Truss robot with quickly replaceable end effector

Abstract

The utility model relates to a truss manipulator of quick replacement end effector belongs to manipulator technical field, the truss manipulator of quick replacement end effector, include: quick -change module, the quick -change module includes female seat and male seat, the male seat is inserted in the bottom of female seat, the inside installation of female seat has the electromagnetic locking mechanism with male seat insertion, the inside of female seat is equipped with positioning slot, when the electromagnetic locking mechanism is unlocked, the anti -drop block of anti -drop subassembly still is connected in the positioning slot of female seat, this design utilizes the mechanical blocking of the straight -angle triangle section bevel of anti -drop block, makes male seat with end effector unable to free slip under the action of gravity, need staff to operate two sides adjusting handle to move towards simultaneously, drive adjusting strip to compress second rubber spring, make anti -drop block completely exit positioning slot, then, can dismantle male seat, this double locking mechanism fundamentally avoids the risk of end effector accidental falling damage.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a gantry robotic arm with a quick-change end effector. Background Technology

[0002] A gantry robot is a fully automated industrial device built on a Cartesian coordinate system, primarily used for tasks such as precise workpiece positioning, trajectory movement, or workstation adjustment. Its end effector is installed at the Z-axis end of the robot, directly contacting the workpiece to grip, transport, or manipulate it. Currently, gantry robots have a quick-change module installed between the Z-axis flange and the actuator, enabling millisecond-level changes via pneumatic or electromagnetic locking mechanisms.

[0003] However, since end effectors are usually installed in a vertically downward position, when the locking mechanism is unlocked, the actuator loses its obstruction and is prone to slipping under the influence of gravity, thus increasing the risk of damage. Utility Model Content

[0004] Therefore, it is necessary to provide a gantry manipulator with a quick-change end effector to address the problem that existing gantry manipulators with quick-change end effectors are prone to damaging the end effector.

[0005] A gantry robot with a quick-change end effector includes: a quick-change module, the quick-change module including a female seat and a male seat, the male seat being inserted into the bottom of the female seat, the female seat having an electromagnetic locking mechanism that is inserted into the male seat, the female seat having a positioning groove inside, the male seat having a mounting cavity communicating with the positioning groove on its surface, and an anti-detachment component that engages with the positioning groove inside the mounting cavity.

[0006] In one embodiment, the anti-detachment component includes an adjusting strip slidably connected inside the mounting cavity, one end of the adjusting strip extending through the mounting cavity, and a placement groove communicating with a positioning groove on the side end of the adjusting strip, wherein an anti-detachment block is slidably connected inside the placement groove and engages with the positioning groove.

[0007] In one embodiment, the number of positioning grooves, mounting cavities, adjusting strips, placement grooves, and anti-detachment blocks are all two and symmetrically distributed on both sides of the female seat axis.

[0008] In one embodiment, the anti-detachment block has a right-angled triangle shape in its vertical cross-section inside the positioning groove, with the hypotenuse of the vertical cross-section facing upwards.

[0009] In one embodiment, an anti-detachment frame is slidably connected inside the placement slot and fixedly connected to the anti-detachment block, the cross-sectional height of the anti-detachment frame being greater than the cross-sectional height of the placement slot opening.

[0010] In one embodiment, a first rubber spring is provided between the placement slot and the anti-detachment block, and the first rubber spring is in a compressed state.

[0011] In one embodiment, a second rubber spring is provided between the adjusting strip and the mounting cavity, and the second rubber spring is in a compressed state.

[0012] In one embodiment, both the mounting cavity and the adjusting strip have an L-shaped vertical cross-section, and the width of the mounting cavity is greater than the width of the adjusting strip.

[0013] In one embodiment, an adjustment handle is fixedly connected to one end of the adjustment bar, and the corners of the adjustment handle are rounded. Beneficial effects

[0014] The aforementioned gantry robot with quick-change end effector features an anti-detachment block that remains engaged in the positioning groove of the female seat even when the electromagnetic locking mechanism is unlocked. This design utilizes the hypotenuse of the right-angled triangular cross-section of the anti-detachment block to form a mechanical barrier, preventing the male seat and end effector from sliding freely under gravity. Operators must simultaneously operate the two adjusting handles on both sides to move them in opposite directions, compressing the second rubber spring and ensuring the anti-detachment block is completely removed from the positioning groove before the male seat can be disassembled. This dual-locking mechanism fundamentally avoids the risk of the end effector accidentally falling and being damaged. During the insertion of the male connector into the female connector, the anti-detachment block is automatically retracted into the installation cavity by the pressure of the inner wall of the female connector; when the male connector and the female connector are fully aligned, the positioning groove and the placement groove are precisely aligned, and the first rubber spring pushes the anti-detachment block to instantly spring into the positioning groove; the clear sound generated by the collision between the anti-detachment block and the positioning groove provides clear physical auditory feedback to the staff; this real-time positioning confirmation mechanism intuitively indicates the insertion completion status, significantly reduces installation positioning errors, and eliminates the need for manual observation or auxiliary positioning steps. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the quick-change module in this utility model; Figure 3 This is a cross-sectional schematic diagram of the quick-change module in this utility model; Figure 4This is a cross-sectional schematic diagram of the anti-detachment component in this utility model.

[0017] Figure label: 100. Quick-change module; 110. Female connector; 111. Positioning slot; 120. Male connector; 121. Mounting cavity; 130. Electromagnetic locking mechanism; 140. Anti-detachment component; 141. Adjusting bar; 1411. Placement slot; 142. Anti-detachment block; 143. Anti-detachment frame; 144. First rubber spring; 145. Second rubber spring; 146. Adjusting handle. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0019] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this specification are for illustrative purposes only and do not represent the only possible implementation.

[0020] Furthermore, 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0021] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this specification belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0023] The following is combined with Figures 1-4 This invention describes a gantry robot with a quick-change end effector.

[0024] In one embodiment, a gantry robot with a quick-change end effector includes a quick-change module 100, which includes a female base 110 and a male base 120. The male base 120 is inserted into the bottom of the female base 110. An electromagnetic locking mechanism 130 that is inserted into the male base 120 is installed inside the female base 110. A positioning groove 111 is formed inside the female base 110. A mounting cavity 121 that communicates with the positioning groove 111 is formed on the surface of the male base 120. An anti-disengagement component 140 that engages with the positioning groove 111 is installed inside the mounting cavity 121.

[0025] The female seat 110 and male seat 120 need to be pre-fixed to the opposite ends of the end effector and the gantry robot respectively by means of flanges and bolts. The female seat 110 has an installation chamber inside, and the male seat 120 has a positioning cavity on its surface that communicates with the installation chamber. An electromagnet is fixedly connected to the inside of the installation chamber by bolts. An insulating spring is installed inside the installation chamber. One end of the insulating spring is equipped with a magnetic positioning block that slides and connects with the installation chamber. One end of the magnetic positioning block is engaged with the positioning cavity. When the male seat 120 and the female seat 110 need to be connected, the electromagnet is first manually turned on. The electromagnet attracts the magnetic positioning block back to the installation chamber. When the male seat 120 and the female seat 110 are connected in place, the electromagnet is then manually turned off. The insulating spring causes the magnetic positioning block, which has lost its attraction force, to pass through the installation chamber and engage with the positioning cavity, thus firmly connecting the male seat 120 and the female seat 110 together. At this time, the end effector is stably connected to the output end of the gantry robot through the quick-change module 100.

[0026] like Figure 3 and Figure 4As shown, the anti-detachment component 140 includes an adjusting strip 141 slidably connected inside the mounting cavity 121. One end of the adjusting strip 141 extends through the mounting cavity 121, and a placement groove 1411 communicating with the positioning groove 111 is opened on the side end of the adjusting strip 141. An anti-detachment block 142 that engages with the positioning groove 111 is slidably connected inside the placement groove 1411. The number of positioning groove 111, mounting cavity 121, adjusting strip 141, placement groove 1411, and anti-detachment block 142 are all two and symmetrically distributed on both sides of the axis of the female seat 110. The vertical cross-section of the anti-detachment block 142 disposed inside the positioning groove 111 is a right-angled triangle, with the hypotenuse of the vertical cross-section of the anti-detachment block 142 facing upwards. An anti-detachment frame 143 is slidably connected to the anti-detachment block 142 and fixedly connected to it. The cross-sectional height of the anti-detachment frame 143 is greater than the cross-sectional height of the opening of the placement groove 1411. A first rubber spring 144 is provided between the placement groove 1411 and the anti-detachment block 142. The first rubber spring 144 is in a compressed state. A second rubber spring 145 is provided between the adjusting strip 141 and the mounting cavity 121. The second rubber spring 145 is in a compressed state. The vertical cross-sectional shape of the mounting cavity 121 and the adjusting strip 141 is L-shaped. The width of the mounting cavity 121 is greater than the width of the adjusting strip 141. An adjusting handle 146 is fixedly connected to one end of the adjusting strip 141. The corners of the adjusting handle 146 are rounded.

[0027] In this embodiment, when the worker needs to quickly install the male connector 120 into the female connector 110, the worker only needs to align the male connector 120 with the female connector 110, and then directly insert the male connector 120 into the female connector 110. During the process of the male connector 120 penetrating the female connector 110, the inclined surface of the anti-detachment block 142 contacts the corner of the female connector 110, and the anti-detachment block 142 is pressed back into the placement groove 1411 by the female connector 110. At this time, the worker does not need to actively adjust the position of the anti-detachment block 142 to install the male connector 120. When the male connector 120 and the female connector 110 are correctly installed, At this time, the positioning groove 111 is aligned with the placement groove 1411. The first rubber spring 144 pushes the anti-detachment block 142 into the positioning groove 111. When the anti-detachment block 142 and the positioning groove 111 collide, the operator can clearly hear the sound of the impact, thus effectively determining that the male seat 120 has been installed in place. Then the operator can release the adjustment handle 146 and control the electromagnetic locking mechanism 130 to lock the male seat 120. This does not require the operator to limit the position of the male seat 120 and then perform the locking operation simultaneously, effectively reducing the difficulty for the operator to install the end effector.

[0028] Working principle: When the operator unlocks the electromagnetic locking mechanism 130, the anti-detachment block 142 is still stuck in the positioning groove 111. This prevents the male seat 120 and the end effector from falling directly, thus reducing the probability of damage to the end effector. The operator needs to hold both adjustment handles 146 at the same time and move them towards each other. The adjustment handles 146 drive the anti-detachment block 142 to separate from the positioning groove 111 through the adjustment bar 141. When the anti-detachment block 142 returns completely to the inside of the mounting cavity 121, the male seat 120 is no longer obstructed. The operator can then use the adjustment handles 146 to move the male seat 120 and the end effector out of the female seat 110, and then replace it with an end effector of the corresponding specification.

[0029] Gantry robots include, but are not limited to, the following structures: Main frame: Adopting a gantry structure, it consists of columns, beams (Y-axis), slides (Z-axis), etc. The materials are mostly high-strength carbon steel or aluminum alloy profiles. The three-axis motion components follow the Cartesian coordinate system and are driven by gear racks or ball screws. The female seat 110 is fixedly connected to the bottom of the slide by flanges and bolts.

[0030] Guiding system: Linear guide rails / V-type roller guide rails ensure motion accuracy.

[0031] Drive system: Servo motors are used in conjunction with reducers to drive multi-axis linkage, and PLCs or motion controllers are used to achieve multi-axis linkage.

[0032] End effector: pneumatic gripper / vacuum suction cup, adaptable to different workpieces.

[0033] Operation process of gantry robot: Loading Phase: After confirming the initial position of the robotic arm (initial light illuminates), upon receiving a signal from the machine tool, the Z-axis descends to grip the workpiece → lifts it to the gantry height → the X / Y axes move to the machining position, precisely positions the workpiece, and sends a "positioning signal" to trigger the machine tool to clamp it. During machining, the robotic arm returns to the standby position or performs other tasks. Material unloading stage: Receive processing completion signal → grab finished product → transfer to unloading area, reset and wait for the next cycle. The entire cycle time needs to be accurate to the second.

[0034] It should be noted that the gantry manipulator, end effector, and electromagnet mentioned above are all devices with relatively mature existing technologies. The specific models can be selected according to actual needs. At the same time, the gantry manipulator, end effector, and electromagnet can be powered by the built-in power supply or by AC power. The specific power supply method should be selected according to the situation, and will not be elaborated here.

[0035] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0036] The above-described embodiments are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A gantry robot with a quick-change end effector, characterized in that, include: A quick-change module (100) includes a female connector (110) and a male connector (120). The male connector (120) is inserted into the bottom of the female connector (110). An electromagnetic locking mechanism (130) that is inserted into the male connector (120) is installed inside the female connector (110). A positioning groove (111) is opened inside the female connector (110). An installation cavity (121) that communicates with the positioning groove (111) is opened on the surface of the male connector (120). An anti-detachment component (140) that is engaged with the positioning groove (111) is installed inside the installation cavity (121). The anti-detachment component (140) includes an adjustment strip (141) slidably connected inside the mounting cavity (121). One end of the adjustment strip (141) extends through the mounting cavity (121). The side end of the adjustment strip (141) is provided with a placement groove (1411) communicating with the positioning groove (111). The inside of the placement groove (1411) is slidably connected with an anti-detachment block (142) that engages with the positioning groove (111).

2. The gantry robot with a quick-change end effector according to claim 1, characterized in that, The number of the positioning groove (111), mounting cavity (121), adjusting strip (141), placement groove (1411) and anti-detachment block (142) are all two and symmetrically distributed on both sides of the axis of the female seat (110).

3. The gantry robot with a quick-change end effector according to claim 1, characterized in that, The anti-detachment block (142) is set inside the positioning groove (111) and its vertical cross-section is a right triangle with the hypotenuse of the vertical cross-section facing upward.

4. The gantry robot with a quick-change end effector according to claim 1, characterized in that, The placement groove (1411) is internally slidably connected to an anti-detachment frame (143) which is fixedly connected to the anti-detachment block (142). The cross-sectional height of the anti-detachment frame (143) is greater than the cross-sectional height of the opening of the placement groove (1411).

5. The gantry robot with a quick-change end effector according to claim 1, characterized in that, A first rubber spring (144) is provided between the placement groove (1411) and the anti-detachment block (142), and the first rubber spring (144) is in a compressed state.

6. The gantry robot with a quick-change end effector according to claim 1, characterized in that, A second rubber spring (145) is provided between the adjusting bar (141) and the mounting cavity (121), and the second rubber spring (145) is in a compressed state.

7. The gantry robot with a quick-change end effector according to claim 1, characterized in that, The vertical cross-sectional shape of the mounting cavity (121) and the adjusting strip (141) is L-shaped, and the width of the mounting cavity (121) is greater than the width of the adjusting strip (141).

8. The gantry robot with a quick-change end effector according to claim 1, characterized in that, One end of the adjustment bar (141) is fixedly connected to an adjustment handle (146), and the corners of the adjustment handle (146) are rounded.

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