Blanking truss mechanical hand

Abstract

The utility model discloses a kind of unloading truss mechanical hands, including a pair of stand, the bottom of stand is fixedly connected with base, and the top of stand is fixedly connected with crossbeam, the top of both ends of crossbeam is fixedly connected with support, and one of the support is installed with motor, the output shaft end of motor is fixedly connected with lead screw by coupling, mobile seat is set between two supports, the top of mobile seat is fixedly connected with transmission block, transmission hole is set on the transmission block, longitudinal beam is inserted in the mobile seat, first electric telescopic rod is installed on the side of transmission block, the both ends of longitudinal beam are evenly provided with unloading assembly. The utility model can realize bidirectional unloading operation, and the floor space is small, and running and maintenance cost are low;By optimizing structure, rigidity can be enhanced, and bending deformation when large span occurs is avoided.

Description

Technical Field

[0001] This utility model belongs to the field of gantry robot technology, and in particular relates to a material unloading gantry robot. Background Technology

[0002] A gantry robot is an automated, reprogrammable device that operates on a three-dimensional Cartesian coordinate system and is capable of automatic control. Gantry robots are typically mounted above production equipment (such as CNC machine tools and injection molding machines) to quickly and accurately move workpieces between multiple workstations.

[0003] A search revealed an automatic loading and unloading gantry robot with publication number CN218518654U on the Chinese Patent website. This gantry robot can effectively facilitate the user's later disassembly, maintenance, or replacement of the mechanical gripper, making it convenient for the user. However, it has some defects and shortcomings that need to be improved: (1) Most existing gantry robots only have a single loading function. When materials need to be loaded onto two production lines at the same time, two gantry robot devices are often required, which not only increases the footprint but also increases the operating and maintenance costs of the equipment; (2) Due to the structural design of some existing gantry robots, when the span is large, the crossbeams and longitudinal beams are prone to bending and deformation after being subjected to load for a long time. This not only reduces the positioning accuracy during loading but also easily causes vibration during movement, resulting in material falling. Therefore, the loading gantry robot provided by this utility model is of great significance in addressing the above problems. Utility Model Content

[0004] This utility model provides a material unloading gantry robot. The pneumatic grippers in the unloading assembly open and close to release and grasp materials, enabling unloading operations. When installed between two production lines, the unloading components at both ends of the longitudinal beam allow for bidirectional unloading, simultaneously placing materials onto both lines without the need for an additional gantry robot. This significantly reduces the footprint and effectively lowers operating and maintenance costs. Multiple first reinforcing blocks reinforce the connection between the column and the base, improving the structural rigidity of the column and preventing it from collapsing. After prolonged stress, bending and deformation can occur, affecting the stability of the truss manipulator. When the span of the truss manipulator is large, multiple equally spaced linearly distributed reinforcing ribs can be used to support the bottom of the crossbeam at various positions, effectively reducing stress concentration in the crossbeam and thus preventing bending deformation after prolonged load. In addition, multiple second reinforcing blocks can be used to reinforce the included angles at both ends of the longitudinal beam to improve the structural rigidity of the longitudinal beam and ensure that the included angles remain perpendicular, thereby preventing bending deformation at both ends of the longitudinal beam after prolonged load. In summary, this solves the problems in the background technology.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] This utility model discloses a material unloading truss robot, comprising a pair of columns, with a base fixedly connected to the bottom of each column and a crossbeam fixedly connected to the top of each column. Supports are fixedly connected to the top of both ends of the crossbeam. A motor is mounted on one of the supports, and a lead screw is fixedly connected to the end of the motor's output shaft via a coupling. The end of the lead screw is rotatably connected to the other support via a bearing. A movable seat is provided between the two supports. The movable seat has a rectangular frame structure, with its bottom surface conforming to the top surface of the crossbeam. A transmission block is fixedly connected to the top of the movable seat. The transmission block has a transmission hole with a diameter equal to that of the lead screw. The hole wall has an internal thread that mates with the lead screw, and the height of the transmission hole is flush with the height of the lead screw. The lead screw passes through the transmission hole. A longitudinal beam is inserted into the movable seat, with both ends of the longitudinal beam being L-shaped. A first electric telescopic rod is mounted on one side of the transmission block, and the end of the output shaft of the first electric telescopic rod is fixedly connected to one end of the longitudinal beam. Material unloading components are provided at both ends of the longitudinal beam.

[0007] The feeding assembly includes a second electric telescopic rod, which is installed at the top of both ends of the longitudinal beam. The bottom end of its output shaft is fixedly connected to a mounting base, and a pneumatic gripper is installed at the bottom of the mounting base.

[0008] Furthermore, connecting blocks are fixedly connected to both the front and rear faces of the longitudinal beam, and sleeves are fixedly connected to the ends of the connecting blocks. The sleeves are symmetrically distributed on the front and rear sides of both ends of the longitudinal beam. A pair of guide rods are fixedly connected to the top of the mounting base. The diameter of the guide rods is equal to the inner diameter of the sleeves, and each guide rod passes through the corresponding sleeve.

[0009] Furthermore, the column is square, and each of its four side walls is fixedly connected to a first reinforcing block. The first reinforcing block is triangular, and its bottom is fixedly connected to the top of the base.

[0010] Furthermore, a pair of fixing blocks are fixedly connected between the top sidewalls of the two columns. The fixing blocks are elongated, and several reinforcing ribs are fixedly connected between the two fixing blocks. The reinforcing ribs are X-shaped and are distributed linearly at equal intervals along the length of the fixing blocks. The top surface height of each reinforcing rib and the fixing block is flush with the top surface height of the column.

[0011] Furthermore, the crossbeam is I-shaped, with grooves on both sides. A pair of sliders are fixedly connected to the bottom of the movable seat. The sliders are L-shaped, and their thickness is equal to the width of the grooves. Each slider is inserted into its corresponding groove.

[0012] Furthermore, the longitudinal section of the longitudinal beam is rectangular, and its length and width are equal to the length and width of the inner wall of the movable seat, respectively. A pair of second reinforcing blocks are fixedly connected at the included angle of the inner sides of both ends of the longitudinal beam. The second reinforcing blocks are triangular and symmetrically distributed on the front and rear sides of the longitudinal beam.

[0013] The present invention has the following advantages over the prior art:

[0014] (1) It can realize bidirectional unloading operation, occupy a small space, and has low operating and maintenance costs: the material can be released and grabbed by the opening and closing of the pneumatic gripper in the unloading component, so as to realize the unloading operation. When the gantry robot is installed between two production lines, bidirectional unloading operation can be carried out through the unloading components at both ends of the longitudinal beam, so that the material can be placed on the two production lines at the same time without the need to configure an additional gantry robot, which not only greatly reduces the space occupied, but also effectively reduces the operating and maintenance costs of the equipment.

[0015] (2) By optimizing the structure, rigidity can be enhanced and bending deformation can be avoided when the span is large: Multiple first reinforcing blocks can be used to reinforce the connection between the column and the base to improve the structural rigidity of the column, thereby preventing the column from bending and deforming after being subjected to force for a long time and affecting its support stability for the truss manipulator. When the span of the truss manipulator is large, multiple equally spaced linearly distributed reinforcing ribs can be used to support the bottom of the crossbeam at various positions to effectively reduce the stress concentration of the crossbeam, thereby preventing bending deformation after being subjected to load for a long time. In addition, multiple second reinforcing blocks can be used to reinforce the included angle at both ends of the longitudinal beam to improve the structural rigidity of the longitudinal beam and ensure that the included angle always remains vertical, thereby preventing bending deformation at both ends of the longitudinal beam after being subjected to load for a long time.

[0016] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a material unloading gantry robot according to the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the column in this utility model;

[0020] Figure 3 This is a schematic diagram of the crossbeam structure in this utility model;

[0021] Figure 4 This is a schematic diagram of the movable base in this utility model;

[0022] Figure 5 This is a schematic diagram of the longitudinal beam in this utility model;

[0023] Figure 6 This is a schematic diagram of the feeding assembly in this utility model.

[0024] The attached diagram lists the components represented by each number as follows:

[0025] 1. Column; 2. Base; 3. Crossbeam; 4. Bracket; 5. Motor; 6. Lead screw; 7. Moving seat; 8. Transmission block; 9. Transmission hole; 10. Longitudinal beam; 11. First electric telescopic rod; 12. Second electric telescopic rod; 13. Mounting seat; 14. Pneumatic gripper; 15. Connecting block; 16. Sleeve; 17. Guide rod; 18. First reinforcing block; 19. Fixing block; 20. Reinforcing rib; 21. Slide groove; 22. Sliding block; 23. Second reinforcing block. Detailed Implementation

[0026] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0027] In the description of this utility model, it should be understood that the terms "relative", "one end", "inner", "lateral", "end", "both ends", "both sides", "front", "one end face", "the other end face", etc., which indicate orientation or positional relationship, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0028] Please see Figure 1-6As shown, this utility model discloses a material unloading gantry robot, comprising a pair of columns 1, with a base 2 fixedly connected to the bottom of each column 1 and a crossbeam 3 fixedly connected to the top of each column 1. Supports 4 are fixedly connected to the top of both ends of the crossbeam 3. A motor 5 is mounted on one of the supports 4, and a lead screw 6 is fixedly connected to the end of the output shaft of the motor 5 via a coupling. The end of the lead screw 6 is rotatably connected to the other support 4 via a bearing. A movable seat 7 is provided between the two supports 4. The movable seat 7 is a rectangular frame structure, with its bottom surface fitting against the top surface of the crossbeam 3. A transmission block 8 is fixedly connected to the top of the movable seat 7, and a transmission hole 9 is provided on the transmission block 8. The diameter of the transmission hole 9 is equal to that of the lead screw 6, and its wall is provided with an internal thread that mates with the lead screw 6. The height of the transmission hole 9 is flush with the height of the lead screw 6. The lead screw 6 passes through the transmission hole 9, and the drive motor 5 can drive the lead screw 6 to rotate. When the lead screw 6 rotates, it can drive the movable seat 7 to move linearly along the X-axis through the threaded engagement with the transmission hole 9. The motor 5 is a servo motor (model such as Song). The A6 series MSMF042L1U2M, with a rated power of 0.4kW and a positioning accuracy of ±0.005mm, ensures precise displacement of the lead screw 6 driving the moving seat 7 along the X-axis, meeting the requirement of a blanking position error ≤±0.1mm. A longitudinal beam 10 is inserted inside the moving seat 7, with L-shaped ends. A first electric telescopic rod 11 is installed on one side of the transmission block 8. The output shaft of the first electric telescopic rod 11 is fixedly connected to one end of the longitudinal beam 10. By driving the first electric telescopic rod 11... 1. It can drive the longitudinal beam 10 to move linearly along the Y-axis. Both ends of the longitudinal beam 10 are equipped with feeding components. Photoelectric sensors (such as Omron E3Z-LS63) can be installed on the side walls of both ends of the longitudinal beam 10. The inner wall of the moving seat 7 can be equipped with positioning baffles. When the longitudinal beam 10 moves to the target position along the Y-axis, the photoelectric sensor triggers a signal, and the first electric telescopic rod 11 stops moving, ensuring that the feeding components at both ends of the longitudinal beam 10 are accurately aligned with the workstations of the two production lines, with a positioning error ≤ ±0.05mm.

[0029] The unloading assembly includes a second electric telescopic rod 12, which is installed at the top of both ends of the longitudinal beam 10. A mounting base 13 is fixedly connected to the bottom of the output shaft of the second electric telescopic rod 12. A pneumatic gripper 14 is installed at the bottom of the mounting base 13. By driving the second electric telescopic rod 12, the pneumatic gripper 14 can move linearly along the Z-axis. The opening and closing of the pneumatic gripper 14 can release and grip materials to achieve the unloading operation. When this gantry robot is installed between two production lines, bidirectional unloading operations can be performed through the unloading assembly at both ends of the longitudinal beam 10, allowing materials to be simultaneously unloaded onto both production lines without the need for an additional gantry robot. The pneumatic gripper not only significantly reduces the footprint but also effectively lowers the operating and maintenance costs of the equipment. The pneumatic gripper 14 is a publicly available technology, and the required model can be purchased directly from the market. The specific model should be selected based on the weight of the material. If the material weighs 5-10kg, select MHS3-16D (clamping force 195N, stroke 16mm). If the material weighs 10-15kg, select MHS3-20D (clamping force 310N, stroke 20mm). Ensure that the clamping force has a 20%-30% margin to prevent the material from falling. The specific structure and working principle of the pneumatic gripper 14 can be found in the relevant instruction manual, so they will not be elaborated here.

[0030] The longitudinal beam 10 has connecting blocks 15 fixedly connected to both its front and rear ends. Each connecting block 15 has a sleeve 16 fixedly connected to its end. The sleeves 16 are symmetrically distributed on the front and rear sides of both ends of the longitudinal beam 10. A pair of guide rods 17 are fixedly connected to the top of the mounting base 13. The diameter of the guide rods 17 is equal to the inner diameter of the sleeves 16, and each guide rod 17 passes through its corresponding sleeve 16. When the unloading assembly moves linearly in the Z-axis direction, the mounting base 13 can drive each guide rod 17 to move up and down along the inner wall of its corresponding sleeve 16. The cooperation between the guide rods 17 and the sleeves 16 provides guidance and limitation, ensuring that the unloading assembly always moves vertically, thus preventing the unloading assembly from shaking or shifting during movement and affecting the unloading accuracy.

[0031] The column 1 is square, and each of its four side walls is fixedly connected to a first reinforcing block 18. The first reinforcing block 18 is triangular, and its bottom is fixedly connected to the top of the base 2. The connection between the column 1 and the base 2 can be reinforced by multiple first reinforcing blocks 18, so as to improve the structural rigidity of the column 1 and prevent the column 1 from bending and deforming after being subjected to force for a long time, thus affecting its support stability for the gantry robot.

[0032] Among them, a pair of fixing blocks 19 are fixedly connected between the top sidewalls of the two columns 1. The fixing blocks 19 are long strips, and several reinforcing ribs 20 are fixedly connected between the two fixing blocks 19. The reinforcing ribs 20 are X-shaped and are distributed linearly at equal intervals along the length of the fixing blocks 19. The top surface height of each reinforcing rib 20 and the fixing block 19 is flush with the top surface height of the column 1. Each reinforcing rib 20 can be attached to the bottom of the crossbeam 3. When the span of the truss robot is large, multiple linearly distributed reinforcing ribs 20 can be used to support the bottom of the crossbeam 3 at various positions, so as to effectively reduce the stress concentration of the crossbeam 3 and thus avoid bending deformation after being subjected to load for a long time.

[0033] The crossbeam 3 is I-shaped, with grooves 21 on both sides. A pair of sliders 22 are fixedly connected to the bottom of the movable seat 7. The sliders 22 are L-shaped, and their thickness is equal to the width of the grooves 21. Each slider 22 is inserted into its corresponding groove 21. Compared with the traditional rectangular crossbeam 3, the bending strength of the I-shaped crossbeam can be increased by 30% to 50%, which can further reduce the bending deformation of the crossbeam 3. When the lead screw 6 drives the movable seat 7 to move linearly along the X-axis, the movable seat 7 can drive the sliders 22 to move along the inner wall of the grooves 21. At this time, the cooperation between the sliders 22 and the grooves 21 can play a guiding and limiting role to ensure that the movable seat 7 always moves in a horizontal straight line, thereby effectively avoiding the movable seat 7 from bumping and deviating during the movement.

[0034] The longitudinal section of the longitudinal beam 10 is rectangular, and its length and width are equal to the length and width of the inner wall of the movable seat 7, respectively. A pair of second reinforcing blocks 23 are fixedly connected to the included angles at both ends of the longitudinal beam 10. The second reinforcing blocks 23 are triangular and symmetrically distributed on the front and rear sides of the longitudinal beam 10. The included angles at both ends of the longitudinal beam 10 can be reinforced by multiple second reinforcing blocks 23 to improve the structural rigidity of the longitudinal beam 10 and ensure that the included angles always remain vertical, thereby preventing the ends of the longitudinal beam 10 from bending and deforming after being subjected to load for a long time.

[0035] All standard parts used in the application documents can be purchased from the market. All components in this application documents can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art.

[0036] The working principle of this utility model is as follows:

[0037] In use, this utility model can drive the lead screw 6 to rotate via the drive motor 5. When the lead screw 6 rotates, it drives the moving seat 7, along with the unloading assembly, to move linearly along the X-axis through the threaded engagement with the transmission hole 9. Driving the first electric telescopic rod 11 drives the longitudinal beam 10, along with the unloading assembly, to move linearly along the Y-axis. Driving the second electric telescopic rod 12 drives the pneumatic gripper 14 in the unloading assembly to move linearly along the Z-axis. The opening and closing of the pneumatic gripper 14 releases and grips the material, thus achieving the unloading operation. When this gantry robot is installed between two production lines, bidirectional unloading can be performed through the unloading assemblies at both ends of the longitudinal beam 10, allowing materials to be simultaneously unloaded onto both production lines without the need for an additional gantry robot, significantly reducing the footprint. In addition, it effectively reduces the operation and maintenance costs of the equipment. Multiple first reinforcing blocks 18 can reinforce the connection between the column 1 and the base 2 to improve the structural rigidity of the column 1, thereby preventing the column 1 from bending and deforming after being subjected to force for a long time, thus affecting its support stability for the truss manipulator. When the span of the truss manipulator is large, multiple equally spaced linearly distributed reinforcing ribs 20 can be used to support the bottom of the crossbeam 3 at various positions to effectively reduce the stress concentration of the crossbeam 3, thereby preventing it from bending and deforming after being subjected to load for a long time. In addition, multiple second reinforcing blocks 23 can reinforce the included angle at both ends of the longitudinal beam 10 to improve the structural rigidity of the longitudinal beam 10, while ensuring that the included angle always remains vertical, thereby preventing the ends of the longitudinal beam 10 from bending and deforming after being subjected to load for a long time.

[0038] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A material unloading gantry robot, characterized in that, The device includes a pair of columns, with a base fixedly connected to the bottom of each column and a crossbeam fixedly connected to the top of each column. Supports are fixedly connected to the top of both ends of the crossbeam. A motor is mounted on one of the supports, and a lead screw is fixedly connected to the end of the motor's output shaft via a coupling. The end of the lead screw is rotatably connected to the other support via a bearing. A movable seat is provided between the two supports. The movable seat has a rectangular frame structure, with its bottom surface fitting against the top surface of the crossbeam. A transmission block is fixedly connected to the top of the movable seat. The transmission block has a transmission hole with a diameter equal to that of the lead screw. The hole wall has an internal thread that mates with the lead screw, and the height of the transmission hole is flush with the height of the lead screw. The lead screw passes through the transmission hole. A longitudinal beam is inserted into the movable seat, with both ends of the longitudinal beam being L-shaped. A first electric telescopic rod is mounted on one side of the transmission block, with the end of the output shaft of the first electric telescopic rod fixedly connected to one end of the longitudinal beam. Feeding assemblies are provided at both ends of the longitudinal beam. The feeding assembly includes a second electric telescopic rod, which is installed at the top of both ends of the longitudinal beam. The bottom end of its output shaft is fixedly connected to a mounting base, and a pneumatic gripper is installed at the bottom of the mounting base.

2. The unloading gantry robot according to claim 1, characterized in that, Connecting blocks are fixedly connected to both ends of the longitudinal beam at the front and rear ends. Sleeves are fixedly connected to the ends of the connecting blocks. The sleeves are symmetrically distributed on the front and rear sides of both ends of the longitudinal beam. A pair of guide rods are fixedly connected to the top of the mounting base. The diameter of the guide rods is equal to the inner diameter of the sleeves, and each guide rod passes through the corresponding sleeve.

3. The unloading gantry robot according to claim 1, characterized in that, The column is square, and each of its four side walls is fixedly connected to a first reinforcing block. The first reinforcing block is triangular, and its bottom is fixedly connected to the top of the base.

4. The unloading gantry robot according to claim 1, characterized in that, A pair of fixing blocks are fixedly connected between the top sidewalls of the two columns. The fixing blocks are long and narrow, and several reinforcing ribs are fixedly connected between the two fixing blocks. The reinforcing ribs are X-shaped and are distributed linearly at equal intervals along the length of the fixing blocks. The top surface height of each reinforcing rib and the fixing block is flush with the top surface height of the column.

5. A material unloading gantry robot according to claim 1, characterized in that, The crossbeam is I-shaped, with grooves on both sides. A pair of sliders are fixedly connected to the bottom of the movable seat. The sliders are L-shaped, and their thickness is equal to the width of the grooves. Each slider is inserted into its corresponding groove.

6. The unloading gantry robot according to claim 1, characterized in that, The longitudinal section of the longitudinal beam is rectangular, and its length and width are equal to the length and width of the inner wall of the movable seat, respectively. A pair of second reinforcing blocks are fixedly connected at the included angle of the inner sides of both ends of the longitudinal beam. The second reinforcing blocks are triangular and symmetrically distributed on the front and rear sides of the longitudinal beam.

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