (24), and a guide shaft (25) slides through the inside of the guide sleeve (24). There are two guide sleeves (24) and two guide shafts (25), and the two guide sleeves (24) and guide shafts (25) are symmetrically distributed on both sides of the lead screw (28).

5. A gantry palletizing robot according to claim 4, characterized in that: The top of the guide shaft (25) and the lead screw (28) are fixedly connected to a reinforcing plate (29), and a motor bracket is fixedly connected to one side of the second moving end (12). The outer wall of the motor bracket is fixedly connected to a first motor (22), and the bottom of the guide shaft (25) and the lead screw (28) are connected to a positioning frame (31).

6. A gantry palletizing robot according to claim 1, characterized in that: The positioning frame (31) includes two support plates, and a connecting column is fixedly connected at the corner between the two support plates. An electric push rod (32) is fixedly connected to the upper surface of the lower support plate, and a telescopic shaft (33) is fixedly connected to the lifting end of the electric push rod (32) through to the bottom of the lower support plate.

7. A gantry palletizing robot according to claim 6, characterized in that: The telescopic shaft (33) extends into the interior of the sleeve (34), and the telescopic shaft (33) is hinged to the outer wall of the sleeve (34) with a hinge rod (39). The other end of the hinge rod (39) is hinged to a rotating rod (37). One end of the rotating rod (37) is rotatably connected to the sleeve (34) through a hinge shaft (36), and the other end of the rotating rod (37) is threaded to an abutment rod (38).

8. A gantry palletizing robot according to claim 6, characterized in that: The end of the sleeve (34) away from the positioning frame (31) is fixedly connected to an end cap (35), and the end cap (35) is inserted into the sleeve (34) and a telescopic shaft (33) is slidably inserted into the end of the sleeve (34).

9. A gantry palletizing robot according to claim 6, characterized in that: The sleeve (34) has three mounting slots evenly distributed around its circumference, and each mounting slot has a hinge shaft (36) fixedly connected inside. The hinge shaft (36) is used for the rotational connection and positioning of the rotating rod (37). The diameter of the rotating rod (37) is smaller than the width of the mounting slot.

10. A gantry palletizing robot according to claim 7, characterized in that: The end of the abutment rod (38) away from the rotating rod (37) is spherical, and the outer wall of the spherical structure is covered with an anti-slip pad. The outer wall of the threaded section of the abutment rod (38) is also provided with scale lines.

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