Anti-falling gantry robot clamping mechanism

Abstract

This utility model relates to a gantry robot, specifically, to a gripping mechanism for an anti-fall gantry robot. It includes a gantry frame, with two robot components symmetrically arranged on the top of the frame. Each robot component includes a base slidably mounted on the gantry frame. This utility model utilizes a fourth hydraulic cylinder above the lifting seat to drive the cross plate up and down. A return spring, pressure plate, and connecting rod transmission relationship drive the horizontal extension and retraction of the pallet, enabling the pallet to automatically extend into the bottom of the box for support after clamping. By placing the fourth hydraulic cylinder on the lifting seat instead of the clamping plate itself, the weight and inertia of the gripping end are reduced, lowering the load and energy consumption requirements of the displacement mechanism, improving motion response and control accuracy. Simultaneously, it avoids installing an independent power source and complex transmission mechanism on the space-constrained clamping plate, resulting in a more compact structure that does not affect the gripping action and is easy to maintain.

Description

Technical Field

[0001] This utility model relates to a gantry robot, specifically, to a gantry robot gripping mechanism to prevent it from falling off. Background Technology

[0002] Gantry robots are a common type of automated material handling equipment. They work together through a frame spanning the work area, a horizontally movable base, and a vertically lifting gripping mechanism to grasp, lift, move, and release logistics boxes. However, during horizontal movement, the robot inevitably experiences vibrations during start-up and shutdown or path tilting. The logistics box itself may also slip relative to the gripper due to an unstable center of gravity or a smooth surface. These factors can easily lead to the box accidentally detaching and falling.

[0003] In existing technologies, to prevent logistics boxes from accidentally falling during transportation, additional anti-fall mechanisms are usually integrated into the clamping plates that directly hold the boxes. For example, an independent power source (such as a cylinder or motor) is installed on the clamping plate to directly drive a lifting plate to extend and support the bottom of the box. However, this design has the following drawbacks: First, placing the power source and transmission mechanism entirely on the moving clamping plate greatly increases the weight and inertia of the clamping end, which not only places higher demands on the load and energy consumption of the lifting mechanism, but also affects the overall movement response speed and control accuracy. Second, the space on the clamping plate is extremely limited, and adding a complete set of drive devices will make the structure bulky, easily interfere with the clamping action, and also increase the difficulty of maintenance. Utility Model Content

[0004] The purpose of this utility model is to provide a gripping mechanism for an anti-falling gantry robot, so as to solve the problems mentioned in the background art above: By placing the power source and transmission mechanism entirely on the moving clamp, the weight and inertia of the clamping end are increased.

[0005] To address the above problems, the present invention aims to provide an anti-falling gantry robot gripping mechanism, comprising a gantry frame, with two robot assemblies symmetrically arranged on the top of the gantry frame. Each robot assembly includes a base slidably mounted on the gantry frame, a lifting seat on the lower side of the base, and two clamping plates symmetrically arranged on the lower side of the lifting seat. A lifting mechanism for driving the lifting seat to move vertically is provided on the base, and a displacement mechanism for driving the two clamping plates closer together or further apart is provided on the lifting seat. The upper part is provided with a lifting mechanism, which includes a support plate that is horizontally slidably disposed at the bottom of the clamping plate. A pressure plate is disposed on the upper side of the support plate, and the pressure plate is located on the side of the clamping plate away from the middle position of the lifting seat. A transmission component is disposed between the pressure plate and the support plate. The lifting seat is provided with a pressing component for synchronously driving the two pressure plates to move downward. When the pressing component pushes the pressure plate down, the pressure plate drives the support plate to move away from the middle position of the lifting seat through the transmission component until the support plate and the clamping plate are on the same vertical plane near the middle position of the lifting seat.

[0006] As a further improvement to this technical solution, the bottom of the clamping plate is provided with an embedded groove, the top side of the embedded groove is provided with a T-shaped groove, the support plate is slidably disposed inside the embedded groove, and a T-shaped block is fixedly installed on the upper side wall of the clamping plate, the T-shaped block is slidably disposed inside the T-shaped groove.

[0007] As a further improvement to this technical solution, the transmission assembly includes a protrusion integrally formed and fixed on the side of the clamping plate away from the middle position of the lifting seat. Two guide rods are vertically fixedly installed on the upper side wall of the protrusion, and the pressure plate is slidably sleeved on the two guide rods.

[0008] As a further improvement to this technical solution, the transmission assembly also includes a return spring sleeved on the guide rod. The two ends of the return spring are fixedly connected to the lower side wall of the pressure plate and the upper side wall of the protrusion, respectively. The return spring pushes the pressure plate to move upward.

[0009] As a further improvement to this technical solution, the transmission assembly also includes two connecting rods hinged to the lower side wall of the pressure plate, and the connecting rods are inclined, with the lower end of the connecting rods hinged to the upper side wall of the T-block.

[0010] As a further improvement to this technical solution, the pressing assembly includes a cross plate disposed between the lifting seat and the clamping plate. Two fourth hydraulic cylinders are fixedly installed on the upper side wall of the lifting seat. The lower end of the piston rod of the fourth hydraulic cylinder slides through the lifting seat and is fixedly connected to the upper side wall of the cross plate.

[0011] As a further improvement to this technical solution, a wheel frame is fixedly installed on the lower side wall of the cross plate at the position corresponding to each pressure plate, and a roller is rotatably installed at the lower end of the wheel frame, and the roller makes rolling contact with the upper side wall of the corresponding pressure plate.

[0012] As a further improvement to this technical solution, when the fourth hydraulic cylinder drives the cross plate to move upward, the pallet moves towards the middle position of the lifting seat, so that the end of the pallet near the middle position of the lifting seat moves between the two clamping plates.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. This anti-fall gantry robot gripping mechanism uses a fourth hydraulic cylinder above the lifting seat to drive the cross plate to move up and down. Utilizing the transmission relationship between the return spring, pressure plate, and connecting rod, the pallet extends and retracts horizontally, allowing the pallet to automatically extend into the bottom of the box for support after clamping. By placing the fourth hydraulic cylinder on the lifting seat rather than the clamping plate itself, the weight and inertia of the gripping end are reduced, lowering the load and energy consumption requirements of the displacement mechanism and improving motion response and control accuracy. Simultaneously, it avoids installing an independent power source and complex transmission mechanism on the space-constrained clamping plate, resulting in a more compact structure that does not affect the gripping action and is easy to maintain. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is one of the overall structural schematic diagrams of the robotic arm assembly of this utility model; Figure 3 This is the second schematic diagram of the overall structure of the robotic arm component of this utility model; Figure 4 This is one of the partial structural schematic diagrams of the robotic arm component of this utility model; Figure 5 This is a second schematic diagram of a portion of the robotic arm assembly of this utility model; Figure 6 This is the third partial structural schematic diagram of the robotic arm component of this utility model; Figure 7 This is the fourth partial structural schematic diagram of the present invention; Figure 8 This is a schematic diagram of the clamping plate and lifting mechanism of this utility model; Figure 9 For the present utility model Figure 8 Exploded view.

[0015] The meanings of the labels in the diagram are as follows: 1. Gantry frame; 2. Robotic arm assembly; 21. Base; 22. Lifting platform; 23. Clamping plate; 231. Embedded groove; 232. T-slot; 24. Lifting mechanism; 241. Mounting plate; 242. First hydraulic cylinder; 243. Second hydraulic cylinder; 244. Slide rod; 25. Displacement mechanism; 251. Extension frame; 252. Third hydraulic cylinder; 253. Positioning block; 254. Rotating rod; 26. Lifting mechanism; 261. Support plate; 262. T-block; 263. Guide rod; 264. Pressure plate; 265. Return spring; 266. Connecting rod; 27. Pressing assembly; 271. Fourth hydraulic cylinder; 272. Cross plate; 273. Wheel frame; 274. Roller. Detailed Implementation

[0016] 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.

[0017] Example 1 Please see Figure 1 As shown, the purpose of this embodiment is to provide an anti-falling gantry robot gripping mechanism, including a gantry frame 1, with two robot components 2 symmetrically arranged on the top left and right sides of the gantry frame 1. The gantry frame 1 consists of a square frame, two sets of horizontally fixed tracks installed inside the frame, and four support rods respectively vertically fixed to the four corners of the lower side of the frame. The lower end of the support rods can be fitted with pads to increase the contact area between the mechanism and the ground, thereby ensuring that the equipment can be more stably erected on the ground; the robot components 2 are used to grip and transport logistics boxes.

[0018] Reference Figure 2 The robotic arm assembly 2 includes a base 21 that is slidably mounted on the track of the gantry frame 1. The base 21 is equipped with a drive device that can drive the base 21 to move horizontally along the track. This drive device is a mature technology in the field of gantry machinery, and its specific working principle will not be described in detail.

[0019] A lifting seat 22 is provided on the lower side of the base 21. Two clamping plates 23 are symmetrically arranged on the lower side of the lifting seat 22. A lifting mechanism 24 is provided on the base 21 for driving the lifting seat 22 to move vertically. A displacement mechanism 25 is provided on the lifting seat 22 for driving the two clamping plates 23 to move closer or further apart.

[0020] The workflow is as follows: After the drive device moves the base 21 horizontally to directly above the logistics box to be transported, the lifting mechanism 24 drives the lifting seat 22 to move down. The displacement mechanism 25 drives the two clamping plates 23 to descend synchronously until the two clamping plates 23 are located on both sides of the logistics box. Then, the displacement mechanism 25 drives the two clamping plates 23 to move closer to each other and clamp the logistics box tightly. After that, the lifting mechanism 24 lifts the logistics box, and the drive device moves the logistics box horizontally to above the target position. Finally, the lifting mechanism 24 descends to release the logistics box, and the displacement mechanism 25 separates the two clamping plates 23, thus completing one transport operation.

[0021] The following details the structure of the lifting mechanism 24, referring to... Figure 3 The lifting mechanism 24 includes a mounting plate 241 fixedly mounted on the upper side wall of the base 21 via a bracket. A first hydraulic cylinder 242 is fixedly mounted on the upper side wall of the mounting plate 241, and a second hydraulic cylinder 243 is fixedly mounted on the upper side wall of the lifting seat 22. The piston rod of the second hydraulic cylinder 243 and the piston rod of the first hydraulic cylinder 242 are coaxially fixedly connected. This dual hydraulic cylinder design can increase the stroke of the lifting seat 22. Slide rods 244 are vertically fixedly mounted at the four corners of the upper side wall of the lifting seat 22. The upper end of the slide rod 244 slides through the lifting seat 22 and the mounting plate 241 and extends upward. The slide rod 244 is used to constrain the lifting seat 22 to only move vertically.

[0022] When the piston rods of the first hydraulic cylinder 242 and the second hydraulic cylinder 243 extend synchronously, the lifting seat 22 moves downward; when the piston rods of the first hydraulic cylinder 242 and the second hydraulic cylinder 243 retract synchronously, the lifting seat 22 moves upward.

[0023] The structure of the displacement mechanism 25 is detailed below, referring to... Figure 4 The displacement mechanism 25 includes two extension frames 251 that are horizontally slidably mounted on the upper side wall of the lifting seat 22 via guide rails. The positions of the two extension frames 251 correspond to the positions of the two clamping plates 23. The lower ends of the extension frames 251 extend to the lower side of the lifting seat 22, and the lower ends of the extension frames 251 are fixedly connected to the side of the corresponding clamping plate 23 away from the middle position of the lifting seat 22. Two third hydraulic cylinders 252 are fixedly mounted on the upper side wall of the lifting seat 22. The upper end of the piston rod of the third hydraulic cylinder 252 is fixedly mounted with a positioning block 253. Both ends of the positioning block 253 are hinged with inclined rotating rods 254. The other ends of the two rotating rods 254 are respectively hinged to the top of the two extension frames 251.

[0024] When the piston rods of the two third hydraulic cylinders 252 extend and retract synchronously, the positioning block 253 moves upward and drives one end of the rotating rod 254 to move. The other end of the rotating rod 254 drives the corresponding extension frame 251 to move horizontally. The extension frame 251 drives the corresponding clamping plate 23 to move synchronously, thereby causing the two clamping plates 23 to move closer or further apart. By precisely controlling the piston rod stroke of the third hydraulic cylinder 252 and adjusting the distance between the two clamping plates 23, the two clamping plates 23 can clamp and fix the logistics box.

[0025] The first hydraulic cylinder 242, the second hydraulic cylinder 243, and the third hydraulic cylinder 252 are all electrically connected to an external control device. The control device can coordinate the extension and retraction of the piston rods of the first hydraulic cylinder 242 and the second hydraulic cylinder 243, and synchronously control the actions of the two third hydraulic cylinders 252. The control principle of the control device is existing technology and will not be elaborated here.

[0026] To prevent the logistics box from accidentally loosening and falling during clamping and handling, a lifting mechanism 26 is provided on the clamping plate 23. The lifting mechanism 26 includes a support plate 261 that is horizontally slidably disposed at the bottom of the clamping plate 23. A pressure plate 264 is provided on the upper side of the support plate 261, and the pressure plate 264 is located on the side of the clamping plate 23 away from the middle position of the lifting seat 22. A transmission component is provided between the pressure plate 264 and the support plate 261. A pressing component 27 is provided on the lifting seat 22 for synchronously driving the two pressure plates 264 to move downward. When the pressing component 27 pushes the pressure plate 264 downward, the pressure plate 264 drives the support plate 261 to move away from the middle position of the lifting seat 22 through the transmission component until the support plate 261 and the clamping plate 23 are on the same vertical plane near the middle position of the lifting seat 22. At this time, the support plate 261 will not obstruct the downward movement of the clamping plate 23, making it convenient to clamp the logistics box.

[0027] Reference Figure 8 and Figure 9 The bottom of the clamping plate 23 is provided with an embedded groove 231, and the top side of the embedded groove 231 is provided with a T-shaped groove 232. The support plate 261 is slidably disposed inside the embedded groove 231, so that the support plate 261 is flush with the lower side wall of the clamping plate 23, ensuring that the support plate 261 will not interfere with the vertical movement of the clamping plate 23. A T-shaped block 262 is fixedly installed on the upper side wall of the clamping plate 23. The T-shaped block 262 is slidably disposed inside the T-shaped groove 232, restricting the support plate 261 to only move horizontally.

[0028] The following details the structure of the transmission assembly, referring to... Figure 5The transmission assembly includes a protrusion integrally formed and fixed on the side of the clamping plate 23 away from the middle position of the lifting seat 22. Two guide rods 263 are vertically fixedly installed on the upper side wall of the protrusion. The pressure plate 264 is slidably sleeved on the two guide rods 263. The transmission assembly also includes a return spring 265 sleeved on the guide rods 263. The two ends of the return spring 265 are fixedly connected to the lower side wall of the pressure plate 264 and the upper side wall of the protrusion, respectively. The return spring 265 pushes the pressure plate 264 to move upward. The transmission assembly also includes two connecting rods 266 hinged to the lower side wall of the pressure plate 264. The connecting rods 266 are inclined. The lower end of the connecting rods 266 is hinged to the upper side wall of the T-block 262.

[0029] The structure of the pressing component 27 is described in detail below, with reference to... Figure 6 and Figure 7 The pressing assembly 27 includes a cross plate 272 disposed between the lifting seat 22 and the clamping plate 23. Two fourth hydraulic cylinders 271 are fixedly installed on the upper side wall of the lifting seat 22. The lower end of the piston rod of the fourth hydraulic cylinder 271 slides through the lifting seat 22 and is fixedly connected to the upper side wall of the cross plate 272. A wheel frame 273 is fixedly installed on the lower side wall of the cross plate 272 at a position corresponding to each pressure plate 264. A roller 274 is rotatably installed on the lower end of the wheel frame 273. The roller 274 rolls in contact with the upper side wall of the corresponding pressure plate 264.

[0030] The fourth hydraulic cylinder 271 is also connected to an external control device. The control device can control the piston rods of the two fourth hydraulic cylinders 271 to extend and retract synchronously. When the piston rods of the fourth hydraulic cylinders 271 extend synchronously, the cross plate 272 moves down, driving the wheel frame 273 and roller 274 to press down the pressure plate 264. The return spring 265 is compressed and contracts. The pressure plate 264 pushes the T-block 262 and the support plate 261 to move away from the middle position of the lifting seat 22 through the connecting rod 266, so that the support plate 261 and the side of the clamping plate 23 near the middle position of the lifting seat 22 are on the same vertical plane, which facilitates the downward movement of the clamping plate 23.

[0031] When the logistics box is placed on the pad and its bottom edge is suspended, the stroke of the first hydraulic cylinder 242 and the second hydraulic cylinder 243 can be precisely controlled so that the upper surface of the pallet 261 is flush with the lower side wall of the logistics box. After the logistics box is clamped by the two clamping plates 23, the cross plate 272 is driven to move upward by the fourth hydraulic cylinder 271. The return spring 265 rebounds and pushes the pressure plate 264 upward, so that the pressure plate 264 keeps in contact with the roller 274. The pressure plate 264 drives the pallet 261 to move towards the middle position of the lifting seat 22 through the connecting rod 266, so that the end of the pallet 261 near the middle position of the lifting seat 22 moves between the two clamping plates 23, lifting the edge of the logistics box, thereby preventing the logistics box from falling during the handling process.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A fall-prevention gantry robot clamping mechanism, comprising a gantry frame (1), two robot assemblies (2) are symmetrically arranged on the top of the gantry frame (1), characterized in that: The robotic arm assembly (2) includes a base (21) slidably mounted on a gantry frame (1). A lifting seat (22) is provided on the lower side of the base (21). Two clamping plates (23) are symmetrically arranged on the lower side of the lifting seat (22). A lifting mechanism (24) for driving the lifting seat (22) to move vertically is provided on the base (21). A displacement mechanism (25) for driving the two clamping plates (23) to move closer or further away from each other is provided on the lifting seat (22). A lifting mechanism (26) is provided on the clamping plates (23). The lifting mechanism (26) includes a support plate (261) horizontally slidably disposed at the bottom of the clamping plate (23). 1) A pressure plate (264) is provided on the upper side, and the pressure plate (264) is located on the side of the clamping plate (23) away from the middle position of the lifting seat (22). A transmission component is provided between the pressure plate (264) and the support plate (261). The lifting seat (22) is provided with a pressing component (27) for synchronously driving the two pressure plates (264) to move downward. When the pressing component (27) pushes the pressure plate (264) to move downward, the pressure plate (264) drives the support plate (261) to move away from the middle position of the lifting seat (22) through the transmission component until the support plate (261) and the clamping plate (23) are both close to the middle position of the lifting seat (22) and are in the same vertical plane.

2. The anti-falling gantry robot gripping mechanism according to claim 1, characterized in that: The bottom of the clamp (23) is provided with an embedded groove (231), and the top side of the embedded groove (231) is provided with a T-shaped groove (232). The support plate (261) is slidably disposed inside the embedded groove (231). A T-shaped block (262) is fixedly installed on the upper side wall of the clamp (23), and the T-shaped block (262) is slidably disposed inside the T-shaped groove (232).

3. The anti-falling gantry robot gripping mechanism according to claim 1, characterized in that: The transmission assembly includes an integrally formed protrusion fixed on the side of the clamping plate (23) away from the middle position of the lifting seat (22). Two guide rods (263) are vertically fixed on the upper side wall of the protrusion, and the pressure plate (264) is slidably sleeved on the two guide rods (263).

4. The anti-falling gantry robot gripping mechanism according to claim 3, characterized in that: The transmission assembly also includes a return spring (265) sleeved on the guide rod (263). The two ends of the return spring (265) are fixedly connected to the lower side wall of the pressure plate (264) and the upper side wall of the protrusion, respectively. The return spring (265) pushes the pressure plate (264) to move upward.

5. The anti-falling gantry robot gripping mechanism according to claim 2, characterized in that: The transmission assembly also includes two connecting rods (266) hinged to the lower side wall of the pressure plate (264), and the connecting rods (266) are inclined. The lower end of the connecting rods (266) is hinged to the upper side wall of the T-block (262).

6. The anti-falling gantry robot gripping mechanism according to claim 1, characterized in that: The pressing assembly (27) includes a cross plate (272) disposed between the lifting seat (22) and the clamping plate (23). Two fourth hydraulic cylinders (271) are fixedly installed on the upper side wall of the lifting seat (22). The lower end of the piston rod of the fourth hydraulic cylinder (271) slides through the lifting seat (22) and is fixedly connected to the upper side wall of the cross plate (272).

7. The anti-falling gantry robot gripping mechanism according to claim 6, characterized in that: A wheel frame (273) is fixedly installed on the lower side wall of the cross plate (272) at the position corresponding to each pressure plate (264). A roller (274) is rotatably installed at the lower end of the wheel frame (273), and the roller (274) makes rolling contact with the upper side wall of the corresponding pressure plate (264).

8. The anti-falling gantry robot gripping mechanism according to claim 6, characterized in that: When the fourth hydraulic cylinder (271) drives the cross plate (272) to move upward, the pallet (261) moves towards the middle position of the lifting seat (22), so that the end of the pallet (261) near the middle position of the lifting seat (22) moves between the two clamping plates (23).

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