Multi-functional gantry robot for automated production line

Abstract

The utility model discloses a multifunctional gantry mechanical hand of automatic production line relates to manipulator technical field, including aluminium alloy, aluminium alloy is provided with two groups, the front side of aluminium alloy is fixedly installed with mounting panel through screw, the front side of mounting panel is installed with linear drive mechanism and realizes horizontal axial movement, the front side of linear drive mechanism is installed with mechanical clamping mechanism and realizes vertical axial movement, and this multifunctional gantery mechanical hand of automatic production line is stable in overall structure, and linear drive mechanism responds quickly and adapts to efficient production, and the deviation of material transfer is reduced in the guarantee of horizontal positioning accuracy of guide structure, compact structure adapts to limited space, and the production line is reduced in lightweight design and bears, and there is no cleaning dead angle, and the sealing is good, and the jaw related mechanism can prevent vertical deviation, guarantee the accurate reduction of material pouring of grabbing, and the clamping force is uniform and adapts to multi -material material, and the jaw is convenient and can be quickly changed.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a multi-functional gantry robotic arm for automated production lines. Background Technology

[0002] With the advancement of industrial strategies and the profound transformation of intelligent manufacturing, the global manufacturing industry is accelerating its shift from the traditional rigid production model to the flexible intelligent manufacturing paradigm. In heavy manufacturing fields such as automobile manufacturing, aerospace, and new energy, as well as light industry, gantry industrial robots have become the core equipment of automated production lines due to their characteristics of large load, wide working range, and high motion precision. However, existing gantry robots still have certain shortcomings in their use.

[0003] A gantry robot, as proposed in application number CN201820973711.0, includes a worktable, a transverse moving axis, two vertical arms, an operation box, a work platform, and a control box. The worktable has a feed inlet on one side and a discharge outlet on the other. The transverse moving axis has a gantry structure, is mounted on the worktable, and extends in the same direction as the feed inlet to the discharge outlet. One vertical arm is positioned near the feed inlet and engages with the transverse moving axis via a slide rail. The other vertical arm is positioned near the discharge outlet and engages with the transverse moving axis via the same slide rail. Both vertical arms have grippers at their ends. The working platform is slidably connected to the upper plane of the operating box through a sliding mechanism. Its sliding direction is perpendicular to the horizontal movement axis. In actual use, the horizontal movement axis of the gantry robot and the vertical arm move through the cooperation of the slide rail. Relying on the traditional motor screw drive, the response speed is slow and it is difficult to adapt to the high-efficiency production rhythm. The gripper is not easy to change when it is used for different specifications of materials, making it difficult to meet the needs of multi-variety production. Furthermore, when it is used for light and smooth materials, it is easy to damage the materials due to improper gripping.

[0004] Therefore, we proposed a multi-functional gantry robot for automated production lines to solve the problems mentioned above. Utility Model Content

[0005] The purpose of this utility model is to provide a multi-functional gantry robot for automated production lines, in order to solve the problems mentioned in the background art, which are slow response speeds due to reliance on traditional motor screw drives, making it difficult to adapt to efficient production rhythms, and whose grippers are not easy to change for different specifications of materials, making it difficult to meet the needs of multi-variety production. Furthermore, when adapting to light and smooth materials, improper gripping methods can easily cause material damage.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a multi-functional gantry robot for an automated production line, comprising aluminum profiles, wherein the aluminum profiles are provided in two sets;

[0007] A mounting plate is fixedly installed on the front side of the aluminum profile by screws, and a linear drive mechanism is installed on the front side of the mounting plate to realize horizontal axial movement.

[0008] A mechanical clamping mechanism is installed on the front side of the linear drive mechanism to achieve vertical axial movement.

[0009] Preferably, the linear drive mechanism includes a rodless cylinder fixedly mounted on the top front side of the mounting plate, wherein a sliding seat is slidably disposed inside the rodless cylinder, and a movable plate is fixedly mounted on the front side of the sliding seat.

[0010] Preferably, the linear drive mechanism further includes a limiting seat fixedly installed at the bottom rear side of the movable plate. A linear bearing is fixedly fitted inside the limiting seat. A guide rod passes through the inner ring of the linear bearing. Mounting components are connected to both ends of the guide rod. The mounting components are fixedly connected to the mounting plate by screws.

[0011] With the above-mentioned structure, the rodless cylinder can directly drive the sliding seat to move the movable plate horizontally. Compared with the traditional motor screw transmission, it has a faster response and can better adapt to the high-efficiency production rhythm. The guide structure composed of the limit seat, linear bearing and guide rod can effectively limit the swaying of the movable plate when it moves horizontally, ensure the accuracy of horizontal positioning, and reduce the deviation problem in the material transfer process.

[0012] The guide rod is fixedly connected to the mounting plate through the mounting parts. The overall structure is compact and can adapt to the limited lateral space of the production line. At the same time, the design of aluminum profile and screw connection has the advantage of lightweight, which can reduce the overall load pressure of the production line. In addition, the rodless cylinder has no exposed transmission parts, and with the smooth surface of the aluminum profile, there are no dead corners for cleaning, and the sealing performance is good.

[0013] Preferably, the mechanical clamping mechanism includes a positioning plate fixedly installed on the front side of the movable plate, a double-rod cylinder fixedly installed on the front side of the positioning plate, a connecting plate fixedly connected to the bottom end of the double-rod cylinder, a gripper cylinder fixedly installed on the bottom end of the connecting plate, a sliding member slidably installed on the bottom end of the gripper cylinder, a limit groove formed at the bottom end of the gripper cylinder, and a gripper body fixedly installed on the sliding member by screws.

[0014] Preferably, the sliding member and the limiting groove form a limiting sliding structure, and the sliding member is symmetrically distributed inside the limiting groove.

[0015] With the above-mentioned structure, the dual-rod cylinder drives the gripper cylinder to move vertically. The dual-rod synchronous transmission design can avoid the vertical offset problem that is easy to occur with single-rod cylinders, ensuring the vertical positioning accuracy of the gripper body when gripping materials and reducing the risk of material tipping. The sliding part can slide symmetrically along the limiting groove, which can ensure that the gripper body has a uniform gripping force on the material. It can be adapted to materials of different materials such as aluminum containers and glass bottles, preventing material deformation due to excessive clamping and avoiding material falling due to excessive clamping.

[0016] The gripper body is fixed to the sliding parts with screws, making disassembly and replacement convenient. There is no need to recalibrate the mechanical structure for different specifications of materials, and the changeover can be completed quickly to meet the needs of multi-variety production.

[0017] Preferably, the mechanical clamping mechanism includes mounting angle plates symmetrically fixedly installed on the front side of the movable plate, a single-rod cylinder is fixedly connected to the inner ring of the mounting angle plate, and a vacuum suction cup is fixedly installed at the bottom end of the single-rod cylinder.

[0018] With the above-mentioned structural design, the single-rod cylinder drives the vacuum suction cup to achieve vertical movement with a fast response speed. Combined with the vacuum adsorption principle, it can firmly grasp light and smooth bottle cap materials. At the same time, the adsorption force can be flexibly adjusted, which can prevent the bottle cap from falling off during the transfer process and avoid the suction cup from damaging the surface of the bottle cap.

[0019] The vacuum suction cup is made of food-grade soft silicone, which will not scratch the contact surface with the bottle cap. The silicone material is easy to clean, and sterilization can be completed with a simple wipe, which can meet the high-frequency cleaning needs of the production line.

[0020] Compared with the prior art, the beneficial effects of this utility model are: the multi-functional gantry robot of the automated production line;

[0021] 1. The overall structure is stable, the linear drive mechanism responds quickly and is adapted to efficient production, the guide structure ensures accurate horizontal positioning and reduces material transfer deviation, the compact structure is adapted to limited space, the lightweight design reduces the load on the production line, and there are no dead corners for cleaning and good sealing performance. The gripper-related mechanism can prevent vertical deviation, ensure accurate gripping and reduce material tipping, the uniform clamping force is adapted to multiple materials, and the gripper is easy to disassemble and can be quickly changed.

[0022] 2. From the perspective of the mechanical clamping mechanism related to the vacuum suction cup, the symmetrically installed mounting corner plates provide stable support for the single-rod cylinder. When the single-rod cylinder drives the vacuum suction cup to move vertically, the response speed is fast. Combined with the vacuum adsorption principle, it can firmly grasp light and smooth bottle caps and other materials. The adsorption force can be flexibly adjusted, which not only prevents the bottle caps from falling off during the transfer process, but also prevents the suction cup from damaging the surface of the bottle caps. Moreover, the suction cup is made of food-grade soft silicone, which is scratch-free and easy to clean, meeting the high-frequency cleaning needs of the production line. Attached Figure Description

[0023] Figure 1 This is a side view of the appearance structure of an embodiment of the present utility model;

[0024] Figure 2 This is a schematic diagram of the connection structure between the linear drive mechanism and the mechanical clamping mechanism in Embodiment 1 of this utility model;

[0025] Figure 3 This is an exploded structural diagram of the mechanical clamping mechanism and the linear drive mechanism in Embodiment 1 of this utility model;

[0026] Figure 4 This is an exploded view of the mechanical clamping mechanism in Embodiment 1 of this utility model;

[0027] Figure 5 This is a side view of the mechanical clamping mechanism in Embodiment 2 of this utility model.

[0028] In the diagram: 1. Aluminum profile; 2. Mounting plate; 3. Rodless cylinder; 4. Sliding seat; 5. Movable plate; 6. Limiting seat; 7. Linear bearing; 8. Guide rod; 9. Mounting component; 10. Positioning plate; 11. Double-rod cylinder; 12. Connecting plate; 13. Gripper cylinder; 14. Sliding component; 15. Limiting groove; 16. Gripper body; 17. Mounting angle plate; 18. Single-rod cylinder; 19. Vacuum suction cup. Detailed Implementation

[0029] 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.

[0030] Example 1: Please refer to Figure 1-4 This utility model provides a technical solution: a multi-functional gantry robot for an automated production line, including an aluminum profile 1. The aluminum profile 1 is provided with two sets. An installation plate 2 is fixedly installed on the front side of the aluminum profile 1 by screws. A linear drive mechanism is installed on the front side of the installation plate 2 to realize horizontal axial movement. The linear drive mechanism includes a rodless cylinder 3 fixedly installed on the top of the front side of the installation plate 2. A sliding seat 4 is slidably arranged inside the rodless cylinder 3. A movable plate 5 is fixedly installed on the front side of the sliding seat 4. The linear drive mechanism also includes a limiting seat 6 fixedly installed on the bottom of the rear side of the movable plate 5. A linear bearing 7 is fixedly fitted inside the limiting seat 6. A guide rod 8 passes through the inner ring of the linear bearing 7. The two ends of the guide rod 8 are connected to mounting parts 9. The mounting parts 9 are fixedly connected to the installation plate 2 by screws.

[0031] In the above structure design, two sets of aluminum profiles 1 serve as the basic support structure of the entire mechanism. The mounting plate 2 is fixed to the front side of the aluminum profiles 1 with screws, providing a stable mounting carrier for the linear drive mechanism. When the horizontal axial movement is achieved, the rodless cylinder 3 of the linear drive mechanism serves as the power source. It is fixedly installed on the top front side of the mounting plate 2. When the rodless cylinder 3 is connected to the air source and started, the sliding seat 4 inside it will slide horizontally along the axial direction of the rodless cylinder 3. Since the front side of the sliding seat 4 is fixedly connected to the movable plate 5, the sliding seat 4 will synchronously drive the movable plate 5 to move horizontally, thereby providing power for the subsequent horizontal position adjustment of the mechanical clamping mechanism.

[0032] Meanwhile, to ensure the stability and accuracy of the horizontal movement of the movable plate 5, a linear bearing 7 is embedded inside the limiting seat 6 fixed at the bottom rear side of the movable plate 5. The guide rod 8 passes through the inner ring of the linear bearing 7, and both ends of the guide rod 8 are fixed to the mounting plate 2 with screws through the mounting parts 9. When the movable plate 5 moves horizontally with the sliding seat 4, the limiting seat 6 will drive the linear bearing 7 to slide synchronously along the axial direction of the guide rod 8. The cooperation between the guide rod 8 and the linear bearing 7 plays a guiding and limiting role, effectively limiting the shaking of the movable plate 5 when it moves horizontally, and ensuring that the movable plate 5 always moves smoothly along the preset horizontal trajectory.

[0033] A mechanical clamping mechanism is installed on the front side of the linear drive mechanism to achieve vertical axial movement. The mechanical clamping mechanism includes a positioning plate 10 fixedly installed on the front side of the movable plate 5. A double-rod cylinder 11 is fixedly installed on the front side of the positioning plate 10. A connecting plate 12 is fixedly connected to the bottom end of the double-rod cylinder 11. A gripper cylinder 13 is fixedly installed on the bottom end of the connecting plate 12. A sliding member 14 is slidably installed on the bottom end of the gripper cylinder 13. A limit groove 15 is opened on the bottom end of the gripper cylinder 13. The sliding member 14 and the limit groove 15 form a limit sliding structure. The sliding member 14 is symmetrically distributed inside the limit groove 15. A gripper body 16 is fixedly installed on the sliding member 14 by screws.

[0034] The above structure is designed so that when vertical axial movement is achieved, after the double-rod cylinder 11 is connected to the air source and started, its output end will move in the vertical direction. Since the bottom end of the double-rod cylinder 11 is fixedly connected to the connecting plate 12, and the bottom end of the connecting plate 12 is fixed to the gripper cylinder 13, the vertical extension and retraction of the double-rod cylinder 11 will synchronously drive the connecting plate 12, the gripper cylinder 13 and the subsequent gripper-related components to move in the vertical direction, thereby adjusting the vertical height of the gripper body 16 to adapt to the vertical position requirements of material gripping or placement.

[0035] When the material clamping action is realized, after the gripper cylinder 13 is started, it will drive the sliding member 14 at the bottom to slide along the limiting groove 15 opened at the bottom of the gripper cylinder 13. Since the sliding member 14 is symmetrically distributed in the limiting groove 15 and the sliding member 14 and the limiting groove 15 form a limiting sliding structure, the sliding member 14 will slide synchronously in opposite directions or in the opposite direction along the limiting groove 15. Since the gripper body 16 is fixed to the sliding member 14 by screws, the opposite sliding of the sliding member 14 will drive the two gripper bodies 16 on both sides to move closer to each other, realizing the gripping of the material. The opposite sliding of the sliding member 14 will drive the two gripper bodies 16 on both sides to move away from each other, realizing the release of the material. At the same time, the limiting groove 15 plays a limiting role in the sliding trajectory of the sliding member 14, preventing the sliding member 14 from deviating and ensuring the accuracy of the gripping action of the gripper body 16.

[0036] Example 2: Based on Example 1, this utility model adopts the following... Figure 5 The technical solution shown further discloses that the mechanical clamping mechanism includes a mounting corner plate 17 symmetrically fixedly installed on the front side of the movable plate 5, a single rod cylinder 18 fixedly connected to the inner ring of the mounting corner plate 17, and a vacuum suction cup 19 fixedly installed at the bottom end of the single rod cylinder 18.

[0037] The above structure is designed so that when vertical axial movement is achieved, the single-rod cylinder 18 serves as the vertical power source. It is fixedly connected to the inner ring of the mounting angle plate 17 to ensure installation stability. When the single-rod cylinder 18 is connected to the air source and started, its output end will extend and retract in the vertical direction. Since the vacuum suction cup 19 is fixedly installed at the bottom of the single-rod cylinder 18, the vertical extension and retraction of the single-rod cylinder 18 will directly drive the vacuum suction cup 19 to move synchronously in the vertical direction, thereby adjusting the height of the vacuum suction cup 19 to accurately align with the position of the bottle cap to be grabbed or the bottle mouth to be placed, adapting to the vertical position requirements of "removing the cap - transferring - placing the cap" during the bottle cap transfer process.

[0038] When performing the bottle cap gripping action, the vacuum suction cup 19 has a pre-reserved air pipe interface at the top, which is connected to the vacuum generator of the production line through a high-temperature resistant air pipe. A vacuum pressure regulating valve is connected in series in the middle of the air pipe, which can flexibly adjust the suction force according to the bottle cap material. When the vacuum suction cup 19 moves down to fit against the bottle cap surface under the action of the single-rod cylinder 18, the vacuum system will remove the air between the vacuum suction cup 19 and the bottle cap contact surface, so that a negative pressure is formed in the suction cup. Under the action of the external atmospheric pressure, the vacuum suction cup 19 will firmly adhere to the bottle cap, preventing the bottle cap from falling off during the transfer process. When it is necessary to release the bottle cap, the vacuum system stops vacuuming and introduces a small amount of air into the vacuum suction cup 19 to break the negative pressure state. The bottle cap will then smoothly detach from the vacuum suction cup 19, completing one cycle of bottle cap gripping and releasing.

[0039] This completes a series of tasks. The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0040] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-functional gantry robot for an automated production line, comprising an aluminum profile (1), wherein the aluminum profile (1) is provided in two sets, characterized in that: The front side of the aluminum profile (1) is fixedly mounted with a mounting plate (2) by screws, and the front side of the mounting plate (2) is equipped with a linear drive mechanism to achieve horizontal axial movement. A mechanical clamping mechanism is installed on the front side of the linear drive mechanism to achieve vertical axial movement; The linear drive mechanism includes a rodless cylinder (3) fixedly installed on the top front side of the mounting plate (2), and a sliding seat (4) is slidably arranged inside the rodless cylinder (3). A movable plate (5) is fixedly installed on the front side of the sliding seat (4). The linear drive mechanism also includes a limiting seat (6) fixedly installed at the bottom rear side of the movable plate (5). A linear bearing (7) is fixedly fitted inside the limiting seat (6). A guide rod (8) passes through the inner ring of the linear bearing (7). Mounting parts (9) are connected to both ends of the guide rod (8). The mounting parts (9) are fixedly connected to the mounting plate (2) by screws. The mechanical clamping mechanism includes a positioning plate (10) fixedly installed on the front side of the movable plate (5). A double-rod cylinder (11) is fixedly installed on the front side of the positioning plate (10). A connecting plate (12) is fixedly connected to the bottom end of the double-rod cylinder (11). A gripper cylinder (13) is fixedly installed on the bottom end of the connecting plate (12). A sliding member (14) is slidably installed on the bottom end of the gripper cylinder (13). A limit groove (15) is opened on the bottom end of the gripper cylinder (13). A gripper body (16) is fixedly installed on the sliding member (14) by screws. The sliding member (14) and the limiting groove (15) constitute a limiting sliding structure, and the sliding member (14) is symmetrically distributed inside the limiting groove (15); The mechanical clamping mechanism includes a mounting corner plate (17) symmetrically fixedly installed on the front side of the movable plate (5). A single-rod cylinder (18) is fixedly connected to the inner ring of the mounting corner plate (17), and a vacuum suction cup (19) is fixedly installed at the bottom end of the single-rod cylinder (18).

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