A five-axis truss robot suitable for clamping different equipment

Abstract

The present invention belongs to the technical field of machine clamping, and specifically is a five-axis truss robot suitable for clamping different equipment, comprising a moving mechanism and a connecting mechanism; the connecting mechanism comprises a Z-axis extension shaft, an A-axis connecting flange is fixedly connected to the Z-axis extension shaft, and an A-axis connecting flange is rotatably connected to the A-axis connecting flange; the universal flange is moved to a position close to the equipment by the moving mechanism, and then the A-axis servo motor can drive the A-axis rotating shaft to rotate, so that the position of the B-axis U-shaped structural member is adjusted, and then the B-axis servo motor drives the B-axis rotating shaft to rotate, so that the position of the universal flange is adjusted, and the position of the universal flange can be adjusted by rotating the A-axis and B-axis rotating shafts to fully align it with the threaded hole connection of the equipment, and then the universal flange is used to fix various equipment, thereby improving the flexibility of the entire device when in use.

Description

Technical Field

[0001] The invention belongs to the technical field of machine clamping, in particular to a five-axis truss robot suitable for clamping different equipment. Background Art

[0002] The functions of clamping equipment mainly include fixing, clamping, grasping and releasing. They can stably fix objects to prevent them from moving or falling off during processing or transportation. At the same time, clamping equipment can also achieve precise grasping and releasing of objects, improving production efficiency and product quality.

[0003] However, the above technology often has the following defects: In the actual application of the clamping device, we often face a challenge: the clamp connection of the clamping device is often unable to adapt to different clamps, which makes it impossible to install different clamps according to actual needs to adapt to different devices that need to be clamped. Usually, the clamp connection adopts a standardized design to simplify the installation and replacement process of the clamp. However, this standardized design often limits the diversity of the clamp. Due to the fixed structure and size of the clamp connection, clamps of different models and specifications are often incompatible, which makes the clamping device unable to flexibly respond to the clamping needs of different devices. For this reason, the present invention provides a five-axis truss robot suitable for clamping different devices. Summary of the invention

[0004] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a five-axis truss robot suitable for clamping different equipment described in the present invention includes a moving mechanism and a connecting mechanism; the connecting mechanism includes a Z-axis extension shaft, an A-axis connecting flange is fixedly connected to the Z-axis extension shaft, an A-axis connecting flange is rotatably connected to an A rotating shaft, a B-axis U-shaped structure is fixedly connected to the A rotating shaft, the inner wall of the B-axis U-shaped structure is rotatably connected to the B rotating shaft, a B-axis supporting flange is fixedly connected to the B-axis servo motor that drives the B rotating shaft to rotate is fixedly connected to the B-axis supporting flange, a universal flange is fixedly connected to the bottom surface of the B-axis supporting flange, and an A-axis servo motor that drives the A rotating shaft to rotate is fixedly connected to the A-axis connecting flange.

[0006] Preferably, the moving mechanism comprises a pair of Y-axis structural support beams, X-axis crossbeams are fixedly connected to both sides of the Y-axis structural support beam, an X-axis linear module is fixedly connected to the X-axis crossbeam, the X-axis linear module is slidably connected to the Y-axis crossbeam, the Y-axis crossbeam is fixedly connected to the Y-axis linear module, the Y-axis linear module is slidably connected to a Z-axis connecting flange, the Z-axis linear module is fixedly connected to the Z-axis connecting flange, and the Z-axis extension shaft is slidably connected to the Z-axis linear module.

[0007] Preferably, the B-axis universal flange consists of a first disc, a second disc and a third disc, the bottom surface of the second disc is fixedly connected to a rotating shaft, a circular groove is provided at the center of the top surface of the first disc, the rotating shaft is rotatably connected to the inner wall of the circular groove, the top surface of the second disc is fixedly connected to a third disc, the top surface of the third disc is fixedly connected to the B-axis support flange, and a positioning mechanism for positioning the first disc is provided in the circular groove.

[0008] Preferably, the positioning mechanism includes a group of hollow connecting columns fixedly connected to the bottom surface of the circular groove, the top surface of the connecting column is slidably connected to a clamping rod, a first spring is fixedly connected between the bottom surface of the clamping rod and the inner wall of the connecting column, the bottom surface of the rotating shaft is provided with a group of clamping grooves engaged with the clamping rod, and a pushing mechanism for pushing the clamping rod is provided in the rotating shaft.

[0009] Preferably, the pushing mechanism includes a magnetic plate that repels the card rod, the interior of the rotating shaft is a hollow structure, the magnetic plate is sealed and slidably connected to the inner wall of the rotating shaft, a second spring is fixedly connected between the top surface of the magnetic plate and the inner wall of the rotating shaft, a hollow elastic block is fixedly connected to the top surface of the second disc, a connecting tube is connected between the elastic block and the rotating shaft, and an air outlet is provided on the bottom surface of the rotating shaft.

[0010] Preferably, a cavity is provided in the first disk, the inner wall of the cavity is sealingly and slidably connected to a push plate, the bottom surface of the first disk is sealingly and slidably connected to a push rod, the top surface of the push rod is fixedly connected to the push plate, and a group of "L"-shaped air outlet grooves are provided on the bottom surface of the first disk, and the end of the air outlet groove away from the first disk is connected to the cavity.

[0011] Preferably, a sealing sheet is twisted on the inner wall of the air outlet groove through a torsion spring, and the sealing sheet is used to seal the air outlet groove.

[0012] Preferably, a circular sleeve is fixedly connected to the top surface of the threaded hole corresponding to the first circular disk, a movable sliding rod is slidably connected to the side wall of the circular sleeve, one end of the sliding rod located in the circular sleeve is fixedly connected to a clamping plate, and a third spring is fixedly connected between the clamping plate and the inner wall of the circular sleeve.

[0013] Preferably, a driving block is fixedly connected to one side of the clamping plates that is close to each other, and a side of the driving block that is away from the clamping plates is in a slope shape.

[0014] The beneficial effects of the present invention are as follows:

[0015] 1. The present invention moves the universal flange to a position close to the equipment through a moving mechanism, and then drives the A rotating shaft to rotate through the A-axis servo motor, so that the position of the B-axis U-shaped structure is adjusted, and then drives the B rotating shaft to rotate with the help of the B-axis servo motor, so that the position of the universal flange is adjusted. The position of the universal flange can be adjusted by rotating the A rotating shaft and the B rotating shaft to make it completely aligned with the threaded hole connection of the equipment, and then the universal flange is used to fix various equipment, thereby improving the flexibility of the entire device when in use.

[0016] 2. The present invention arranges a photoelectric sensor on the motion axis for zero-point positioning and limit limiting. A separate guide rail slider is installed on the Y-axis guide rail to ensure that the Z-axis does not tip over during movement. A separate guide rail slider is installed on the Y-axis linear module to ensure that the Z-axis linear module does not tip over during movement. The stability of the internal movement of the guide rail is increased, and the coordination of the X-axis linear module, the Y-axis linear module and the Z-axis linear module is improved, so that the overall robot structure can move linearly, circularly and point-to-point, thereby improving the flexibility and adaptability of the production line and realizing fast and accurate handling and positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 is a stereogram of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the connecting mechanism in the present invention;

[0020] Figure 3 It is a structural schematic diagram of the universal flange of the B-axis in the present invention;

[0021] Figure 4 It is a schematic diagram of the internal structure of the first disc and the second disc in the present invention;

[0022] Figure 5 yes Figure 4 A magnified image of point A;

[0023] Figure 6 yes Figure 4 A magnified view of point B;

[0024] Figure 7 It is a cross-sectional view of the circular sleeve in the present invention.

[0025] In the figure: 1. X-axis crossbeam; 2. Y-axis structural support beam; 3. X-axis linear module; 4. Y-axis crossbeam; 5. Photoelectric sensor; 6. Y-axis linear module; 7. Z-axis linear module; 8. Z-axis extension shaft; 9. Z-axis connecting flange; 10. A-axis servo motor; 11. A-axis connecting flange; 12. B-axis supporting flange; 13. B-axis servo motor; 14. B-axis U-shaped structural part; 15. Harmonic reducer; 16. Universal Flange; 17, first disc; 18, second disc; 19, third disc; 20, threaded hole; 21, circular groove; 22, connecting column; 23, slot; 24, rotating shaft; 25, magnetic sheet; 26, connecting pipe; 27, clamping rod; 28, air vent; 29, cavity; 30, push plate; 31, air vent groove; 32, sealing sheet; 33, elastic block; 34, sliding rod; 35, driving block; 36, clamping plate; 37, circular sleeve. DETAILED DESCRIPTION

[0026] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0027] Embodiment 1: Figure 1 to Figure 2As shown, a five-axis truss robot suitable for clamping different equipment described in an embodiment of the present invention includes a moving mechanism and a connecting mechanism; the connecting mechanism includes a Z-axis extension shaft 8, an A-axis connecting flange 11 is fixedly connected to the Z-axis extension shaft 8, an A-axis connecting flange 11 is rotatably connected to the A-axis rotating shaft, a B-axis U-shaped structure 14 is fixedly connected to the A-axis rotating shaft, the inner wall of the B-axis U-shaped structure 14 is rotatably connected to the B-axis rotating shaft, a B-axis supporting flange 12 is fixedly connected to the B-axis supporting flange 12, a B-axis servo motor 13 for driving the B-axis rotating shaft to rotate is fixedly connected to the B-axis supporting flange 12, a universal flange 16 is fixedly connected to the bottom surface of the B-axis supporting flange 12, an A-axis servo motor 10 for driving the A-axis rotating shaft to rotate is fixedly connected to the A-axis connecting flange 11, a harmonic reducer 15 is provided at the position where the flange is provided on the B-axis U-shaped structure 14, and one end of the harmonic reducer 15 is provided with a slewing support to ensure the inner In order to improve the supportability of the internal structure and the stability of the movement state, the A rotating shaft is equipped with a hollow rotating device, and the internal hollowness can facilitate the passage of the cables on the end shaft to avoid entanglement; the present invention moves the universal flange 16 to a position close to the equipment through a moving mechanism, and then the A-axis servo motor 10 can drive the A rotating shaft to rotate, so that the position of the B-axis U-shaped structure 14 can be adjusted, and then the B-axis servo motor 13 is used to drive the B rotating shaft to rotate, so that the position of the universal flange 16 can be adjusted, and the position of the universal flange 16 can be adjusted by rotating the A rotating shaft and the B rotating shaft to make it completely aligned with the connection of the threaded hole 20 of the equipment, and then the universal flange 16 is used to fix various equipment, and then the equipment is moved by the moving mechanism to complete the work of clamping and running the equipment. The universal flange 16 can also be used to connect the clamp to clamp different equipment, thereby improving the flexibility of the entire device when in use.

[0028] The moving mechanism includes a pair of Y-axis structural support beams 2, and the two sides of the Y-axis structural support beam 2 are fixedly connected with an X-axis crossbeam 1, and the X-axis crossbeam 1 is fixedly connected with an X-axis linear module 3, and the X-axis crossbeam 4 is slidably connected to the X-axis linear module 3, and the Y-axis crossbeam 4 is fixedly connected with a Y-axis linear module 6, and the Y-axis linear module 6 is fixedly connected with a Z-axis connecting flange 9, and the Z-axis connecting flange 9 is fixedly connected with a Z-axis linear module 7, and the Z-axis linear module 7 is fixedly connected with a Z-axis extension shaft 8, and the connecting mechanism is used to connect the clamping tool, all X-linear modules 3, Z-axis linear modules Photoelectric sensors 5 are installed on both the X-axis linear module 7 and the Y-axis linear module 6; the photoelectric sensor 5 on the moving axis is used for zero-point positioning and limit limiting, a separate guide rail slider is installed on the Y-axis guide rail to prevent overturning during the Z-axis movement, and a separate guide rail slider is installed on the Y-axis linear module 6 to prevent overturning during the Z-axis linear module 7 movement, which increases the stability of the internal movement of the guide rail, improves the coordination of the X-axis linear module 3, the Y-axis linear module 6 and the Z-axis linear module 7, and allows the overall robot structure to move linearly, circularly, and point-to-point, thereby improving the flexibility and adaptability of the production line and realizing fast and accurate handling and positioning.

[0029] Embodiment 2: Figures 3 to 6 As shown, in contrast to Example 1, another embodiment of the present invention is as follows: the B-axis universal flange 16 is composed of a first disc 17, a second disc 18 and a third disc 19, the bottom surface of the second disc 18 is fixedly connected with a rotating shaft 24, a circular groove 21 is provided at the center of the top surface of the first disc 17, the rotating shaft 24 is rotatably connected to the inner wall of the circular groove 21, the top surface of the second disc 18 is fixedly connected with a third disc 19, the top surface of the third disc 19 is fixedly connected to the B-axis support flange 12, and a positioning mechanism for positioning the first disc 17 is provided in the circular groove 21; due to the use of the B-axis universal flange When the devices 16 are connected, the threaded holes 20 on the B-axis universal flange 16 may not correspond to the threaded holes 20 on the device, thereby causing the device to be unable to be connected. At this time, the first disk 17 can be rotated so that the threaded holes 20 on the first disk 17 correspond to the threaded holes 20 on the device, and then the positioning mechanism connects the first disk 17 and the rotating shaft 24 together, so that the first disk 17 and the second disk 18 are fixed together. The first disk 17 can be rotated through the above mechanism to adjust the position of the threaded holes 20 on the first disk 17, thereby further improving the flexibility of the B-axis universal flange 16.

[0030] The positioning mechanism includes a group of hollow connecting columns 22 fixedly connected to the bottom surface of the circular groove 21, a clamping rod 27 is slidably connected to the top surface of the connecting column 22, a first spring is fixedly connected between the bottom surface of the clamping rod 27 and the inner wall of the connecting column 22, a group of clamping grooves 23 clamped with the clamping rod 27 are opened on the bottom surface of the rotating shaft 24, and a pushing mechanism for pushing the clamping rod 27 is arranged in the rotating shaft 24; when the first disc 17 needs to rotate, the clamping rod 27 is pushed out of the clamping groove 23 by means of the pushing mechanism, and the first disc 17 can be rotated at this time. After the first disc 17 rotates to a suitable position, The first disc 17 is connected to the device. At this time, the first disc 17 can be rotated to a vertical state with the help of the B-axis servo motor 13, and then the B-axis U-shaped structure 14 is rotated with the help of the A-axis servo motor 10. At this time, because the first disc 17 is connected, the B-axis U-shaped structure 14 will only drive the third disc 19 and the second disc 18 to rotate when rotating. When the second disc 18 rotates, the slot 23 will be aligned with the lever 27, and then the pushing mechanism will no longer push the lever 27, so that the lever 27 is engaged with the slot 23, thereby completing the connection between the first disc 17 and the second disc 18.

[0031] The pushing mechanism includes a magnetic sheet 25 that repels the latch rod 27. The interior of the rotating shaft 24 is a hollow structure. The magnetic sheet 25 is sealed and slidably connected to the inner wall of the rotating shaft 24. A second spring is fixedly connected between the top surface of the magnetic sheet 25 and the inner wall of the rotating shaft 24. A hollow elastic block 33 is fixedly connected to the top surface of the second disc 18. A connecting pipe 26 is connected between the elastic block 33 and the rotating shaft 24. An air outlet 28 is provided on the bottom surface of the rotating shaft 24. When the latch rod 27 needs to be disengaged from the slot 23, the elastic block 33 is pressed so that the elastic block The gas in 33 enters the rotating shaft 24 from the connecting pipe 26 to push the magnetic piece 25. At this time, the magnetic piece 25 will move to the side close to the clamping rod 27. At this time, the magnetic piece 25 will push the clamping rod 27 to disengage from the slot 23. Then, after the first disk 17 rotates to a suitable position, the elastic block 33 is released. At this time, the magnetic piece 25 will reset. At this time, if the clamping rod 27 is aligned with the position of the slot 23, the clamping rod 27 will be clamped with the slot 23 under the push of the first spring. The above mechanism can complete the up and down movement of the clamping rod 27, thereby completing the clamping and disengagement with the slot 23.

[0032] A cavity 29 is provided in the first disc 17, and a push plate 30 is sealingly and slidably connected to the inner wall of the cavity 29, and a push rod is sealingly and slidably connected to the bottom surface of the first disc 17, and the top surface of the push rod is fixedly connected to the push plate 30. A group of "L"-shaped air outlet grooves 31 are provided on the bottom surface of the first disc 17, and the end of the air outlet groove 31 away from the first disc 17 is connected to the cavity 29; because there will be impurities on the equipment or on the surface of the first disc 17, when the equipment is connected to the first disc 17, the impurities will affect their connection effect. At this time, when the first disc 17 is connected to the equipment through the above-mentioned mechanism, the first disc 17 needs to contact with the equipment. At this time, the equipment will push the push rod, so that the push rod pushes the gas in the cavity 29, so that the gas is sprayed from the air outlet groove 31 to the equipment, and then the gas is dispersed and blown onto the first disc 17, thereby achieving the effect of cleaning the impurities on the first disc 17 and the equipment, and improving the connection effect between the first disc 17 and the equipment.

[0033] The inner wall of the air outlet groove 31 is twisted with a sealing sheet 32 ​​through a torsion spring, and the sealing sheet 32 ​​is used to seal the air outlet groove 31; when the gas in the cavity 29 is pushed, the air pressure will increase. When the air pressure reaches a certain value, the sealing sheet 32 ​​will be pushed, so that the sealing sheet 32 ​​no longer seals the air outlet groove 31. At this time, the speed of the gas sprayed from the air outlet groove 31 will become faster, thereby improving the effect of blowing away impurities on the first disc 17 and the equipment.

[0034] A circular sleeve 37 is fixedly connected to the top surface of the threaded hole 20 corresponding to the first circular disk 17, and a movable slide rod 34 is slidably connected to the side wall of the circular sleeve 37. One end of the slide rod 34 located in the circular sleeve 37 is fixedly connected to a clamping plate 36, and a third spring is fixedly connected between the clamping plate 36 and the inner wall of the circular sleeve 37; since the threaded hole 20 needs to be connected with bolts, the bolts need to be removed when connecting different devices. At this time, the removed bolts may be lost, etc. When the bolts are twisted and moved upward and disengaged in the threaded groove through the above-mentioned mechanism, the bolts can be clamped with the help of the clamping plate 36, so that the bolts are limited above the threaded groove, thereby avoiding the loss of the bolts and facilitating the next use.

[0035] Embodiment 3: Figure 7 As shown, compared with Example 2, another implementation of the present invention is: the side of the clamping plates 36 that are close to each other is fixedly connected with a driving block 35, and the side of the driving block 35 that is away from the clamping plates 36 is in the shape of an inclined surface; when the bolt moves upward, the bolt will push the inclined surface of the driving block 35, so that the clamping plate 36 moves, and then after the bolt is disengaged from the thread groove, the staff can move the bolt to the top of the driving block 35, at this time the clamping plate 36 will clamp the bolt, and at the same time the top surface of the driving block 35 will support the bolt, thereby further improving the limiting effect of the bolt.

[0036] Working principle: The invention moves the universal flange 16 to a position close to the equipment through a moving mechanism, and then the A-axis servo motor 10 can drive the A-rotating shaft to rotate, so that the position of the B-axis U-shaped structure 14 can be adjusted, and then the B-axis servo motor 13 drives the B-rotating shaft to rotate, so that the position of the universal flange 16 can be adjusted. The position of the universal flange 16 can be adjusted by rotating the A-rotating shaft and the B-rotating shaft to make it completely aligned with the threaded hole 20 connection of the equipment, and then the universal flange 16 is used to fix various equipment, and then the equipment is moved by the moving mechanism to complete the work of clamping and operating the equipment. The universal flange 1 6 can also be used to connect fixtures to clamp different equipment, thereby improving the flexibility of the entire device when in use; the photoelectric sensor 5 on the motion axis is used for zero-point positioning and limit limiting, and a separate guide rail slider is installed on the Y-axis guide rail to ensure that the Z-axis does not tip over during movement, and a separate guide rail slider is installed on the Y-axis linear module 6 to ensure that the Z-axis linear module 7 does not tip over during movement, which increases the stability of the internal movement of the guide rail, improves the coordination of the X-axis linear module 3, the Y-axis linear module 6 and the Z-axis linear module 7, and allows the overall robot structure to move linearly, circularly, and point-to-point, thereby improving the flexibility and adaptability of the production line and achieving fast and accurate handling and positioning;

[0037] When the B-axis universal flange 16 is used to connect the device, the threaded holes 20 on the B-axis universal flange 16 may not correspond to the threaded holes 20 on the device, thereby making it impossible to connect the device. At this time, the first disk 17 can be rotated to make the threaded holes 20 on the first disk 17 correspond to the threaded holes 20 on the device, and then the positioning mechanism connects the first disk 17 and the rotating shaft 24 together, so that the first disk 17 and the second disk 18 are fixed together. The first disk 17 can be rotated by the above mechanism to adjust the position of the threaded holes 20 on the first disk 17, thereby further improving the flexibility of the B-axis universal flange 16; when the first disk 17 needs to be rotated, the first disk 17 can be pushed to rotate. The mechanism pushes the clamping rod 27 out of the clamping slot 23, and then the first disc 17 can be rotated. After the first disc 17 is rotated to a suitable position, the first disc 17 is connected to the device. At this time, the first disc 17 can be rotated to a vertical state with the help of the B-axis servo motor 13, and then the B-axis U-shaped structure 14 can be rotated with the help of the A-axis servo motor 10. At this time, because the first disc 17 is connected, the B-axis U-shaped structure 14 will only drive the third disc 19 and the second disc 18 to rotate when rotating. When the second disc 18 rotates, the clamping slot 23 will be aligned with the clamping rod 27, and then the pushing mechanism will no longer push the clamping rod 27, so that the clamping rod 27 is clamped with the clamping slot 23, thereby completing the connection between the first disc 17 and the second disc 18;

[0038] When the clamping rod 27 needs to be separated from the clamping slot 23, the elastic block 33 is pressed, so that the gas in the elastic block 33 enters the rotating shaft 24 from the connecting pipe 26 to push the magnetic sheet 25. At this time, the magnetic sheet 25 will move to the side close to the clamping rod 27. At this time, the magnetic sheet 25 will push the clamping rod 27 to separate from the clamping slot 23. Then, after the first disc 17 rotates to a suitable position, the elastic block 33 is released. At this time, the magnetic sheet 25 will reset. At this time, if the clamping rod 27 is aligned with the position of the clamping slot 23, the clamping rod 27 will be clamped with the clamping slot 23 under the push of the first spring. The clamping rod 27 can move up and down through the above mechanism, thereby completing the clamping and separation with the clamping slot 23.

[0039] Since there are impurities on the device or on the surface of the first disc 17, when the device is connected to the first disc 17, the impurities will affect their connection effect. At this time, when the first disc 17 is connected to the device through the above-mentioned mechanism, the first disc 17 needs to contact the device. At this time, the device pushes the push rod, so that the push rod pushes the gas in the cavity 29, so that the gas is sprayed onto the device from the gas outlet groove 31, and then the gas is dispersed and blown onto the first disc 17, thereby achieving the effect of cleaning the impurities on the first disc 17 and the device, and improving the connection effect between the first disc 17 and the device;

[0040] When the gas in the cavity 29 is pushed, the air pressure will increase. When the air pressure reaches a certain value, it will push the sealing plate 32, so that the sealing plate 32 no longer seals the air outlet groove 31. At this time, the speed of the gas sprayed from the air outlet groove 31 will become faster, thereby improving the effect of blowing away impurities on the first disc 17 and the equipment; since the threaded holes 20 need to be connected with bolts, when connecting different equipment, the bolts need to be removed. At this time, the removed bolts may be lost. When the bolts are twisted and moved upward in the threaded groove through the above-mentioned mechanism, the bolts can be clamped with the help of the clamping plate 36, so that the bolts are limited above the threaded groove, thereby avoiding the loss of the bolts and facilitating the next use.

[0041] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1 As a benchmark, according to the person's observation perspective, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0043] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A five-axis truss robot suitable for clamping different equipment, comprising a moving mechanism and a connecting mechanism; characterized in that: The connection mechanism comprises a Z-axis extension shaft (8), an A-axis connection flange (11) is fixedly connected to the Z-axis extension shaft (8), an A-axis connection flange (11) is rotatably connected to the A-axis rotation shaft, a B-axis U-shaped structure (14) is fixedly connected to the A-axis rotation shaft, the inner wall of the B-axis U-shaped structure (14) is rotatably connected to the B-axis rotation shaft, a B-axis support flange (12) is fixedly connected to the B-axis servo motor (13) for driving the B-axis rotation shaft to rotate is fixedly connected to the B-axis support flange (12), a universal flange (16) is fixedly connected to the bottom surface of the B-axis support flange (12), and an A-axis servo motor (10) for driving the A-axis rotation shaft to rotate is fixedly connected to the A-axis connection flange (11); The moving mechanism comprises a pair of Y-axis structural support beams (2), the two sides of the Y-axis structural support beam (2) are fixedly connected to an X-axis crossbeam (1), the X-axis crossbeam (1) is fixedly connected to an X-axis linear module (3), the X-axis linear module (3) is slidably connected to a Y-axis crossbeam (4), the Y-axis crossbeam (4) is fixedly connected to a Y-axis linear module (6), the Y-axis linear module (6) is slidably connected to a Z-axis connecting flange (9), the Z-axis connecting flange (9) is fixedly connected to a Z-axis linear module (7), and the Z-axis extension shaft (8) is slidably connected to the Z-axis linear module (7); The universal flange (16) is composed of a first circular disk (17), a second circular disk (18) and a third circular disk (19); the bottom surface of the second circular disk (18) is fixedly connected to a rotating shaft (24); a circular groove (21) is provided at the center of the top surface of the first circular disk (17); the rotating shaft (24) is rotatably connected to the inner wall of the circular groove (21); the top surface of the second circular disk (18) is fixedly connected to the third circular disk (19); the top surface of the third circular disk (19) is fixedly connected to the B-axis support flange (12); and a positioning mechanism for positioning the first circular disk (17) is provided in the circular groove (21); The positioning mechanism comprises a group of hollow connecting columns (22) fixedly connected to the bottom surface of the circular groove (21); a clamping rod (27) is slidably connected to the top surface of the connecting column (22); a first spring is fixedly connected between the bottom surface of the clamping rod (27) and the inner wall of the connecting column (22); a group of clamping grooves (23) clamped to the clamping rod (27) are formed on the bottom surface of the rotating shaft (24); and a pushing mechanism for pushing the clamping rod (27) is provided in the rotating shaft (24); The pushing mechanism comprises a magnetic plate (25) which repels the clamping rod (27); the interior of the rotating shaft (24) is a hollow structure; the magnetic plate (25) is sealingly and slidably connected to the inner wall of the rotating shaft (24); a second spring is fixedly connected between the top surface of the magnetic plate (25) and the inner wall of the rotating shaft (24); a hollow elastic block (33) is fixedly connected to the top surface of the second disc (18); a connecting pipe (26) is connected between the elastic block (33) and the rotating shaft (24); and an air outlet (28) is provided on the bottom surface of the rotating shaft (24).

2. A five-axis truss robot suitable for clamping different devices according to claim 1, characterized in that: A cavity (29) is provided in the first disk (17), the inner wall of the cavity (29) is sealingly and slidably connected to a push plate (30), the bottom surface of the first disk (17) is sealingly and slidably connected to a push rod, the top surface of the push rod is fixedly connected to the push plate (30), and a group of "L"-shaped air outlet grooves (31) are provided on the bottom surface of the first disk (17), and one end of the air outlet groove (31) away from the first disk (17) is connected to the cavity (29).

3. A five-axis truss robot suitable for clamping different devices according to claim 2, characterized in that: A sealing sheet (32) is twisted onto the inner wall of the air outlet groove (31) via a torsion spring, and the sealing sheet (32) is used to seal the air outlet groove (31).

4. A five-axis truss robot suitable for clamping different devices according to claim 1, characterized in that: A circular sleeve (37) is fixedly connected to the top surface of the first circular disc (17) corresponding to the threaded hole (20); a movable slide rod (34) is slidably connected to the side wall of the circular sleeve (37); one end of the slide rod (34) located inside the circular sleeve (37) is fixedly connected to a clamping plate (36); and a third spring is fixedly connected between the clamping plate (36) and the inner wall of the circular sleeve (37).

5. A five-axis truss robot suitable for clamping different devices according to claim 4, characterized in that: The side of the clamping plates (36) close to each other is fixedly connected to a driving block (35), and the side of the driving block (35) away from the clamping plates (36) is in the shape of an inclined surface.

Images