A gantry type feeding and discharging truss robot

Abstract

The utility model relates to truss robot technical field, concretely is a portal type feeding and discharging truss robot, including two symmetrical settings gantry, the top surface sliding connection of gantry has slide platform no.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, specifically a gantry-type loading and unloading gantry robot. Background Technology

[0002] A gantry robot (also known as a gantry manipulator or Cartesian robot) is an automated device based on a gantry-type Cartesian gantry structure. It is typically used for tasks such as material handling, loading and unloading, welding, and assembly on industrial automated production lines. It can move along the guide rails of a beam or gantry frame and features high precision, high efficiency, and high stability.

[0003] Currently, existing gantry robots typically have their gripping devices installed at the bottom of a vertical (Z-axis) moving column. The column moves primarily by a motor driving gears, which in turn moves a rack, thus moving the column. However, under heavy loads, significant pressure can exist between the rack and gears, causing severe wear on the gears and racks and potentially leading to the column slipping under heavy loads. This not only damages the items but also poses a danger to workers below. Utility Model Content

[0004] The purpose of this invention is to provide a gantry-type loading and unloading gantry robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A gantry-type loading and unloading gantry robot includes two symmetrically arranged gantry frames. The top surface of each gantry frame is slidably connected to a slide table. Two symmetrical trusses are arranged between the two slide tables. A slide table is slidably connected between the two trusses. A movable column is slidably inserted through the top surface of the slide table. The bottom end of the movable column is fixedly connected to a mounting plate. The top surface of the slide table is provided with an anti-fall mechanism for reinforcing the movable column and a dust blowing mechanism.

[0007] The fall protection mechanism includes two symmetrically arranged reels, and the outer walls of the reels are wound with steel ropes that slide through the slide table and are fixedly connected to the mounting plate.

[0008] Furthermore, a sprocket is fixedly connected to one end of the rotating shaft of the scroll, and the two sprockets are connected by a chain drive. A motor is fixedly connected to the top surface of the slide table two, and the output end of the motor four is fixedly connected to the rotating shaft at the corresponding position.

[0009] Furthermore, the top surface of the gantry frame is fixedly connected to a slide rail, and both sides of the bottom surface of the slide table are rotatably connected to rollers that are slidably connected to the slide rail at the corresponding position via rotating rods. The top surface of the slide rail is fixedly connected to a rack, and the top surface of the slide table is fixedly connected to a motor. The output end of the motor passes through the slide table at the corresponding position and is fixedly connected to a gear that meshes with the rack at the corresponding position. Both sides of the bottom surface of the slide table are fixedly connected with multiple bullseye rollers at equal intervals.

[0010] Furthermore, a rack two is fixedly connected to the top surface of one of the trusses, a motor two is fixedly connected to the top surface of the slide two, and the output end of the motor two passes through the slide two and is fixedly connected to a gear two that meshes with the rack two.

[0011] Furthermore, the bottom surface structure of the first slide is the same as that of the second slide.

[0012] Furthermore, both sides of the movable column are fixedly connected to slide rails three, the top surface of the slide table two is fixedly connected to two symmetrical limiting plates, the sides of the limiting plates are provided with multiple rollers two that are slidably connected to the slide rails three at corresponding positions, the sides of the limiting plates and the slide table two are fixedly connected to two symmetrical corner plates, the roller rotates between the two corner plates at relative positions, the sides of the movable column are fixedly connected to racks three, the top surface of the slide table two is fixedly connected to motors three, and the output end of the motors three is fixedly connected to gears three that mesh with racks three.

[0013] Furthermore, the top surface of the second slide is fixedly connected to a support frame, the soot blowing mechanism includes a cylindrical tube fixedly connected to the support frame, the top surface of the second slide is fixedly connected to a connecting frame, one end of the connecting frame is fixedly connected to a housing, the housing is inclined, and the inclined surface of the housing has multiple through holes, a guide tube is fixedly connected between the cylindrical tube and the housing, a piston is slidably sleeved inside the cylindrical tube, an air inlet pipe is fixedly connected to the top surface of the cylindrical tube, a one-way valve is provided on the outer wall of both the air inlet pipe and the guide tube, one end of the piston is fixedly connected to a pull rod that slides through the cylindrical tube, a connecting rod is provided at the bottom end of the pull rod, a steel ball embedded in and connected to the pull rod is fixedly connected to the top end of the connecting rod, one end of one of the rotating shafts passes through a corner plate at a corresponding position and is fixedly connected to a cylindrical block, a fixed rod and a connecting rod that rotate through the cylindrical block away from its center are fixedly connected to the fixed rod.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. The steel rope is released or wound up by rotating two reels, so that the winding and release of the steel rope is coordinated with the up and down movement of the moving column, keeping the steel rope taut at all times. This can share the load of the moving column, making the clamping equipment more stable during loading and unloading, preventing the moving column from slipping due to overload, thus ensuring the safety of the workers and preventing damage to the items.

[0016] 2. By having the piston move up and down inside the cylindrical tube, and then under the action of two one-way valves, external air can be forced into the housing through the conduit and ejected from multiple through holes. The ejected gas is sprayed onto the meshing point of gear three and rack three, which can blow away the dust at the meshing point of gear three and rack three, and prevent the wear between rack three and rack three from being accelerated due to dust. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is an enlarged view of point A in this utility model;

[0019] Figure 3 This is a schematic diagram of the sliding table in this utility model;

[0020] Figure 4 This is a schematic diagram of the second sliding table in this utility model;

[0021] Figure 5 This is a schematic diagram of the anti-fall mechanism in this utility model;

[0022] Figure 6 This is a schematic diagram of the soot blowing mechanism in this utility model.

[0023] In the diagram: 1. Gantry frame; 2. Slide table one; 21. Roller one; 22. Motor one; 23. Gear one; 24. Bullseye roller; 3. Truss; 4. Slide table two; 41. Motor two; 42. Motor three; 43. Limiting plate; 44. Roller two; 45. Angle plate; 46. Support frame; 5. Moving column; 6. Mounting plate; 7. Fall protection mechanism; 71. Reel; 72. Steel rope; 73. Sprocket; 74. Motor four; 75. Cylindrical block; 8. Soot blowing mechanism; 81. Cylindrical tube; 82. Shell; 83. Connecting frame; 84. Guide tube; 85. Tie rod; 86. Connecting rod. Detailed Implementation

[0024] 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.

[0025] Please see Figure 1 - Figure 6 In this embodiment of the utility model, a gantry-type loading and unloading gantry robot includes two symmetrically arranged gantry frames 1. The top surface of the gantry frame 1 is slidably connected to a slide table 2. Two symmetrical trusses 3 are arranged between the two slide tables 2. A slide table 4 is slidably connected between the two trusses 3. A movable column 5 is slidably ...

[0026] Specifically, the clamping device is first installed on the bottom surface of the mounting plate 6. When materials need to be moved to other locations, the material is clamped by the downward movement of the moving column 5 and the clamping device. Then, the multi-directional movement of the moving column 5 is controlled by the movement of the two slides 1 2 and 2 4 (the multi-axis movement of the moving column 5 is existing technology and will not be elaborated here). During the process of the clamping device picking up materials, the steel rope 72 is released or wound up by the rotation of the two reels 71, so that the winding and releasing of the steel rope 72 is coordinated with the up and down movement of the moving column 5 (when the moving column 5 moves up, the reels 71 wind up the steel rope 72, and vice versa). This keeps the steel rope 72 taut at all times, thereby sharing the load of the moving column 5 and making the clamping device more stable during loading and unloading. This prevents the moving column 5 from slipping due to overload, thus ensuring the safety of the workers and preventing damage to the items.

[0027] Example 1

[0028] like Figure 5 As shown, in this embodiment, a sprocket 73 is fixedly connected to one end of the rotating shaft of the scroll 71, and the two sprockets 73 are connected by a chain drive. A motor 74 is fixedly connected to the top surface of the slide table 4, and the output end of the motor 74 is fixedly connected to the rotating shaft at the corresponding position.

[0029] In this embodiment, the motor 74 is a motor with a self-locking function (such as a geared motor). The two reels 71 can be rotated by the motor 74. The rotating reels 71 can wind up or unwind the steel rope 72, so that the two steel ropes 72 can share the load of the moving column 5.

[0030] Example 2

[0031] like Figures 1-4 As shown, in this embodiment, a slide rail is fixedly connected to the top surface of the gantry frame 1. Rollers 21, which are slidably connected to the slide rail at corresponding positions, are rotatably connected to both sides of the bottom surface of the slide platform 2 via rotating rods. A rack is fixedly connected to the top surface of the slide rail 1. A motor 22 is fixedly connected to the top surface of the slide platform 2. The output end of the motor 22 passes through the slide platform 2 at the corresponding position and is fixedly connected to a gear 23 that meshes with the rack at the corresponding position. Multiple bullseye rollers 24 are fixedly connected at equal intervals to both sides of the bottom surface of the slide platform 2. A rack 2 is fixedly connected to the top surface of one of the trusses 3. A motor 2 41 is fixedly connected to the top surface of the slide platform 4. The output end of the motor 2 41 passes through the slide platform 4. A gear 2 that meshes with rack 2 is fixedly connected to the slide 2. The bottom structure of slide 1 2 is the same as that of slide 2 4. Slide rails 3 are fixedly connected to both sides of the moving column 5. Two symmetrical limiting plates 43 are fixedly connected to the top surface of slide 2 4. Multiple rollers 2 44 that slide and connect to the corresponding slide rails 3 are provided on the side of the limiting plates 43. Two symmetrical corner plates 45 are fixedly connected between the side of the limiting plates 43 and slide 2 4. The roller 71 rotates between the two corner plates 45 at opposite positions. A rack 3 is fixedly connected to the side of the moving column 5. A motor 3 42 is fixedly connected to the top surface of slide 2 4. A gear 3 that meshes with rack 3 is fixedly connected to the output end of motor 3 42.

[0032] In this embodiment, the moving column 5 can move in multiple axes between the two gantry frames 1 by driving the first motor 22, the second motor 41 and the third motor 42 (motors with self-locking function). The bullseye roller 24 can bear the pressure of the roller 21 at the corresponding position, reducing the friction between the roller 21 and the slide rail 1 and slide rail 2.

[0033] Example 3

[0034] like Figure 6As shown, in this embodiment, a support frame 46 is fixedly connected to the top surface of the slide table 4. The soot blowing mechanism 8 includes a cylindrical tube 81 that is fixedly connected to the support frame 46. A connecting frame 83 is fixedly connected to the top surface of the slide table 4. A housing 82 is fixedly connected to one end of the connecting frame 83. The housing 82 is inclined, and multiple through holes are opened through the inclined surface of the housing 82. A guide tube 84 is fixedly connected between the cylindrical tube 81 and the housing 82. A piston is slidably sleeved inside the cylindrical tube 81. The top of the cylindrical tube 81... An air intake pipe is fixedly installed through the surface. One-way valves are provided on the outer walls of the air intake pipe and the duct 84. One end of the piston is fixedly connected to a pull rod 85 that slides through the cylindrical tube 81. A connecting rod 86 is provided at the bottom end of the pull rod 85. A steel ball embedded in and connected to the pull rod 85 is fixedly connected to the top end of the connecting rod 86. One end of one of the rotating shafts passes through the corner plate 45 at the corresponding position and is fixedly connected to a cylindrical block 75. A fixed rod is fixedly connected to the cylindrical block 75 away from its center and rotates through the connecting rod 86.

[0035] In this embodiment, when the spool 71 rotates, the cylindrical block 75 can rotate. Since the fixed rod and the connecting rod 86 rotate through each other, and a steel ball (similar to the structure of a ball hinge) is provided between the connecting rod 86 and the pull rod 85, the rotation of the cylindrical block 75 can cause the connecting rod 86 to drive the pull rod 85 to move up and down reciprocally. The reciprocating movement of the pull rod 85 drives the piston to move up and down reciprocally inside the cylindrical cylinder 81. Then, under the action of the two one-way valves, external air can be forced into the housing 82 through the conduit 84 and sprayed out from multiple through holes. The sprayed gas is sprayed onto the meshing point of gear three and rack three, which can blow away the dust at the meshing point of gear three and rack three, and avoid accelerated wear between rack three and rack three due to dust.

[0036] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0037] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A gantry-type loading and unloading gantry robot, comprising two symmetrically arranged gantry frames (1), a sliding table (2) slidably connected to the top surface of the gantry frame (1), two symmetrical gantry frames (3) arranged between the two sliding tables (2), a sliding table (4) slidably connected between the two gantry frames (3), a movable column (5) slidably passing through the top surface of the sliding table (4), and a mounting plate (6) fixedly connected to the bottom end of the movable column (5), characterized in that, The top surface of the slide table 2 (4) is provided with a fall prevention mechanism (7) for reinforcing the moving column (5), and the top surface of the slide table 2 (4) is provided with a dust blowing mechanism (8). The fall arrest mechanism (7) includes two symmetrically arranged reels (71), and the outer wall of the reels (71) is wrapped with a steel rope (72) that slides through the slide table (4) and is fixedly connected to the mounting plate (6).

2. The gantry-type loading and unloading gantry robot according to claim 1, characterized in that, One end of the rotating shaft of the scroll (71) is fixedly connected to a sprocket (73), and the two sprockets (73) are connected by a chain drive. The top surface of the slide table (4) is fixedly connected to a motor (74), and the output end of the motor (74) is fixedly connected to the rotating shaft at the corresponding position.

3. The gantry-type loading and unloading gantry robot according to claim 2, characterized in that, The top surface of the gantry (1) is fixedly connected to a slide rail 1. The bottom surfaces of the slide table 1 (2) are connected by rotating rods to rollers 1 (21) that are slidably connected to the slide rail 1 at the corresponding positions. The top surface of the slide rail 1 is fixedly connected to a rack 1. The top surface of the slide table 1 (2) is fixedly connected to a motor 1 (22). The output end of the motor 1 (22) passes through the slide table 1 (2) at the corresponding position and is fixedly connected to a gear 1 (23) that meshes with the rack at the corresponding position. Multiple bullseye rollers (24) are fixedly connected at equal intervals on both sides of the bottom surface of the slide table 1 (2).

4. The gantry-type loading and unloading gantry robot according to claim 3, characterized in that, One of the trusses (3) has a rack two fixedly connected to its top surface, and a motor two (41) is fixedly connected to the top surface of the slide two (4). The output end of the motor two (41) passes through the slide two (4) and is fixedly connected to a gear two that meshes with the rack two.

5. The gantry-type loading and unloading gantry robot according to claim 4, characterized in that, The bottom structure of slide 1 (2) is the same as that of slide 2 (4).

6. The gantry-type loading and unloading gantry robot according to claim 5, characterized in that, Both sides of the movable column (5) are fixedly connected to slide rails three. The top surface of the slide table two (4) is fixedly connected to two symmetrical limiting plates (43). The side of the limiting plate (43) is provided with multiple rollers two (44) that slide in connection with the slide rails three at the corresponding positions. The side of the limiting plate (43) and the slide table two (4) are fixedly connected to two symmetrical corner plates (45). The roller (71) rotates between the two corner plates (45) at the relative positions. The side of the movable column (5) is fixedly connected to a rack three. The top surface of the slide table two (4) is fixedly connected to a motor three (42). The output end of the motor three (42) is fixedly connected to a gear three that meshes with the rack three.

7. The gantry-type loading and unloading gantry robot according to claim 6, characterized in that, A support frame (46) is fixedly connected to the top surface of the slide table 2 (4). The soot blowing mechanism (8) includes a cylindrical tube (81) that is fixedly connected to the support frame (46). A connecting frame (83) is fixedly connected to the top surface of the slide table 2 (4). A housing (82) is fixedly connected to one end of the connecting frame (83). The housing (82) is inclined. Multiple through holes are opened through the inclined surface of the housing (82). A guide tube (84) is fixedly connected between the cylindrical tube (81) and the housing (82). A piston is slidably sleeved inside the cylindrical tube (81). An air intake pipe is fixedly installed on the top surface of the piston. One-way valves are installed on the outer walls of the air intake pipe and the duct (84). A pull rod (85) that slides through the cylindrical tube (81) is fixedly connected to one end of the piston. A connecting rod (86) is installed at the bottom end of the pull rod (85). A steel ball that is embedded and connected to the pull rod (85) is fixedly connected to the top end of the connecting rod (86). One end of one of the rotating shafts passes through the corner plate (45) at the corresponding position and is fixedly connected to a cylindrical block (75). A fixed rod that rotates through the connecting rod (86) is fixedly connected to the cylindrical block (75) away from its center.

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