Truss manipulator integrated with aggregate bin

Abstract

This utility model provides a gantry robot integrating a material collection bin, belonging to the technical field of gantry robot technology. It solves the safety hazards of existing gantry robots. This gantry robot integrating a material collection bin includes a gripper, a mounting frame fixed to the material bin, and a long, narrow protective frame fixed to the mounting frame. The mounting frame has a moving structure that can drive the gripper to move along the X and Z axes. A pair of slide rails are fixed to the material bin, and a tray for placing workpieces is slidably connected to the slide rails. The protective frame has a long, narrow protective groove located directly below the movement path of the gripper along the X-axis. One end of the protective groove has a passageway penetrating the protective frame, located directly above the material bin. The gripper can move downwards along the Z-axis through the passageway to grip the workpiece on the tray. This gantry robot integrating a material collection bin has the advantages of improved safety and no ground contamination.

Description

Technical Field

[0001] This utility model belongs to the field of gantry robot technology, and relates to a gantry robot that integrates a material collection bin. Background Technology

[0002] A gantry robot is an automated industrial device based on a Cartesian coordinate system. It performs tasks such as workpiece handling, loading / unloading, and assembly through high-precision motion control. To save installation space, existing gantry robots are fixed to the material hopper, integrating the gantry robot and the hopper into one unit.

[0003] Existing gantry manipulators that integrate material collection and storage, such as the gantry manipulator and drawer hopper integrated device disclosed in Chinese patent literature [Patent No.: 202123395551.7; Application Publication No.: CN216781154U], consist of a gantry truss formed by two column units supporting a crossbeam in the middle, a hopper lifting and positioning mechanism set between the two column units, a tilting and straightening mechanism set above the hopper lifting and positioning mechanism, and a dual-axis manipulator mounted on the crossbeam; wherein, the crossbeam is provided with guide rails, and two sets of dual-axis manipulators are slidably connected to the guide rails via X-axis sliders, mainly used to complete the loading and unloading of parts from the material tray to the processing machine tool.

[0004] This type of integrated equipment combines a gantry robot and a hopper. The dual grippers move to grab parts from the tray and move them to the machine tool. However, this integrated equipment has a certain probability of malfunction during the workpiece grabbing and moving process. Specifically, the dual grippers may not grip the workpiece securely, causing it to fall from a height and injure the operator, posing a safety hazard. Furthermore, parts may become contaminated with oil or cutting fluid, which can drip onto the floor during movement, causing pollution to the factory floor. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems in the existing technology by proposing a truss manipulator that integrates a material collection bin, thereby solving the technical problem of how to improve safety without polluting the ground.

[0006] The objective of this utility model can be achieved through the following technical solution: A gantry robot integrating a material storage bin includes a gripper and a mounting frame fixed to the material storage bin. The mounting frame is provided with a moving structure that can drive the gripper to move along the X-axis and Z-axis. A pair of slide rails are fixed to the material storage bin, and a material tray for placing workpieces is slidably connected to the slide rails. The robot is characterized by further including a long strip-shaped protective frame fixed to the mounting frame. The protective frame has a long strip-shaped protective groove. The protective groove is located directly below the movement path of the gripper along the X-axis. One end of the protective groove has a passage that penetrates the protective frame. The passage is located directly above the material storage bin. The gripper can move downward along the Z-axis, pass through the passage, and grip the workpiece on the material tray.

[0007] During operation, the workpiece is placed on the tray, which moves along the slide rail to a set position. The moving structure drives the gripper to move downwards along the Z-axis, passing through the aisle to grab the workpiece from the tray. The gripper then moves upwards, passing through the aisle again, and then transports the workpiece into the machine tool along the X-axis. Because the protective frame has a long, narrow protective groove located directly below the gripper's X-axis movement path, if the gripper fails to grip the workpiece firmly, the workpiece will only fall into the protective groove, preventing it from hitting the operator and improving safety. Furthermore, any oil or cutting fluid adhering to the workpiece, even if dripped, will only fall into the protective groove and not onto the ground, preventing factory floor pollution. This gantry robot only requires adjusting the position of the hopper to complete adjustments. The moving structure is an existing structure, and its specific details are not described in detail.

[0008] In the aforementioned truss manipulator integrating a material collection bin, the mounting frame includes a crossbeam located at the top and arranged along the X-axis. The moving structure is mounted on the crossbeam, and several U-shaped supports are fixedly connected at intervals on the crossbeam. The protective frame is embedded and fixedly connected to the supports. This structure facilitates the fixing of the protective frame. The crossbeam can be arranged in three ways: it can protrude to the left, it can protrude to the right, or it can be centered.

[0009] In the aforementioned truss machine tool integrating a material collection bin, one side of the support is longer than the other. The longer side of the support is fixedly connected to the bottom of the crossbeam, and the top of the shorter side of the support is not higher than the top of the protective frame. The protective frame is located diagonally below the crossbeam. This structure makes the arrangement of the protective frame reasonable and the structure compact.

[0010] In the aforementioned truss machine tool that integrates a material collection bin, the passageway is elongated and arranged along the X-axis, and the length of the protective groove is 3-6 times the length of the passageway.

[0011] In the aforementioned truss machine tool that integrates a material collection bin, the length of the protective frame is greater than the length of the crossbeam, and the two ends of the protective frame are located outside the two ends of the crossbeam. This structure ensures that the protective frame provides complete protection.

[0012] In the aforementioned gantry manipulator that integrates a material collection bin, the bin is rectangular in shape, and both the protective frame and the crossbeam are perpendicular to the bin. This structure ensures the center of gravity of the gantry manipulator, preventing it from tipping over.

[0013] In the aforementioned gantry crane that integrates a material collection bin, a U-shaped protective cover is provided above the bin. The two sides of the protective cover are fixedly connected to the mounting frame. The gripper can extend into the protective cover by moving downwards along the Z-axis. The protective cover serves a protective function, preventing external interference with the gripper's normal workpiece gripping ability and reducing the failure rate.

[0014] In the aforementioned truss machine tool that integrates a material collection bin, the bottom of the mounting frame is fixedly connected to the middle of both sides of the bin.

[0015] Compared with the prior art, the gantry robot integrating a material collection bin provided by this utility model has the following advantages:

[0016] 1. The protective frame of this gantry robot has a long, narrow protective groove located directly below the moving path of the gripper along the X-axis. If the gripper fails to grip the workpiece, the workpiece will only fall into the protective groove and will not hit the operator, thus improving safety. At the same time, any oil or cutting fluid adhering to the workpiece, even if it drips, will only fall into the protective groove and will not drip onto the ground, thus preventing pollution of the factory floor.

[0017] 2. The crossbeam of this gantry robot can be set to protrude to the left, to the right, or in the center, so that the gantry robot can be installed in different environments and improve its versatility. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the gantry robot that integrates the material collection bins.

[0019] Figure 2 This is a top view of the protective frame of this truss robot.

[0020] Figure 3 This is a structural schematic diagram of the mechanical mounting frame and protective cover of this truss.

[0021] In the diagram, 1. Grabber; 2. Hopper; 3. Mounting frame; 31. Crossbeam; 4. Moving structure; 5. Slide rail; 6. Material tray; 7. Protective frame; 8. Protective groove; 9. Passageway; 10. Support; 11. Protective cover. Detailed Implementation

[0022] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0023] like Figure 1 As shown, the truss robot that integrates the material bin 2 includes a gripper 1, a material bin 2, a mounting frame 3, a moving structure 4, a slide rail 5, a material tray 6, a protective frame 7, a support 10, and a protective cover 11.

[0024] The mounting frame 3 is fixedly connected to the hopper 2, and the bottom of the mounting frame 3 is fixedly connected to the middle of both sides of the hopper 2. The mounting frame 3 includes a crossbeam 31 located at the top and arranged along the X-axis. The moving structure 4 is arranged on the crossbeam 31. The moving structure 4 can drive the gripper 1 to move along the X-axis and Z-axis. The moving structure 4 is existing technology, and its specific structure will not be described in detail.

[0025] The protective frame 7 is elongated, with a length greater than that of the crossbeam 31. Both ends of the protective frame 7 are located outside the ends of the crossbeam 31. In this embodiment, three U-shaped supports 10 are fixedly connected to the crossbeam 31 at intervals. The protective frame 7 is embedded and fixedly connected to the supports 10. One side of the support 10 is longer than the other. The longer side of the support 10 is fixedly connected to the bottom of the crossbeam 31, and the top of the shorter side of the support 10 is not higher than the top of the protective frame 7. The protective frame 7 is located diagonally below the crossbeam 31. In actual production, the number of supports 10 can be two or four.

[0026] The protective frame 7 has a long, narrow protective groove 8 located directly below the moving path of the gripper 1 along the X-axis. One end of the protective groove 8 has a passageway 9 that penetrates the protective frame 7. The passageway 9 is long and narrow along the X-axis and is located directly above the hopper 2. Figure 2 As shown, in this embodiment, the length of the protective groove 8 is 4 times the length of the passageway 9. In actual production, the length of the protective groove 8 is 3 times or 6 times the length of the passageway 9.

[0027] The hopper 2 is rectangular in shape. The protective frame 7 and the crossbeam 31 are both perpendicular to the hopper 2. A pair of slide rails 5 are fixedly connected to the hopper 2, and a tray 6 for placing workpieces is slidably connected to the slide rails 5. For example... Figure 3 As shown, a U-shaped protective cover 11 is provided above the hopper 2. The two sides of the protective cover 11 are fixedly connected to the mounting frame 3 respectively. The gripper 1 can move downward along the Z-axis through the passage 9 to grab the workpiece on the material tray 6.

[0028] During operation, the workpiece is placed on the tray 6, which moves along the slide rail 5 to a set position. The moving structure 4 drives the gripper 1 to move downward along the Z-axis, passing through the passageway 9 to grip the workpiece on the tray 6. Then, the gripper 1 moves upward and passes through the passageway 9, and then transports the workpiece into the machine tool along the X-axis. After the transport is completed, the gripper 1 returns to its original position. Repeating the above steps multiple times can complete the loading of multiple workpieces.

[0029] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0030] Although this document uses numerous terms such as gripper 1, hopper 2, mounting frame 3, crossbeam 31, moving structure 4, slide rail 5, tray 6, protective frame 7, protective groove 8, passageway 9, support 10, and protective cover 11, the possibility of using other terms cannot be excluded. The use of these terms is merely for the convenience of describing and explaining this utility model.

[0031] The spirit of this utility model is to interpret them as any kind of additional limitation.

[0032] It is contrary to the rules.

Claims

1. A gantry robot integrating a material storage bin, comprising a gripper (1) and a mounting frame (3) fixedly connected to the material storage bin (2), wherein the mounting frame (3) is provided with a moving structure (4) capable of driving the gripper (1) to move along the X-axis and Z-axis, and a pair of slide rails (5) are fixedly connected to the material storage bin (2), wherein a tray (6) for placing workpieces is slidably connected to the slide rails (5), characterized in that, It also includes a long strip-shaped protective frame (7) fixed to the mounting bracket (3), the protective frame (7) having a long strip-shaped protective groove (8), the protective groove (8) being located directly below the moving path of the gripper (1) along the X-axis direction, one end of the protective groove (8) having a passage (9) penetrating the protective frame (7), the passage (9) being located directly above the hopper (2), the gripper (1) being able to move downward along the Z-axis direction through the passage (9) to grip the workpiece on the tray (6).

2. The gantry robot integrating a material collection bin as described in claim 1, characterized in that, The mounting frame (3) includes a crossbeam (31) located at the top and arranged along the X-axis direction. The movable structure (4) is arranged on the crossbeam (31). Several U-shaped brackets (10) are fixedly connected at intervals on the crossbeam (31). The protective frame (7) is embedded and fixedly connected in the brackets (10).

3. A gantry robot integrating a material collection bin as described in claim 2, characterized in that, The bracket (10) has a longer length on one side and a shorter length on the other side. The longer side of the bracket (10) is fixedly connected to the bottom of the crossbeam (31). The top of the shorter side of the bracket (10) is not higher than the top of the protective frame (7). The protective frame (7) is located diagonally below the crossbeam (31).

4. A gantry robot integrating a material collection bin as described in claim 1, 2, or 3, characterized in that, The passageway (9) is long and narrow and is arranged along the X-axis. The length of the protective groove (8) is 3-6 times the length of the passageway (9).

5. A gantry robot integrating a material collection bin as described in claim 2 or 3, characterized in that, The length of the protective frame (7) is greater than the length of the crossbeam (31), and the two ends of the protective frame (7) are located outside the two ends of the crossbeam (31).

6. A gantry robot integrating a material collection bin as described in claim 2 or 3, characterized in that, The hopper (2) is rectangular in shape, and the protective frame (7) and the crossbeam (31) are both perpendicular to the hopper (2).

7. A gantry robot integrating a material collection bin as described in claim 1, 2, or 3, characterized in that, The hopper (2) is provided with a U-shaped protective cover (11) above it. The two sides of the protective cover (11) are fixedly connected to the mounting frame (3) respectively. The gripper (1) can move downward along the Z-axis and extend into the protective cover (11).

8. A gantry robot integrating a material collection bin as described in claim 1, 2, or 3, characterized in that, The bottom of the mounting bracket (3) is fixedly connected to the middle of both sides of the hopper (2).

Images