Highly integrated gantry style stock cushion pick-up device

Abstract

This utility model discloses a highly integrated gantry-type material picking device, comprising: two parallel and spaced tracks; a gantry frame with two supporting legs mounted on the two tracks, connected by a crossbeam; a circuit control box located at the bottom of the supporting legs, containing a control circuit board with integrated control circuitry; and a picking mechanism mounted on the inner wall of the supporting legs. This highly integrated gantry-type material picking device employs a design that deeply integrates a robotic arm with the gantry frame. The picking robot uses a gantry configuration, with the robotic arm itself being a highly rigid integral structure, offering stronger vibration resistance compared to a simple support frame. The gantry frame provides a large and stable mobile base for the robotic arm, and the combination of the two forms a "rigid-on-rigid" system, ensuring the positioning accuracy of the pneumatic gripper even at high speeds.

Description

Technical Field

[0001] This utility model belongs to the field of material handling automation technology, specifically a highly integrated gantry-type material pad picking device. Background Technology

[0002] Power, air supply, and signals are delivered to the gantry from a fixed control cabinet and air compressor station. After the equipment starts, a camera scans the material pad stack, identifying the target pad's position and angle. The gantry drives the vacuum suction cup assembly to move directly above the material stack. A distance sensor monitors in real time, and the Z-axis descends, bringing the suction cup surfaces into contact with the pad surface. Vacuum suction is activated, and a vacuum pressure sensor detects the suction, confirming successful gripping. The gantry transports the pad above the waste bin, the vacuum is released, and the pad falls into the waste bin. The Z-axis rises, and the gantry returns to the standby position, awaiting the next cycle. However, the existing technology has the following drawbacks: the grippers are directly and rigidly connected to the Z-axis end. The entire structure has poor torsional resistance, is prone to vibration and swaying during operation, is difficult to operate at high speeds, and has limited functionality, typically only capable of simple vertical pick-and-place actions. Utility Model Content

[0003] In view of the deficiencies in the prior art, the purpose of this utility model is to provide a highly integrated gantry-type pad picking device that improves the torsional resistance of the entire structure.

[0004] To solve the above-mentioned technical problems, this utility model provides a highly integrated gantry-type material picking device, comprising: tracks, two of which are arranged parallel and spaced apart; a gantry frame, with two supporting legs of the gantry frame respectively mounted on the two tracks, and a crossbeam connecting the two supporting legs; a circuit control box, located at the bottom of the supporting legs, containing a control circuit board with integrated control circuitry; and a picking mechanism, mounted on the inner wall of the supporting legs; wherein the picking mechanism includes: an air compressor, located at the bottom of the supporting legs, the air compressor being connected to the track... The system includes: a control circuit communication component; a lifting assembly disposed on the inner wall of the support leg and communicating with the control circuit; a rotating assembly disposed on the lifting assembly and communicating with the control circuit; a gripper disposed on the rotating assembly and connected to the air compressor and communicating with the control circuit; a vision camera connected to the lifting assembly via a vision arm and communicating with the control circuit; and a distance sensor disposed on the rotating assembly and communicating with the control circuit.

[0005] There are two lifting components and two rotating components, which are arranged facing each other on the inner walls of the two supporting legs.

[0006] The lifting assembly includes: a lifting bracket slidably connected to the inner wall of the support leg; a lifting motor mounted on the lifting bracket and communicating with the control circuit; wherein the rotating component and the vision arm are mounted on the lifting bracket.

[0007] The rotating assembly includes: a rotating motor mounted on the lifting bracket and communicating with the control circuit; and a rotating unit connected to the working end of the rotating motor; wherein the gripper and the distance sensor are respectively mounted on the rotating unit.

[0008] The rotating unit includes multiple rotating arms, which are connected end to end by a connecting motor, and the connecting motor communicates with the control circuit; wherein the gripper and the distance sensor are respectively disposed on the end of the rotating arm.

[0009] A drive mechanism is provided at the bottom of the two support legs. The drive mechanism includes: a drive plate, which is slidably disposed on the track, and the support legs are disposed on the drive plate; a track drive wheel, which is movably disposed within the track; and a drive motor, which is disposed on the drive plate and drives the track drive wheel through a transmission gear. The drive motor communicates with the control circuit. The circuit control box is disposed on the drive structure.

[0010] A drive housing is provided on the drive plate, which encloses the track drive wheel, the drive motor and the transmission gear; wherein the circuit control box is disposed on the drive housing.

[0011] A material transfer cart is provided on the drive plate.

[0012] The material transfer vehicle includes: a transfer vehicle bracket, which is mounted on the drive plate; a stepper motor, which is mounted on the transfer vehicle bracket and communicates with the control circuit; and a transfer vehicle lifting frame, which is slidably mounted on the transfer vehicle bracket and connected to the stepper motor.

[0013] The number of the material transfer vehicles is two, and the two material transfer vehicles are respectively installed on the drive plate at the bottom of the two support legs.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. The robot adopts a design that deeply integrates the robotic arm and the gantry. The picking robot uses a gantry configuration, and the robotic arm itself is a highly rigid integral structure, which has a stronger vibration resistance than a simple support. The gantry provides a large and stable moving base for the robotic arm, and the two together form a "rigid on top of rigid" system, which can ensure the positioning accuracy of the pneumatic gripper even at high speeds.

[0015] 2. An underground conductor rail is used to conceal the power supply lines underground. Protective trenches are pre-buried beside the equipment track, and all components are integrated into a closed system within the trenches, ultimately blending seamlessly with the workshop floor.

[0016] 3. The air compressor and control box are installed on both sides of the gantry frame and moved as part of the equipment. This greatly shortens the working pipelines and wiring, ensures stable air pressure, extremely fast response speed, high signal fidelity, reduced energy consumption, and facilitates centralized maintenance.

[0017] 4. Through three major innovations—underground installation, side mounting, and deep integration—a high degree of integration has been achieved. The equipment is self-contained, occupies a small area, and is easy to install and debug, thus reducing the total cost of ownership and operation and maintenance costs. Attached Figure Description

[0018] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0019] Figure 1 This is a schematic diagram of the highly integrated gantry-type material pickup device of this utility model. Figure 1 ; Figure 2 This is a schematic diagram of the highly integrated gantry-type material pickup device of this utility model. Figure 2 ; Figure 3 This is a schematic diagram of the picking mechanism of the highly integrated gantry-type material pad picking device of this utility model. Figure 1 ; Figure 4 This is a schematic diagram of the picking mechanism of the highly integrated gantry-type material pad picking device of this utility model. Figure 2 ; Figure 5 This is a schematic diagram of the structure of the highly integrated gantry-type material pad picking device and material transfer vehicle of this utility model. Figure 6 This is a schematic diagram of the drive mechanism of the highly integrated gantry-type material pick-up device of this utility model.

[0020] Explanation of reference numerals in the accompanying drawings of the highly integrated gantry-type material pickup device of this utility model: Detailed Implementation

[0021] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the scope of the present utility model.

[0022] For ease of description, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, terms such as "installed," "connected," "joined," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] Unless otherwise specified, the terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains, and should be understood to have the meaning consistent with the meaning in the context of the relevant art, and should not be interpreted in an idealized or over-formalized manner, except as expressly defined in this invention.

[0024] like Figures 1-6As shown, the highly integrated gantry-type material mat picking device of this utility model uses two parallel and spaced tracks 1 as the basic moving path. A gantry frame is built above the tracks 1, and the two support legs 3 of the gantry frame are respectively mounted on the two tracks 1. The two support legs 3 are connected by a crossbeam 2 to form a stable gantry-type load-bearing frame. A circuit control box 4 is fixedly installed at the bottom of the support legs 3. The box contains a control circuit board with integrated control circuitry, which serves as the command center of the entire device. An air compressor 5 is also installed at the bottom of the support legs 3 to provide pneumatic power to the grippers 7, driving the grippers 7 to open and close. The air compressor 5 establishes a communication connection with the control circuit on the control circuit board and can receive commands to adjust the air pressure output. The inner walls of both support legs 3 are equipped with picking mechanisms. This mechanism is the core execution unit for picking up the material mat 26, including a lifting component, a rotating component, grippers 7, a vision camera 8, and a distance sensor 10. Each component communicates with the control circuit to ensure coordinated and consistent actions. The lifting assembly is directly fixed to the inner wall of the support leg 3. Driven by the lifting motor 23, the lifting bracket 6 can be raised and lowered vertically to adjust the picking height. The rotating assembly is installed on the lifting assembly and can drive the gripper 7 to swing in multiple directions. The gripper 7 is mounted on the rotating arm 12 at the end and is connected to the air compressor 5 through an air pipe. The air compressor 5 drives the opening and closing to complete the gripping action. The vision camera 8 is fixed to the lifting bracket 6 through the vision arm 9 and is used to identify the position of the material pad 26 and provide coordinate information. The distance sensor 10 is fixed on the rotating arm 12 near the gripper 7 to monitor the distance between the gripper 7 and the surface of the aluminum plate 25 in real time, avoiding collisions and accurately controlling the gripping timing. This design, which integrates control, power, and execution components onto the gantry support leg 3, forms an "integrated mobile unit" for each module of the equipment. Compared to the traditional distributed layout, it significantly shortens the transmission path of the air and electrical circuits, resulting in more stable air pressure, higher signal fidelity, and improved response speed. It also reduces the risk of wear caused by exposed pipelines, facilitates centralized maintenance, and lowers subsequent operation and maintenance costs.

[0025] The structural design of the rotating assembly further enhances the flexibility and adaptability of the device. Its core comprises a rotating motor 11 and a rotating unit consisting of multiple rotating arms 12. The rotating motor 11 is fixed to the lifting bracket 6, and its output end is connected to one end of the first rotating arm 12. Multiple rotating arms 12 are connected end-to-end via connecting motors 13, and adjacent rotating arms 12 are connected by connecting motors 13, forming a multi-arm folding structure that can fold and swing at multiple angles. The gripper 7 and distance sensor 10 are both installed at the free end of the last rotating arm 12. Two rotating and lifting assemblies are provided, arranged facing each other on the inner walls of the two support legs 3. During operation, the control circuit drives the rotating motor 11 and connecting motor 13 to work together, causing the rotating arms 12 to swing flexibly in the XY plane. For example, for material pads 26 at different positions, by adjusting the swing angle and folding angle of the rotating arms 12, the gripper 7 can be precisely aligned with the center of the material pad 26, making it particularly suitable for large-area plate material positions of 3.8 × 18 meters in material storage yards. Two opposing rotating components can operate simultaneously, covering a wider picking range. Combined with the subsequent movement of the track 1, multi-area material pad 26 cleaning can be completed without frequent adjustments to the gantry position. At the same time, the multi-arm folding structure of the rotating unit allows the rotating components to be retracted and stored when not in operation, reducing space occupation. The precise control of the rotating motor 11 and the connecting motor 13 ensures that the gripper 7 remains stable during high-speed swing, avoiding positioning deviations caused by vibration. This design, combined with the high rigidity of the gantry frame, creates a combination of rigidity and flexibility. Compared with the traditional single-arm structure, the repeatability of positioning is improved, fully meeting the picking needs of different specifications of material pads 26, such as wooden blocks and aluminum blocks.

[0026] To achieve precise movement of the device along track 1, a drive mechanism is installed at the bottom of each of the two support legs 3. This mechanism consists of a drive plate 14, a track drive wheel 15, and a drive motor 16. The drive plate 14 is slidably mounted on track 1, and the support legs 3 are fixed to the top of the drive plate 14, forming a linkage unit of "support leg 3 - drive plate 14". The track drive wheel 15 is embedded inside track 1 and meshes with a pre-set rack inside track 1. The drive motor 16 is fixed on the drive plate 14, and its output end is connected to the track drive wheel 15 through a transmission gear 17. The drive motor 16 is a Panasonic servo motor (3.5KW power, 3000RPM speed). A planetary reducer with a reduction ratio of 10 is also installed between the motor and the track drive wheel 15 to precisely control the speed and torque. During operation, the control circuit receives a command and drives the motor 16 to operate. The torque is transmitted to the track drive wheel 15 via the transmission gear 17. The meshing of the gear and rack converts the rotational motion into linear thrust, driving the drive plate 14 and the gantry frame above to reciprocate linearly along the track 1. Simultaneously, the drive plate 14 is equipped with a drive housing 18 that encloses the track drive wheel 15, drive motor 16, and transmission gear 17, preventing dust and debris from entering the moving parts and extending their service life. Anti-tipping guide wheels (not shown in the figure) are also added to the outside of the track 1 to prevent the device from tilting during high-speed movement or turning, ensuring operational stability. Compared to traditional belt drives, this gear and rack drive method improves transmission efficiency and allows for controllable positioning errors. It can meet the device's precise movement requirement of "2 meters displacement per step" on the track 1. Combined with the visual range of the vision camera, it can achieve full coverage pickup of the entire plate material area without the need for manual path adjustment.

[0027] Two material transfer carts 19 are also placed on the drive plate 14 to temporarily store the picked-up material pads 26. These are installed on the drive plate 14 at the bottom of the two support legs 3, forming a synchronized "pick-up-store" operation. The material transfer cart 19 includes a cart support 20, a stepper motor 21, and a cart lifting frame 22. The cart support 20 is placed on the drive plate 14 as a load-bearing base. The stepper motor 21 is mounted on the side of the support and communicates with the control circuit, receiving commands to precisely control its speed. The cart lifting frame 22 is slidably connected to the cart support 20 via a slide rail and is connected to the output of the stepper motor 21 via a lead screw drive, allowing it to rise and fall vertically along the support. Furthermore, the material transfer cart 19 is equipped with an up / down button 24 and a remote control module. Operators can manually adjust the height using the button or use the remote control module to coordinate with the picking mechanism. For example, after the picking mechanism completes a gripping operation, the control circuit can automatically instruct the stepper motor 21 to drive the lifting frame to adjust to the appropriate height for receiving and stacking the material pads 26. This is especially suitable for aluminum plates 25 with different stacking layers, allowing for centralized storage of multiple layers of material pads 26 without frequent movement of the gantry frame, significantly improving work efficiency. At the same time, the high-precision control of the stepper motor 21 ensures that the positioning error of the lifting frame is controllable, preventing the stacking of material pads 26 from tilting due to height deviation during storage.

[0028] The overall workflow of the device revolves around "automatic identification - precise positioning - stable pickup - efficient storage," with each step relying on structural design for performance optimization. Before operation, the device is powered by a sliding contact line system buried in the foundation. This power supply method integrates the cable trench and related infrastructure with the workshop floor, freeing up ground and air space compared to traditional overhead wiring, achieving unobstructed workshop layout, and avoiding wear and aging problems caused by exposed cables, thus reducing safety hazards. When the control circuit receives the pickup command, it first drives the drive mechanism to move the entire gantry along track 1 to the X-axis position of the designated aluminum plate 25 material location. Simultaneously, the lifting component is activated, adjusting the rotating component and gripper 7 to the preset Z-axis height (the vision camera 8 maintains a 2-meter distance from the surface of the aluminum plate 25 to ensure full coverage of the 2×2-meter visual range). The vision camera 8 captures an image of the aluminum plate 25 surface, identifies the position of the material pad 26, and feeds back the ZY coordinate values ​​and angle information to the control circuit. The control circuit then instructs the rotating component to adjust the swing angle of the rotating arm 12, aligning the gripper 7 with the material pad 26. At this time, the distance sensor 10 monitors the distance between the gripper 7 and the aluminum plate 25 in real time. When the distance reaches the preset deceleration point, the control circuit controls the lifting component to reduce the descent speed and slowly approach the material pad 26. When it reaches the gripping point, the lifting component stops, and the control circuit instructs the air compressor 5 to drive the gripper 7 to close, completing the gripping of the material pad 26. Subsequently, the lifting component rises, the rotating component adjusts the swing angle, and the material pad 26 is transferred to the storage transfer cart 19. The gripper 7 opens to release the material pad 26, and the storage transfer cart 19 automatically adjusts the height of the lifting frame according to the stacking height. After a single workstation is emptied, the drive mechanism moves the gantry frame 2 meters along the track 1 to enter the next visual recognition area, repeating the above process until the material pad 26 of the entire aluminum plate 25 material position is emptied, and then the next round of operation begins.

[0029] Throughout the entire operation, the structural design and working mechanism of the device are deeply integrated, forming multi-dimensional advantages: First, the gantry itself is a high-rigidity integral structure, providing a stable base for the picking mechanism. Combined with the rigid design of the robotic arm of the rotating component, it forms a rigid-on-rigid architecture. Even when moving at high speed or when the rotating arm 12 is under full load, the vibration amplitude can be controlled within a certain range, ensuring the positioning accuracy of the gripper 7 from the root. Second, through the design of "underground sliding contact line power supply + side-mounted control / power module on support leg 3 + integrated transfer vehicle on drive board 14", the equipment is self-contained, significantly reducing the floor space occupied compared to traditional distributed devices. Moreover, the power supply cables and air pipelines are transmitted through the crossbeam 2 in the middle of the gantry, with no exposed pipelines or protruding structures, facilitating collaborative operation with other equipment in the workshop. Third, the modular integrated design reduces the difficulty of installation and commissioning, and reduces on-site construction time. At the same time, the short-path transmission of air and circuit reduces energy consumption, and the gear and rack drive and stepper motor 21 control reduce manual intervention, significantly improves work efficiency, and greatly reduces total cost of ownership and operating costs. It is fully compatible with the automation needs of large-scale aluminum plate 25 pad 26 picking in industries such as chemical, metallurgy, and building materials.

[0030] The above description of the embodiments is provided to enable those skilled in the art to understand and use the present invention. It will be apparent to those skilled in the art that various modifications can be easily made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the protection scope of the present invention.

Claims

1. A highly integrated gantry-type material pick-up device, characterized in that, include: The tracks, two of which are arranged parallel and spaced apart; A gantry frame, wherein two supporting legs of the gantry frame are respectively mounted on two tracks, and a crossbeam is connected between the two supporting legs; A circuit control box is located at the bottom of the support leg. A control circuit board is provided inside the circuit control box, and a control circuit is integrated on the control circuit board. A picking mechanism is disposed on the inner wall of the support leg; in The picking mechanism includes: An air compressor is installed at the bottom of the support leg and communicates with the control circuit. A lifting assembly is disposed on the inner wall of the support leg, and the lifting assembly communicates with the control circuit; A rotating component is disposed on the lifting component and communicates with the control circuit; The gripper is mounted on the rotating assembly, connected to the air compressor, and communicates with the control circuit. A vision camera is connected to the lifting assembly via a vision arm, and the vision camera communicates with the control circuit. A distance sensor is disposed on the rotating assembly and communicates with the control circuit.

2. The highly integrated gantry-type material pick-up device according to claim 1, characterized in that, There are two lifting components and two rotating components, which are arranged facing each other on the inner walls of the two supporting legs.

3. The highly integrated gantry-type material pick-up device according to claim 1 or 2, characterized in that, The lifting assembly includes: A lifting bracket, which is slidably connected to the inner wall of the support leg; A lifting motor is mounted on the lifting bracket and communicates with the control circuit; wherein... The rotating component and the vision arm are mounted on the lifting bracket.

4. The highly integrated gantry-type material pick-up device according to claim 3, characterized in that, The rotating component includes: A rotary motor is mounted on the lifting bracket and communicates with the control circuit. A rotating unit is connected to the working end of the rotating motor; wherein... The gripper and the distance sensor are respectively mounted on the rotating unit.

5. The highly integrated gantry-type material pick-up device according to claim 4, characterized in that, The rotating unit includes multiple rotating arms, which are connected end to end by a connecting motor, and the connecting motor communicates with the control circuit. in The gripper and the distance sensor are respectively mounted on the rotating arm at the end.

6. The highly integrated gantry-type material pick-up device according to claim 1, characterized in that, A drive mechanism is provided at the bottom of the two support legs, the drive mechanism comprising: A drive plate, which is slidably mounted on the track, and a support leg is mounted on the drive plate; A track drive wheel is movably mounted within the track. A drive motor is mounted on the drive plate and is driven by the track drive wheel via a transmission gear. The drive motor communicates with the control circuit. The circuit control box is mounted on the drive structure.

7. The highly integrated gantry-type material pick-up device according to claim 6, characterized in that, A drive housing is provided on the drive plate, and the drive housing encloses the track drive wheel, the drive motor, and the transmission gear; wherein The circuit control box is mounted on the drive housing.

8. The highly integrated gantry-type material pick-up device according to claim 6, characterized in that, A material transfer cart is provided on the drive plate.

9. The highly integrated gantry-type material pick-up device according to claim 8, characterized in that, The storage transfer vehicle includes: A transfer vehicle bracket, wherein the transfer vehicle bracket is mounted on the drive plate; A stepper motor is mounted on the transfer cart bracket and communicates with the control circuit. A transfer vehicle lifting frame is slidably mounted on the transfer vehicle support and is connected to the stepper motor.

10. The highly integrated gantry-type material pick-up device according to claim 8 or 9, characterized in that, The number of the material transfer vehicles is two, and the two material transfer vehicles are respectively installed on the drive plate at the bottom of the two support legs.

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