A three-axis driven loading and unloading gantry robot

Abstract

This utility model discloses a three-axis driven loading and unloading gantry robot, including a turning mechanism and a loading plate assembly disposed on one side of the turning mechanism, and a transfer mechanism; the transfer mechanism includes a robot arm assembly and a three-axis motion mechanism for driving the robot arm assembly to move along three axes; the robot arm assembly includes a rotating mechanism, and a first clamping mechanism and a second clamping mechanism connected to the rotating mechanism; the first clamping mechanism and the second clamping mechanism are respectively used to clamp workpieces in different postures; the rotating mechanism is used to drive the first clamping mechanism and the second clamping mechanism to switch postures; the first clamping mechanism is provided with a positioning structure for workpiece positioning. This utility model can simultaneously adapt to the lower clamping part and the upper clamping part of the workpiece, is compatible with workpieces in different postures, improves adaptability, and increases processing efficiency.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, and in particular to a three-axis driven loading and unloading gantry robot. Background Technology

[0002] Gantry robots, as a common material handling device in industrial automation, are widely used in machining, assembly, logistics and other fields. They typically achieve free movement in the horizontal and vertical directions through a moving mechanism mounted on a multi-axis guide rail, and combine with a clamping mechanism to complete the gripping, handling and loading / unloading operations of workpieces.

[0003] Most existing gantry robots use a single clamping structure, while workpieces have multiple clamping parts, such as upper and lower clamping parts with different structural features. Existing gantry robots often cannot accommodate workpieces in different postures on a single machine at the same time, which limits loading and unloading operations, makes it difficult to guarantee clamping accuracy, and reduces processing quality and efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a three-axis driven loading and unloading gantry robot that can be adapted to both the lower and upper clamping parts of the workpiece, is compatible with workpieces in different postures, improves adaptability, and increases processing efficiency.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution: a three-axis driven loading and unloading gantry robot, including a loading assembly and a gripping assembly; the loading assembly includes a loading plate group, on which a plurality of loading slots for placing workpieces are formed; the gripping assembly includes a robot arm assembly and a three-axis motion mechanism for driving the robot arm assembly to move along three axes; the workpiece has a first posture and a second posture, the robot arm assembly includes a rotating mechanism, and a first gripping mechanism for gripping the first posture and a second gripping mechanism for gripping the second posture connected to the rotating mechanism.

[0006] By adopting the above technical solution, the robot arm component can move flexibly in three-axis directions. Combined with the rotating mechanism, the first clamping mechanism and the second clamping mechanism can be switched to clamp and transfer workpieces in different postures, thereby improving work efficiency.

[0007] A further feature of this invention is that the workpiece is provided with an upper clamping part and a lower clamping part; the upper clamping part is cylindrical, and the lower clamping part includes three circumferentially distributed gripping arc surfaces and an adjacent gripping plane; when the workpiece is in a first posture, the lower clamping part faces upward, and when the workpiece is in a second posture, the upper clamping part faces upward.

[0008] By adopting the above technical solution, this utility model can adapt to different postures of workpieces. The first clamping mechanism is matched with a lower clamping part with a special shape, and the second clamping mechanism is matched with a universal cylindrical upper clamping part to achieve precise matching and improve the stability and reliability of clamping.

[0009] The present invention is further configured such that: the first clamping mechanism includes a first clamping seat and an arc-shaped clamping jaw and a flat clamping jaw slidably disposed on the first clamping seat, the arc-shaped clamping jaw cooperating with the grasping arc-shaped surface of the lower clamping part, and the flat clamping jaw cooperating with the grasping plane of the lower clamping part; the second clamping mechanism includes a second clamping seat and a cylindrical clamping jaw slidably disposed on the second clamping seat.

[0010] By adopting the above technical solutions, the first clamping mechanism, by setting arc-shaped jaws and flat jaws, can cooperate with the gripping arc-shaped surface and flat surface of the workpiece to achieve clamping of the lower clamping part and effectively prevent the workpiece from rotating or shifting; the second clamping mechanism adopts cylindrical jaws, which have a simple structure, stable clamping, and can be adapted to standard cylindrical clamping parts.

[0011] A further feature of this invention is that the first clamping mechanism is provided with a positioning structure for workpiece positioning. The positioning structure includes a floating plate and a positioning plate disposed on the floating plate. The positioning plate is provided with a positioning arm, and the positioning arm is provided with a positioning post. The lower clamping part is provided with a positioning notch, and the positioning post and the positioning notch are positioned and engaged.

[0012] By adopting the above technical solution, the positioning post and the positioning notch of the workpiece are matched to provide precise positioning before clamping, ensuring the consistency of the workpiece posture and improving the overall machining accuracy.

[0013] A further feature of this invention is that: a movable rod is provided on the floating plate, a movable groove is provided in the first clamping seat, the movable rod is movably disposed in the movable groove, and an elastic element is also provided in the movable groove, the elastic element causing the floating plate to tend to move away from the first clamping seat.

[0014] By adopting the above technical solution, this utility model can form a flexible buffer during the clamping process through the combination of floating plate and elastic element, effectively absorbing the impact force during the clamping process and avoiding damage to the workpiece due to excessive tightness or error.

[0015] A further feature of this invention is that the positioning plate is also provided with a support arm, the length of the positioning arm is greater than that of the support arm, a positioning contact is provided at one end of the support arm away from the center of the positioning plate, and a positioning sensor corresponding to the positioning contact is provided on the first clamping seat.

[0016] By adopting the above technical solution, the positioning sensor can detect the positioning of the workpiece by the first clamping mechanism, ensuring the workpiece clamping status and improving operational safety.

[0017] A further feature of this invention is that the rotating mechanism includes a movable plate and a rotary cylinder for driving its rotation, and the first clamping mechanism and the second clamping mechanism are respectively connected to both ends of the movable plate.

[0018] By adopting the above technical solution and setting a rotating mechanism, the posture switching of the gripper assembly can be realized, enabling the robot to adapt to the loading and unloading needs of different processing directions and workstations.

[0019] A further feature of this invention is that the feeding plate assembly includes a first feeding guide rail, a second feeding guide rail, a first feeding disc slidably disposed on the first feeding guide rail, and a second feeding disc slidably disposed on the second feeding guide rail.

[0020] By adopting the above technical solution, the first feeding tray and the second feeding tray are arranged vertically, with the first feeding tray being higher than the second feeding tray, so they do not obstruct each other, thereby realizing batch feeding of workpieces, improving space utilization efficiency, and increasing feeding efficiency.

[0021] The present invention is further configured such that: the three-axis motion mechanism includes a first horizontal guide rail, a first slide table slidably disposed on the first horizontal guide rail, a second horizontal guide rail slidably disposed on the first slide table, a second slide table fixed on the second horizontal guide rail, and a vertical guide rail slidably disposed on the second slide table, and the robotic arm assembly is disposed on the vertical guide rail.

[0022] By adopting the above technical solution, the three-axis motion mechanism of this utility model has a clear structure and reasonable layout, ensuring the smooth operation of the robot arm assembly in the three-axis direction.

[0023] A further feature of this invention is that a turning mechanism is provided at the unloading position of the gripping component. The turning mechanism includes a turning fixture and a turning tool arranged opposite to each other. At least two sets of the turning fixture and the turning tool are provided, and they are oriented in opposite directions.

[0024] By adopting the above technical solution, this utility model can simultaneously or alternately process two parts of a workpiece by setting up a pair of turning fixtures and cutting tools in opposite directions, thereby improving processing efficiency.

[0025] In summary, this utility model has the following beneficial effects: 1. This utility model uses a first clamping mechanism and a second clamping mechanism to adapt to the lower clamping part and the upper clamping part of the workpiece respectively, which is compatible with workpieces in different postures and improves processing efficiency.

[0026] 2. This utility model achieves automatic switching between the first clamping mechanism and the second clamping mechanism through a rotating mechanism, thereby improving the adaptability of the robotic arm components.

[0027] 3. The first clamping mechanism is equipped with a positioning structure, which ensures the accurate positioning of the workpiece during the clamping process by cooperating with the positioning notch of the workpiece through the positioning pin. This avoids clamping deviation.

[0028] 4. The first clamping mechanism, combined with the positioning sensor, can detect the workpiece's positioning and ensure accurate workpiece clamping. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of this utility model.

[0030] Figure 2 This is a schematic diagram of the structure of the workpiece of this utility model.

[0031] Figure 3 This is a structural schematic diagram of the robotic arm component of this utility model.

[0032] Figure 4 This is an exploded view of the first clamping mechanism of this utility model.

[0033] Figure 5 This is a structural schematic diagram of the feeding plate assembly of this utility model.

[0034] Figure 6 This is a schematic diagram of the turning mechanism of this utility model.

[0035] In the diagram: 1. Turning mechanism; 2. Loading plate assembly; 3. Three-axis motion mechanism; 4. Robot arm assembly; 41. Rotation mechanism; 42. First clamping mechanism; 43. Second clamping mechanism; 5. Workpiece; 51. Upper clamping part; 52. Lower clamping part; 421. First clamping seat; 431. Second clamping seat; 422. Arc-shaped gripper; 423. Flat gripper; 432. Cylindrical gripper; 424. Floating plate; 425. Positioning plate; 4251. Support arm; 4252. Positioning arm; 4253. Positioning column; 53. Positioning notch; 426. Movable rod; 427. Movable groove; 428. Elastic element; 4254. Positioning contact; 429. Position sensor; 411. Movable plate; 412. Rotary cylinder; 21. First feeding guide rail; 22. Second feeding guide rail; 23. First feeding tray; 24. Second feeding tray; 25. Feeding groove; 31. First horizontal guide rail; 32. First slide table; 33. Second horizontal guide rail; 34. Second slide table; 35. Vertical guide rail; 11. Turning fixture; 12. Turning tool. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings.

[0037] like Figure 1 and Figure 5 As shown, this utility model provides a three-axis driven loading and unloading gantry manipulator, including a loading component and a gripping component. The unloading position of the gripping component is provided with a turning mechanism 1. The loading plate group 2 includes a first loading guide rail 21 and a second loading guide rail 22, which are respectively set at different height positions to form a layered feeding system. The first loading plate 23 is slidably installed on the first loading guide rail 21, and the second loading plate 24 is slidably installed on the second loading guide rail 22. Both are driven by linear cylinders to achieve reciprocating movement along the guide rail direction. Since the first loading guide rail 21 is set at a position higher than the second loading guide rail 22, the vertical height of the first loading plate 23 is greater than that of the second loading plate 24. The two sets of loading plates can operate independently in paths at different heights without interfering with each other, forming a double-layer feeding mode. This improves the loading cycle and system compactness in a limited space, and significantly improves the space utilization and loading efficiency of the equipment.

[0038] The gripping component is located between the loading plate group 2 and the turning mechanism 1, and mainly includes a three-axis motion mechanism 3 and a robot arm assembly 4. The three-axis motion mechanism 3 is used to drive the robot arm assembly 4 to move precisely in the X, Y, and Z spatial directions. The three-axis motion mechanism 3 includes a first horizontal guide rail 31, a first slide 32 slidably mounted on the first horizontal guide rail 31, a second horizontal guide rail 33 slidably mounted on the first slide 32, and a second slide 34 fixedly mounted on the second horizontal guide rail 33. A vertical guide rail 35 is vertically mounted on the second slide 34, and the robot arm assembly 4 is slidably mounted on the vertical guide rail 35. Each slide and guide rail in the three-axis motion mechanism 3 is driven by a servo motor combined with a gear and rack transmission component, which has good positioning accuracy and running stability and can efficiently complete complex actions.

[0039] like Figures 2 to 4 As shown, the robotic arm assembly 4 includes a rotating mechanism 41, on which a first clamping mechanism 42 and a second clamping mechanism 43 are provided for clamping the lower clamping part 52 and the upper clamping part 51 of the workpiece 5. The rotating mechanism 41 is composed of an L-shaped movable plate 411 and is equipped with a rotary cylinder to realize the 90° rotation of the movable plate 411 to complete the switching between the two clamping mechanisms. The first clamping mechanism 42 is connected to one side of the movable plate 411, and the second clamping mechanism 43 is connected to the other side. In addition, a visual notch is provided at one end of the movable plate 411 for the operator to intuitively identify the working status of the first clamping mechanism 42 and the second clamping mechanism 43 during maintenance or debugging.

[0040] like Figure 2As shown, the workpiece 5 is provided with an upper clamping part 51 and a lower clamping part 52. The upper clamping part 51 is a cylindrical structure, and the lower clamping part 52 is composed of three gripping arc surfaces arranged at equal intervals along the circumference and a gripping plane. The first clamping mechanism 42 is suitable for clamping the asymmetrical lower clamping part 52, and the second clamping mechanism 43 is adapted to the cylindrical upper clamping part 51, thereby realizing flexible clamping of workpiece 5 in different postures.

[0041] The first clamping mechanism 42 includes a first clamping seat 421, on which are provided slidable arc-shaped jaws 422 and flat jaws 423. The arc-shaped jaws 422 are used to fit against the gripping arc-shaped surface of the lower clamping part 52 of the workpiece 5, while the flat jaws 423 are tightly pressed against its gripping plane, thereby achieving stable clamping of the lower clamping part 52 of the workpiece 5 and effectively preventing rotational displacement during clamping. The second clamping mechanism 43 includes a second clamping seat 431 and a pair of cylindrical jaws 432 mounted thereon, which are used to clamp standard cylindrical workpiece 5. The structure is simple and the clamping is reliable.

[0042] To improve the positioning accuracy of workpiece 5 during clamping, the first clamping mechanism 42 is provided with a positioning structure, which includes a floating plate 424 and a positioning plate 425 mounted on the floating plate 424. At least two support arms 4251 and one positioning arm 4252 extend from the positioning plate 425. The support arms 4251 stably fix the floating plate 424 using a three-point support method. The positioning arm 4252 has a positioning post 4253 at its end, which can be inserted into a pre-set positioning notch 53 on the lower clamping part 52 of workpiece 5, thereby achieving orientation correction and precise positioning of workpiece 5. The movable rod 426 is connected to the clamping seat. The movable rod 426 is installed in the movable groove 427 of the first clamping seat 421. An elastic element 428, such as a compression spring, is provided in the movable groove 427. One end of the elastic element 428 abuts against the first clamping seat 421, and the other end abuts against the movable rod 426. Under the elastic action, the floating plate 424 has an outward pushing tendency. During the clamping of the workpiece 5, if contact impact occurs due to the dimensional tolerance of the workpiece 5, the floating plate 424 can generate a certain degree of retraction displacement, thereby playing a flexible buffering role and avoiding damage to the workpiece 5 or the clamping structure.

[0043] In addition, the end of the support arm 4251 is provided with a positioning contact 4254, which can cooperate with the position sensor 429 installed on the clamping seat to detect whether the clamping status is in place in real time. The feedback signal can be connected to the main control system to realize automatic alarm or action interlock control, further improving the safety and intelligence of the system.

[0044] like Figure 6As shown, the turning mechanism 1 includes two sets of oppositely arranged turning fixtures 11 and turning tools 12, with the two sets of turning fixtures 11 and turning tools 12 facing opposite directions. When the turning fixture 11 is clamped in the upper clamping part 51 of the workpiece 5, the turning tool 12 can machine the lower clamping part 52; and vice versa, thereby realizing flexible machining of different parts of the workpiece 5. This structural design not only improves compatibility but also allows for synchronous machining according to actual production needs, further improving production efficiency and the overall utilization rate of the equipment.

[0045] The working process of this utility model is as follows: The feeding plate group 2 first carries the first feeding tray 23 and the second feeding tray 24 respectively through the first feeding guide rail 21 and the second feeding guide rail 22. The two feeding trays move at different heights. The three-axis motion mechanism 3 drives the robot arm assembly 4 to move in the X, Y, and Z three-axis space. The robot arm assembly 4 moves to the feeding tray where the corresponding workpiece 5 is located and selects a suitable clamping mechanism to clamp it. If the workpiece 5 is in the state where the lower clamping part 52 is facing upward, the robot arm assembly 4 uses the first clamping mechanism 42 to clamp it. Before clamping, the first clamping mechanism 42 ensures that the orientation of the workpiece 5 is correct through the positioning structure. The positioning pin 4253 is inserted into the positioning notch 53 of the lower clamping part 52 of the workpiece 5 to ensure accurate clamping position and stable posture. The workpiece 5 is fixed in place, and the floating structure of the elastic element 428 provides flexible buffering to avoid damage to the workpiece 5 due to excessive clamping. At the same time, the positioning contact point contacts the positioning sensor 429 to ensure that the workpiece 5 is clamped in place. If the upper clamping part 51 of the workpiece 5 is facing upward, the rotary cylinder 412 drives the movable plate 411 to rotate, and the second clamping mechanism 43 is used to clamp it. It adopts a cylindrical jaw 432 structure, which is compatible with a universal cylindrical clamping part. After clamping, the three-axis motion mechanism 3 drives the robot arm assembly 4 to move to the processing position of the turning mechanism 1. When the turning fixture 11 clamps the upper clamping part 51 of the workpiece 5, the turning tool 12 can process the lower clamping part 52. When the turning fixture 11 clamps the lower clamping part 52 of the workpiece 5, the turning tool 12 can process the upper clamping part 51.

[0046] The above description is only a preferred embodiment of the present utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of the present utility model patent application are included in the scope of the present utility model patent application.

Claims

1. A three-axis driven loading and unloading gantry robot, characterized in that: Includes feeding components and gripping components; The feeding assembly includes a feeding plate group (2), which has a plurality of feeding slots for placing workpieces. The grasping assembly includes a robotic arm assembly (4) and a three-axis motion mechanism (3) that drives the robotic arm assembly (4) to move along three axes; The workpiece (5) has a first posture and a second posture. The manipulator assembly (4) includes a rotating mechanism (41), and a first clamping mechanism (42) for clamping the first posture and a second clamping mechanism (43) for clamping the second posture connected to the rotating mechanism (41).

2. The three-axis driven loading and unloading gantry robot according to claim 1, characterized in that: The workpiece (5) is provided with an upper clamping part (51) and a lower clamping part (52); The upper clamping part (51) is cylindrical, and the lower clamping part (52) includes three gripping arc surfaces distributed along the circumference and one gripping plane arranged adjacent to each other. When the workpiece (5) is in the first posture, the lower clamping part (52) is set upwards, and when the workpiece (5) is in the second posture, the upper clamping part (51) is set upwards.

3. A three-axis driven loading and unloading gantry robot according to claim 2, characterized in that: The first clamping mechanism (42) includes a first clamping seat (421) and an arc-shaped clamping claw (422) and a flat clamping claw (423) slidably disposed on the first clamping seat (421). The arc-shaped clamping claw (422) cooperates with the grasping arc-shaped surface of the lower clamping part (52), and the flat clamping claw (423) cooperates with the grasping plane of the lower clamping part (52). The second clamping mechanism (43) includes a second clamping seat (431) and a cylindrical jaw (432) slidably disposed on the second clamping seat (431).

4. A three-axis driven loading and unloading gantry robot according to claim 3, characterized in that: The first clamping mechanism (42) is provided with a positioning structure for positioning the workpiece (5). The positioning structure includes a floating plate (424) and a positioning plate (425) provided on the floating plate (424). The positioning plate (425) is provided with a positioning arm (4252). The positioning arm (4252) is provided with a positioning post (4253). The lower clamping part (52) is provided with a positioning notch (53). The positioning post (4253) and the positioning notch (53) are positioned and engaged.

5. A three-axis driven loading and unloading gantry robot according to claim 4, characterized in that: The floating plate (424) is provided with a movable rod (426), and the first clamping seat (421) is provided with a movable groove (427). The movable rod (426) is movably disposed in the movable groove (427). The movable groove (427) is also provided with an elastic element (428). The elastic element (428) causes the floating plate (424) to tend to move away from the first clamping seat (421).

6. A three-axis driven loading and unloading gantry robot according to claim 4, characterized in that: The positioning plate (425) is also provided with a support arm (4251). The length of the positioning arm (4252) is greater than that of the support arm (4251). The end of the support arm (4251) away from the center of the positioning plate (425) is provided with a positioning contact (4254). The first clamping seat (421) is provided with a positioning sensor (429) corresponding to the positioning contact (4254).

7. A three-axis driven loading and unloading gantry robot according to claim 1, characterized in that: The rotating mechanism (41) includes a movable plate (411) and a rotary cylinder (412) that drives it to rotate. The first clamping mechanism (42) and the second clamping mechanism (43) are respectively connected to the two ends of the movable plate (411).

8. A three-axis driven loading and unloading gantry robot according to claim 1, characterized in that: The feeding plate assembly (2) includes a first feeding guide rail (21), a second feeding guide rail (22), a first feeding plate (23) slidably disposed on the first feeding guide rail (21), and a second feeding plate (24) slidably disposed on the second feeding guide rail (22).

9. A three-axis driven loading and unloading gantry robot according to claim 1, characterized in that: The three-axis motion mechanism (3) includes a first horizontal guide rail (31), a first slide (32) slidably disposed on the first horizontal guide rail (31), a second horizontal guide rail (33) slidably disposed on the first slide (32), a second slide (34) fixed on the second horizontal guide rail (33), and a vertical guide rail (35) slidably disposed on the second slide (34). The robotic arm assembly (4) is disposed on the vertical guide rail (35).

10. A three-axis driven loading and unloading gantry robot according to claim 1, characterized in that: The unloading position of the gripping component is provided with a turning mechanism (1). The turning mechanism (1) includes a turning fixture (11) and a turning tool (12) arranged opposite to each other. There are at least two sets of the turning fixture (11) and the turning tool (12), and they are oriented in opposite directions.

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