Truss robot transmission device and method of transmission thereof

Abstract

The present application relates to the technical field of truss manipulator transmission, and discloses a truss manipulator transmission device and a transmission method thereof, which comprises an X-direction transmission assembly, a Y-direction transmission assembly, a Z-direction transmission assembly, a weight detection assembly and a limiting locking assembly, the Z-direction transmission assembly is arranged above the Y-direction transmission assembly, the weight detection assembly and the limiting locking assembly are both arranged below the Z-direction transmission assembly, and the limiting locking assembly is arranged on one side of the weight detection assembly, through the cooperation of the weight detection assembly and the limiting locking assembly, the transmission speed of the X-direction transmission assembly, the Y-direction transmission assembly and the Z-direction transmission assembly can be flexibly adjusted according to the different working states of the truss manipulator or different specifications of workpieces, the stability in the transmission process is improved, resonance cancellation can be maximally realized through the same frequency when the second motor works quickly, and the protection of the transmission device is improved.

Description

Technical Field

[0001] This invention relates to the field of gantry robot transmission technology, and in particular to a gantry robot transmission device and its transmission method. Background Technology

[0002] A gantry robot is a fully automated industrial device based on a Cartesian X, Y, Z coordinate system. It performs functions such as workpiece positioning and trajectory movement. Its control core is implemented through an industrial controller (such as a PLC, motion controller, or microcontroller). The controller analyzes and processes various input signals, makes logical judgments, and then issues execution commands to various output components to complete the coordinated movement between the X, Y, and Z axes, thereby achieving a fully automated operation process.

[0003] For example, CN111716326A discloses a truss manipulator based on material handling, including a truss manipulator support frame, an X-axis traveling beam, a Y1 traveling beam, a Y2 traveling beam, a Z-axis traveling column, and a rotating shaft bracket; the Y2 traveling beam is mounted on the X-axis traveling beam and can slide along the Y-axis direction of the truss manipulator support frame; the Z-axis traveling column is connected to the Y2 traveling beam and can slide along the Z-axis direction of the truss manipulator support frame; the Y1 traveling beam can slide along the Y-axis direction of the truss manipulator support frame; the X-axis traveling beam is connected to the Y2 traveling beam and can slide along the X-axis direction of the truss manipulator support frame.

[0004] Based on the above scheme, by controlling the X-axis traveling beam, Y1 traveling beam, Y2 traveling beam, and Z-axis traveling column, the gantry robot arm slides along the X, Y, and Z axes of the supporting frame, respectively. However, during the transmission process, due to the different weights borne by the tooling fixtures carried by the robot arm, it is impossible to achieve rapid movement to sort and clamp workpieces when the workpiece weight is large. The strong inertia will cause increased wear on the transmission device, which will seriously affect the mechanical accuracy of the transmission device and thus cause irreversible structural damage. However, in actual use, the gantry robot arm cannot detect the weight of the steel plate to be clamped, which makes it impossible to provide an effective control signal for the drive state of the transmission device. As a result, the transmission device cannot adjust its movement state in time according to the weight of the steel plate to protect the transmission device. Therefore, it is impossible to achieve an effective match between transmission requirements and workpiece weight.

[0005] Therefore, it is necessary to solve the above problems by means of a gantry robot transmission device and its transmission method. Summary of the Invention

[0006] The purpose of this invention is to provide a gantry robot transmission device and transmission method therein, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a gantry manipulator transmission device, comprising an X-direction transmission assembly, a Y-direction transmission assembly, a Z-direction transmission assembly, a weight detection assembly, and a limit locking assembly. The X-direction transmission assembly is disposed below the Y-direction transmission assembly, the Z-direction transmission assembly is disposed above the Y-direction transmission assembly, the weight detection assembly and the limit locking assembly are both disposed below the Z-direction transmission assembly, and the limit locking assembly is disposed on one side of the weight detection assembly. A controller is fixedly mounted on the Z-direction transmission assembly.

[0008] The weight detection assembly includes a sleeve, a measuring column is inserted and assembled at the bottom of the sleeve, a limit ring is fixed on the outer wall of the measuring column, an electromagnetic spring is uniformly fixed at the bottom of the limit ring, the lower end of the electromagnetic spring is fixed on the inner wall of the sleeve, a limit strip is fixed on the surface of the measuring column, a mounting plate is fixed at the lower end of the measuring column, and a quick-change tool disc is fixed at the lower end of the mounting plate.

[0009] The limiting and locking assembly includes a first limiting seat and a second limiting seat. A magnetic suction seat is fixedly provided on the surface of the first limiting seat. A magnetic suction block is movably provided at one end of the magnetic suction seat. An electric push rod is fixedly provided at one end of the magnetic suction block. A cylinder is fixedly provided on the surface of the second limiting seat. A limiting clamp is fixedly provided at one end of the cylinder.

[0010] Preferably, the first limiting seat and the second limiting seat are both disposed on the surface of the sleeve, and the second limiting seat is located above the first limiting seat. A slot is provided at the position where the magnetic card holder connects with the magnetic block. Two limiting clamps are provided, and the measuring column is disposed between the two limiting clamps. A rubber pad is fixedly disposed on the surface of the limiting clamp.

[0011] Preferably, a limiting groove is provided at the position where the sleeve connects with the limiting strip, a first mounting groove and a second mounting groove are provided on the surface of the sleeve, the first limiting seat and the second limiting seat are respectively disposed inside the first mounting groove and the second mounting groove, a third mounting groove is provided on the surface of the measuring column, and the electric push rod is disposed inside the third mounting groove.

[0012] Preferably, the Z-direction transmission assembly includes a protective shell, a third motor is fixedly mounted on one end of the protective shell, a vertical lead screw is fixedly mounted on the output shaft of the third motor, a threaded cylinder is movably mounted on the surface of the vertical lead screw, and a guide tube is fixedly mounted on the lower end of the threaded cylinder.

[0013] Preferably, a mounting base is fixedly provided on the surface of the protective shell, a fixing frame is fixedly provided on the surface of the mounting base, a guide slide rail is fixedly provided at the lower end of the fixing frame, a guide slide block is movably provided inside the guide slide rail, and the guide slide block is fixedly provided below the guide tube.

[0014] Preferably, the Y-direction transmission assembly includes a linear guide rail, one end of which is fixedly equipped with a second motor, the output shaft of the second motor is fixedly equipped with a horizontal lead screw, the surface of the horizontal lead screw is movably equipped with a nut seat, and the surface of the nut seat is fixedly equipped with a mounting bracket.

[0015] Preferably, each end of the mounting frame is fixedly provided with a limit slider, the lower end of the limit slider is movably provided with a limit slide rail, the lower end of the limit slide rail is fixedly provided with a support frame, there are two support frames, and a linear guide rail is provided between the two support frames, a clamping seat is fixedly provided on the surface of the mounting frame, and the Z-direction transmission component is provided inside the clamping seat.

[0016] Preferably, a clamping seat is fixedly provided on the surface of the mounting bracket, the Z-direction transmission component is disposed inside the clamping seat, an anti-collision block is fixedly provided on the surface of the limiting slider, an anti-collision seat is movably provided at one end of the anti-collision block, the anti-collision seat is fixedly provided at one end of the limiting slide rail, and a scraper is fixedly provided on the surface of the limiting slider.

[0017] Preferably, the X-direction transmission assembly includes a first motor, the output shaft of the first motor is fixedly provided with a gear, one end of the gear is movably provided with a rack, a rectangular track is fixedly provided above the rack, a drive wheel and a limit wheel are movably provided inside the rectangular track, a fixed seat is fixedly provided above the drive wheel and the limit wheel, a frame is fixedly provided on the surface of the fixed seat, and the Y-direction transmission assembly is provided above the frame.

[0018] A transmission method for a gantry robot transmission device, the specific steps of which are as follows:

[0019] S1. First, based on the preset positioning of the workpiece, the controller drives the X-direction transmission component, Y-direction transmission component and Z-direction transmission component to move the gantry robot to the preset position.

[0020] S2. Secondly, when the gantry robot is gripping a workpiece, the weight detection component detects the weight of the gantry robot during coding or workpiece operations under different working conditions, and adjusts the X-direction transmission component, Y-direction transmission component, and Z-direction transmission component based on the detection results.

[0021] S3. Finally, the limit locking component locks the weight detection component, improving stability during movement. Through the cooperation of the weight detection component and the limit locking component, the running speed is adjusted in a timely manner and stable transmission is maintained according to the different working states of the gantry robot during coding or moving workpiece operations.

[0022] The technical effects and advantages of this invention are as follows:

[0023] 1. In this invention, the compression of the electromagnetic spring can directly reflect the type of work tool assembled on the quick-change tool tray of the robot arm. When the gantry robot arm is performing inkjet printing, the limit locking component moves to fix the inkjet printer, preventing the inkjet printing effect from being affected by shaking during inkjet printing. In this way, under the premise that the weight of the inkjet printer is certain, the downward movement of the measuring column can be guaranteed to be fixed, which is convenient to achieve fixed installation through the limit locking component, and prevents the inkjet printer from shaking during inkjet printing and affecting the normal operation of inkjet printing.

[0024] 2. In this invention, when clamping a workpiece, the weight of the workpiece can be detected in real time based on the compression displacement of the electromagnetic spring. Then, the controller adjusts the speed of the third motor to ensure stable transmission of the Z-direction transmission component. This improves the stability of the workpiece during the lifting process and avoids the transmission accuracy being affected by the weight of workpieces of different specifications. The controller then controls the second motor to output a corresponding speed to match the workpiece weight, thereby adapting the workpiece conveying speed according to the workpiece weight. This avoids the situation where the transmission device is accelerated due to the mismatch between workpiece weight and conveying speed, effectively providing wear protection for the transmission device.

[0025] 3. Based on the different transmission speeds of the Y-direction transmission component, this invention can establish the vibration frequency on the truss at the corresponding speed. In this way, the controller can adjust the elastic coefficient of the electromagnetic spring in real time. Thus, the vibration frequency of the electromagnetic spring at this elastic coefficient is the same as the working frequency of the second motor when performing inkjet printing, but the initial phase is separated by half a cycle. This can maximize the resonance cancellation by using the same frequency when the second motor is working at high speed, thereby improving the protection of the transmission device. Attached Figure Description

[0026] Figure 1 This is a first-view schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a second-view schematic diagram of the overall structure of the present invention.

[0028] Figure 3 This is a schematic diagram of the X-direction transmission component of the present invention.

[0029] Figure 4 This is a schematic diagram of the rectangular track structure of the present invention.

[0030] Figure 5 This is a schematic diagram of the Y-direction transmission component of the present invention.

[0031] Figure 6 In this invention Figure 5 Enlarged view of point A.

[0032] Figure 7 This is a schematic diagram of the assembly structure of the Z-direction transmission component, weight detection component, and limit locking component of the present invention.

[0033] Figure 8 This is a cross-sectional schematic diagram of the protective shell structure of the present invention.

[0034] Figure 9 This is a schematic diagram of the assembly structure of the weight detection component and the limit locking component of the present invention.

[0035] Figure 10 This is a cross-sectional schematic diagram of the sleeve structure of the present invention.

[0036] Figure 11 This is a cross-sectional schematic diagram of the weight detection component of the present invention.

[0037] Figure 12 In this invention Figure 11 Enlarged view of point C.

[0038] Figure 13 In this invention Figure 11 Enlarged view of point B.

[0039] In the diagram: 1. X-direction transmission assembly; 101. First motor; 102. Gear; 103. Rack; 104. Rectangular track; 105. Fixed seat; 106. Drive wheel; 107. Limit wheel; 108. Frame; 2. Y-direction transmission assembly; 201. Linear guide rail; 202. Horizontal lead screw; 203. Second motor; 204. Nut seat; 205. Mounting bracket; 206. Clamping seat; 207. Support frame; 208. Limit slide rail; 209. Limit slider; 210. Scraper; 211. Anti-collision block; 212. Anti-collision seat; 3. Z-direction transmission assembly; 301. Protective shell; 302. Vertical lead screw; 303. Thread 304. Cylinder; 305. Guide tube; 306. Third motor; 307. Guide slide; 308. Fixing frame; 309. Mounting seat; 4. Weight detection component; 401. Sleeve; 402. First mounting slot; 403. Second mounting slot; 404. Electromagnetic spring; 405. Measuring column; 406. Limiting strip; 407. Third mounting slot; 408. Mounting plate; 409. Quick-change tool tray; 5. Limit locking component; 501. First limiting seat; 502. Second limiting seat; 503. Magnetic suction seat; 504. Electric push rod; 505. Magnetic block; 506. Cylinder; 507. Limiting clamp; 508. Rubber pad. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] First Embodiment

[0042] like Figure 1 , Figure 2 As shown, a truss manipulator transmission device of the present invention includes an X-direction transmission assembly 1, a Y-direction transmission assembly 2, a Z-direction transmission assembly 3, a weight detection assembly 4, and a limit locking assembly 5. The X-direction transmission assembly 1 is disposed below the Y-direction transmission assembly 2, the Z-direction transmission assembly 3 is disposed above the Y-direction transmission assembly 2, the weight detection assembly 4 and the limit locking assembly 5 are both disposed below the Z-direction transmission assembly 3, and the limit locking assembly 5 is disposed on one side of the weight detection assembly 4. A controller is fixedly mounted on the Z-direction transmission assembly 3.

[0043] In operation, the X-direction transmission assembly 1, Y-direction transmission assembly 2, and Z-direction transmission assembly 3 transmit power to the gantry robot in the X, Y, and Z directions, respectively. A weight detection assembly 4 detects the weight of the coding device or workpieces of different specifications. When the electromagnetic spring 404 is stretched, the measuring column 405 moves downwards along the sleeve 401, driving the limit bar 406. The weight of the coding device or workpieces of different specifications is detected based on the displacement of the measuring column 405. The transmission speeds of the X-direction transmission assembly 1, Y-direction transmission assembly 2, and Z-direction transmission assembly 3 are then adjusted based on the detection results to maximize the working efficiency of the gantry robot. A limit locking assembly 5 locks the weight detection assembly 4. During coding operations, the gantry robot pushes the magnetic block 505 via the electric push rod 504, causing the magnetic block 505 to... The measuring column 405 is locked in place by the magnetic suction holder 503, thus preventing the coding effect from being affected by shaking during the coding process. When the gantry robot is moving the workpiece, the cylinder 506 pushes the limiting clamp 507 to clamp and fix the measuring column 405, thereby locking the position of the measuring column 405. This prevents the measuring column 405 from shaking due to the electromagnetic spring 404 during the workpiece movement, which would cause the gantry robot to shake and affect the stability of the transmission. The weight detection component 4 and the limiting locking component 5 work together to flexibly adjust the transmission speed of the X-direction transmission component 1, Y-direction transmission component 2, and Z-direction transmission component 3 according to different working conditions of the gantry robot or for different specifications of workpieces, and improves the stability of the transmission process.

[0044] like Figure 3 , Figure 4 As shown, the X-direction transmission assembly 1 includes a first motor 101. A gear 102 is fixedly mounted on the output shaft of the first motor 101. A rack 103 is movably mounted on one end of the gear 102. A rectangular track 104 is fixedly mounted above the rack 103. A drive wheel 106 and a limit wheel 107 are movably mounted inside the rectangular track 104. A fixed seat 105 is fixedly mounted above the drive wheel 106 and the limit wheel 107. A frame 108 is fixedly mounted on the surface of the fixed seat 105. The Y-direction transmission assembly 2 is mounted above the frame 108.

[0045] In use, the controller controls the first motor 101 according to the X-coordinate of the workpiece. The first motor 101 drives the gear 102 to rotate together. The gear 102 meshes with the rack 103, causing the gear 102 to move linearly along the rack 103. Under the action of the gear 102 and the rack 103, the drive wheel 106 and the limit wheel 107 move linearly along the rectangular track 104, thereby causing the frame 108 to move linearly in the X direction.

[0046] like Figure 5, Figure 6 As shown, the Y-direction transmission assembly 2 includes a linear guide rail 201. A second motor 203 is fixedly mounted on one end of the linear guide rail 201. A horizontal lead screw 202 is fixedly mounted on the output shaft of the second motor 203. A nut seat 204 is movably mounted on the surface of the horizontal lead screw 202. A mounting bracket 205 is fixedly mounted on the surface of the nut seat 204. Limiting sliders 209 are fixedly mounted on both ends of the mounting bracket 205. A limiting slide rail 208 is movably mounted on the lower end of the limiting slider 209. A support frame 207 is fixedly mounted on the lower end of the limiting slide rail 208. Two support frames 207 are provided. The linear guide rail 201 is disposed between two support frames 207. A clamping seat 206 is fixedly disposed on the surface of the mounting frame 205. The Z-direction transmission component 3 is disposed inside the clamping seat 206. A collision block 211 is fixedly disposed on the surface of the mounting frame 205. A collision seat 212 is movably disposed at one end of the collision block 211. The collision seat 212 is fixedly disposed at one end of the limiting slide rail 208. A scraper 210 is fixedly disposed on the surface of the limiting slide rail 209.

[0047] In use, based on the Y-coordinate of the workpiece, the controller controls the second motor 203, which drives the horizontal lead screw 202 to rotate. This causes the nut seat 204 to move the mounting bracket 205 and the clamping seat 206 along the linear guide rail 201. The mounting bracket 205 drives the limit slider 209 to move along the limit slide rail 208, causing the clamping seat 206 to move linearly in the Y direction. By setting a scraper 210, impurities on the surface of the limit slide rail 208 are cleaned during the movement of the limit slider 209, so as to avoid affecting the transmission effect during operation. By setting anti-collision blocks 211 and anti-collision seats 212 for buffering, it is prevented that the limit slider 209 collides with the limit slide rail 208 at the end of the stroke, which would cause vibration and affect the stability of the transmission.

[0048] like Figure 7 , Figure 8 As shown, the Z-direction transmission assembly 3 includes a protective shell 301. A third motor 305 is fixedly mounted on one end of the protective shell 301. A vertical lead screw 302 is fixedly mounted on the output shaft of the third motor 305. A threaded cylinder 303 is movably mounted on the surface of the vertical lead screw 302. A guide tube 304 is fixedly mounted on the lower end of the threaded cylinder 303. The threaded cylinder 303 is slidably assembled within the protective shell 301. A mounting base 309 is fixedly mounted on the surface of the protective shell 301. A fixing bracket 308 is fixedly mounted on the surface of the mounting base 309. A guide slide rail 307 is fixedly mounted on the lower end of the fixing bracket 308. A guide slide block 306 is movably mounted inside the guide slide rail 307. The guide slide block 306 is fixedly mounted below the guide tube 304.

[0049] In use, the controller controls the third motor 305 according to the Z-positioning coordinate of the workpiece. The third motor 305 drives the vertical lead screw 302 to rotate together, causing the threaded cylinder 303 to drive the guide tube 304 to make linear motion. The guide tube 304 is limited by the guide slide 306 and the guide rail 307. The guide tube 304 drives the guide slide 306 to move along the guide rail 307 together, so that the guide slide 306 drives the weight detection component 4 to move in the Z direction to make linear motion.

[0050] like Figure 10 As shown, the weight detection component 4 includes a sleeve 401, a measuring column 405 is inserted and assembled at the bottom of the sleeve 401, a limit ring is fixed on the outer wall of the measuring column 405, an electromagnetic spring 404 is uniformly fixed at the bottom of the limit ring, the lower end of the electromagnetic spring 404 is fixed on the inner wall of the sleeve 401, a limit strip 406 is fixedly provided on the surface of the measuring column 405, a mounting plate 408 is fixedly provided at the lower end of the measuring column 405, a quick-change tool disc 409 is fixedly provided at the lower end of the mounting plate 408, a limit groove is opened at the position where the sleeve 401 connects with the limit strip 406, a first mounting groove 402 and a second mounting groove 403 are opened on the surface of the sleeve 401, a first limit seat 501 and a second limit seat 502 are respectively disposed inside the first mounting groove 402 and the second mounting groove 403, a third mounting groove 407 is opened on the surface of the measuring column 405, and an electric push rod 504 is disposed inside the third mounting groove 407.

[0051] like Figure 11 , Figure 12 , Figure 13 As shown, the limiting and locking assembly 5 includes a first limiting seat 501 and a second limiting seat 502. A magnetic suction seat 503 is fixedly provided on the surface of the first limiting seat 501. A magnetic suction block 505 is movably provided at one end of the magnetic suction seat 503. An electric push rod 504 is fixedly provided at one end of the magnetic suction block 505. A cylinder 506 is fixedly provided on the surface of the second limiting seat 502. A limiting clamp 507 is fixedly provided at one end of the cylinder 506.

[0052] In actual use, the quick-change tool tray 409 is to be equipped with inkjet printers, heavy-duty clamps, medium-duty clamps and small clamps. Therefore, depending on the type of tool, the amount of compression deformation of the electromagnetic spring 404 will be different after the tool is assembled on the quick-change tool tray 409.

[0053] When the quick-change tool tray 409 is connected to the working tool under the control of the controller, the weight of the working tool will cause the measuring column 405 to move downward and compress the electromagnetic spring 404. As the electromagnetic spring 404 is compressed, the amount of compression of the electromagnetic spring 404 can directly reflect the type of working tool assembled on the quick-change tool tray 409 of the robot arm. When the amount of compression of the electromagnetic spring 404 is the same as the compression value corresponding to the weight of the inkjet printer, it indicates that the gantry robot arm is performing inkjet printing. At this time, the magnetic suction holder 503 corresponds to the magnetic suction block 505. The controller controls the electric push rod 504 to move and push the magnetic suction block 505 to lock the magnetic suction block 505 on the magnetic suction holder 503, thereby limiting and locking the position of the measuring column 405. This prevents the inkjet printing effect from being affected by shaking during inkjet printing. Under the premise that the weight of the inkjet printer is constant, the downward movement of the measuring column 405 can be guaranteed to be fixed, which is convenient for fixed installation through the limit locking component 5. This prevents the inkjet printer from shaking during inkjet printing and affecting the normal operation of inkjet printing.

[0054] After the working tools are assembled on the quick-change tool tray 409, the compression of the electromagnetic spring 404 directly indicates the type of working tool currently on the quick-change tool tray 409. The controller then performs the corresponding process to achieve the corresponding workpiece clamping operation, specifically:

[0055] When the Z-direction transmission assembly 3 drives the quick-change tool disk 409 to grip the workpiece, the electromagnetic spring 404 is stretched under the weight of the workpiece itself. This causes the measuring column 405 to move downwards along the sleeve 401, along with the limit bar 406. The weight of the gripped workpiece can be detected in real time based on the compression displacement of the electromagnetic spring 404. The detection result is then transmitted to the controller, which adjusts the speed of the third motor 305 to ensure stable transmission of the Z-direction transmission assembly 3. This improves the stability of the workpiece during the lifting process and avoids affecting the transmission accuracy due to the weight of workpieces of different specifications. The controller then controls the second motor 203 to output a corresponding speed to match the workpiece weight, thereby adapting the workpiece conveying speed according to the workpiece weight. This prevents the transmission device from being worn down due to a mismatch between the workpiece weight and the conveying speed, effectively providing wear protection for the transmission device.

[0056] The first limiting seat 501 and the second limiting seat 502 are both disposed on the surface of the sleeve 401, and the second limiting seat 502 is located above the first limiting seat 501. A slot is provided at the position where the magnetic card holder 503 is connected to the magnetic block 505. Two limiting clamps 507 are provided, and the measuring column 405 is disposed between the two limiting clamps 507. A rubber pad 508 is fixedly disposed on the surface of the limiting clamp 507.

[0057] By setting the limit locking component 5 to improve the stability of the operation, when the quick-change tool disk 409 is moving the workpiece, the compression of the electromagnetic spring 404 will be different due to the different weights of the workpieces. However, as the weight of the workpiece increases, the overturning moment of the Z-direction transmission component 3 on the Y-direction transmission component 2 will increase, and the force on the contact point of the Z-direction transmission component 3 on the Y-direction transmission component 2 will be greater. In order to ensure the stability of the workpiece during the transfer, the Z-direction transmission component 3 needs to be fixed and limited during the transfer process. That is, the controller controls the cylinder 506 to push the limit clamp 507 to squeeze the measuring column 405, so that the limit clamp 507 clamps and fixes the measuring column 405, thereby limiting and locking the position of the measuring column 405. This prevents the measuring column 405 from shaking due to the electromagnetic spring 404 during the movement of the workpiece, which would make the gantry robot prone to shaking and affect the stability of the transmission.

[0058] When the gantry robot is engaged in coding and workpiece clamping, the weight detection component 4 can directly detect the type of tool on the quick-change tool tray 409, facilitating corresponding output control based on different working conditions. Furthermore, the weight of the workpiece can be detected by the compression of the electromagnetic spring 404 during workpiece clamping, allowing the controller to flexibly adjust the transmission speed of the Y-direction transmission component 2 and the transmission speed of the Z-direction transmission component 3 according to the workpiece weight. The limit locking component 5 ensures stability of the gantry robot under different working conditions. The combined effect of the weight detection component 4 and the limit locking component 5 allows for flexible adjustment of the transmission speed according to different working conditions while maintaining stability during transmission, thereby maximizing the robot's working efficiency.

[0059] During use, the Y-direction transmission component 2, due to the fixed vibration frequency of the second motor 203, generates a corresponding vibration frequency when the device moves. This frequency directly affects the truss, causing the quick-change tool disk 409 to vibrate during operation. Because the vibration frequency of the transmission directly affects the transmission structure, prolonged use will accelerate wear and tear, leading to irreversible frictional losses. Therefore, in actual operation, this application document states:

[0060] When the quick-change tool tray 409 is equipped with an inkjet printer for inkjet printing, the inkjet printer is relatively light, so the Y-direction transmission component 2 has a faster transmission speed during the inkjet printing process. As a result, the vibration frequency generated by the second motor 203 is higher. At this time, the controller increases the input current of the electromagnetic spring 404, which increases the elastic coefficient of the electromagnetic spring 404. This causes the vibration frequency of the electromagnetic spring 404 at this elastic coefficient to be the same as the operating frequency of the second motor 203 during inkjet printing, but the initial phase is separated by half a cycle. This allows the resonance to be canceled when the second motor 203 is working quickly, thus improving the protection of the transmission device.

[0061] When a small fixture is mounted on the quick-change tool tray 409, the weight of the workpiece increases after it is clamped, as the small fixture needs to hold the workpiece. This causes the workpiece to exert an effective torque on the Y-direction transmission assembly 2 relative to the Z-direction transmission assembly 3. Furthermore, as the Y-direction transmission assembly 2 moves the Z-direction transmission assembly 3, the workpiece held by the small fixture continuously applies pressure to the Y-direction transmission assembly 2 at the operating frequency of the second motor 203. This applies a reciprocating load to the transmission of the horizontal lead screw 202 and the nut seat 204 at the frequency of the second motor 203, accelerating wear between them. At this time, the controller stops the cylinder 506 from operating, maintaining the active state of the measuring column 405. This reduces the torque on the Y-direction transmission... When the moving component 2 is in the conveying operation, the small clamp will also drive the measuring column 405 to generate regular vibration and compression on the electromagnetic spring 404. In this way, both the small clamp and the Y-direction transmission component 2 will generate vibration frequencies. Therefore, the controller can change the elastic coefficient of the electromagnetic spring 404 by controlling the current introduced into the electromagnetic spring 404. This can adjust the vibration frequency of the electromagnetic spring 404, thereby weakening the influence of the second motor 203 on the transmission device during operation and preventing resonance when the workpiece is clamped. Furthermore, since the elastic coefficient of the electromagnetic spring 404 is different, the deformation after clamping the workpiece will also change accordingly. That is, the larger the elastic coefficient, the smaller the deformation, the higher the vibration frequency, and the smaller the vibration amplitude.

[0062] When a small fixture is mounted on the quick-change tool tray 409, the controller will reduce the rotation speed of the second motor 203 compared to the transmission speed of the inkjet printer. This allows the transmission speed of the second motor 203 to be adapted to the weight of the workpiece being clamped. When the transmission speed of the second motor 203 changes, the vibration frequency generated by the second motor 203 during operation will change accordingly. Therefore, the controller will adjust the current value in the electromagnetic spring 404 in real time after the transmission speed of the second motor 203 changes, thereby adjusting the elastic coefficient of the electromagnetic spring 404. This increases the vibration frequency of the small fixture, thus matching the vibration frequency of the second motor 203 during operation. In this way, the vibration frequency of the electromagnetic spring 404 at this elastic coefficient is the same as the operating frequency of the second motor 203 during inkjet printing, but the initial phase is separated by half a cycle. This allows resonance cancellation to be achieved through the same frequency when the second motor 203 is working rapidly, improving the protection of the transmission device.

[0063] In summary, the compression of the electromagnetic spring 404 directly reflects the type of work tool assembled on the quick-change tool tray 409 of the robotic arm. This allows the controller to adjust the transmission speed of the Y-direction transmission component 2 according to the work type, adapting to the transmission requirements of different workpiece weights and preventing significant wear on the transmission device during workpiece transport. Furthermore, based on the different transmission speeds of the Y-direction transmission component 2, the vibration frequency on the truss at the corresponding speed can be determined. The controller can then adjust the elastic coefficient of the electromagnetic spring 404 in real time. At this elastic coefficient, the vibration frequency of the electromagnetic spring 404 is the same as the operating frequency of the second motor 203 during inkjet printing, but the initial phase is half a cycle apart. This allows for maximum resonance cancellation during rapid operation of the second motor 203, improving the protection of the transmission device.

[0064] Second Embodiment

[0065] This invention also provides a transmission method for a gantry manipulator transmission device, the specific steps of which are as follows:

[0066] S1. First, based on the preset positioning of the workpiece, the controller drives the X-direction transmission component 1, the Y-direction transmission component 2 and the Z-direction transmission component 3 to move the gantry robot to the preset position.

[0067] S2. Secondly, when the gantry robot is gripping the workpiece, the weight detection component 4 detects the weight of the gantry robot in different working states, such as during inkjet printing or workpiece operation. Based on the detection results, the X-direction transmission component 1, Y-direction transmission component 2, and Z-direction transmission component 3 are adjusted.

[0068] S3. Finally, the limit locking component 5 locks the weight detection component 4 to improve stability during movement. Through the cooperation of the weight detection component 4 and the limit locking component 5, the running speed is adjusted in a timely manner and stable transmission is maintained according to the different working states of the gantry robot during coding or moving workpiece operations.

[0069] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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 transmission device for a truss robot, characterized in that: The device includes an X-direction transmission assembly (1), a Y-direction transmission assembly (2), a Z-direction transmission assembly (3), a weight detection assembly (4), and a limit locking assembly (5). The X-direction transmission assembly (1) is located below the Y-direction transmission assembly (2), the Z-direction transmission assembly (3) is located above the Y-direction transmission assembly (2), the weight detection assembly (4) and the limit locking assembly (5) are both located below the Z-direction transmission assembly (3), and the limit locking assembly (5) is located on one side of the weight detection assembly (4). A controller is fixedly mounted on the Z-direction transmission assembly (3). The weight detection component (4) includes a sleeve (401), a measuring column (405) is inserted into the bottom of the sleeve (401), a limit ring is fixed on the outer side wall of the measuring column (405), an electromagnetic spring (404) is uniformly fixed at the bottom of the limit ring, the lower end of the electromagnetic spring (404) is fixed on the inner side wall of the sleeve (401), a limit strip (406) is fixed on the surface of the measuring column (405), a mounting plate (408) is fixed on the lower end of the measuring column (405), and a quick-change tool disk (409) is fixed on the lower end of the mounting plate (408). The limiting locking assembly (5) includes a first limiting seat (501) and a second limiting seat (502). A magnetic suction seat (503) is fixedly provided on the surface of the first limiting seat (501). A magnetic suction block (505) is movably provided at one end of the magnetic suction seat (503). An electric push rod (504) is fixedly provided at one end of the magnetic suction block (505). A cylinder (506) is fixedly provided on the surface of the second limiting seat (502). A limiting clamp (507) is fixedly provided at one end of the cylinder (506). The first limiting seat (501) and the second limiting seat (502) are both disposed on the surface of the sleeve (401), and the second limiting seat (502) is located above the first limiting seat (501). The magnetic card holder (503) is provided with a card slot at the position where it connects with the magnetic block (505). There are two limiting clamps (507), and the measuring column (405) is disposed between the two limiting clamps (507). A rubber pad (508) is fixedly disposed on the surface of the limiting clamp (507). A limiting groove is provided at the position where the sleeve (401) connects with the limiting strip (406). A first mounting groove (402) and a second mounting groove (403) are provided on the surface of the sleeve (401). The first limiting seat (501) and the second limiting seat (502) are respectively disposed inside the first mounting groove (402) and the second mounting groove (403). A third mounting groove (407) is provided on the surface of the measuring column (405). The electric push rod (504) is disposed inside the third mounting groove (407).

2. The truss manipulator transmission device according to claim 1, characterized in that: The Z-direction transmission assembly (3) includes a protective shell (301), a third motor (305) is fixedly installed at one end of the protective shell (301), a vertical lead screw (302) is fixedly installed on the output shaft of the third motor (305), a threaded cylinder (303) is movably installed on the surface of the vertical lead screw (302), and a guide tube (304) is fixedly installed at the lower end of the threaded cylinder (303).

3. The truss manipulator transmission device according to claim 2, characterized in that: The protective shell (301) is fixedly provided with a mounting base (309), the mounting base (309) is fixedly provided with a fixing frame (308), the lower end of the fixing frame (308) is fixedly provided with a guide slide rail (307), the guide slide rail (307) is movably provided with a guide slide block (306) inside, and the guide slide block (306) is fixedly provided below the guide tube (304).

4. The truss manipulator transmission device according to claim 1, characterized in that: The Y-direction transmission assembly (2) includes a linear guide rail (201), one end of which is fixedly provided with a second motor (203), the output shaft of the second motor (203) is fixedly provided with a horizontal lead screw (202), a nut seat (204) is movably provided on the surface of the horizontal lead screw (202), and a mounting bracket (205) is fixedly provided on the surface of the nut seat (204).

5. The truss manipulator transmission device according to claim 4, characterized in that: Both ends of the mounting bracket (205) are respectively fixedly provided with limit sliders (209), and the lower end of the limit sliders (209) is movably provided with limit slide rails (208). The lower end of the limit slide rails (208) is fixedly provided with support brackets (207). There are two support brackets (207), and the linear guide rail (201) is located between the two support brackets (207). The surface of the mounting bracket (205) is fixedly provided with clamping seats (206), and the Z-direction transmission component (3) is located inside the clamping seats (206).

6. The truss manipulator transmission device according to claim 5, characterized in that: The mounting bracket (205) is fixedly provided with a clamping seat (206), the Z-direction transmission assembly (3) is provided inside the clamping seat (206), the surface of the limiting slider (209) is fixedly provided with an anti-collision block (211), one end of the anti-collision block (211) is movably provided with an anti-collision seat (212), the anti-collision seat (212) is fixedly provided at one end of the limiting slide rail (208), and the surface of the limiting slider (209) is fixedly provided with a scraper (210).

7. The truss manipulator transmission device according to claim 1, characterized in that: The X-direction transmission assembly (1) includes a first motor (101), the output shaft of the first motor (101) is fixedly provided with a gear (102), one end of the gear (102) is movably provided with a rack (103), a rectangular track (104) is fixedly provided above the rack (103), a drive wheel (106) and a limit wheel (107) are movably provided inside the rectangular track (104), a fixed seat (105) is fixedly provided above the drive wheel (106) and the limit wheel (107), a frame (108) is fixedly provided on the surface of the fixed seat (105), and the Y-direction transmission assembly (2) is provided above the frame (108).

8. A transmission method for a gantry manipulator transmission device, wherein the method is implemented using the gantry manipulator transmission device as described in claim 1, characterized in that: The specific usage steps are as follows: S1. First, according to the preset positioning of the workpiece, the controller drives the X-direction transmission component (1), the Y-direction transmission component (2) and the Z-direction transmission component (3) to move the gantry robot to the preset position. S2. Secondly, when the gantry robot grabs the workpiece, the weight detection component (4) detects the weight of the gantry robot in different working states when it is engaged in coding or moving the workpiece. Based on the detection results, the drive of the X-direction transmission component (1), Y-direction transmission component (2) and Z-direction transmission component (3) is adjusted. S3. The final limit locking component (5) locks the weight detection component (4) to improve stability during movement. Through the cooperation of the weight detection component (4) and the limit locking component (5), the running speed is adjusted in time and stable transmission is maintained according to the different working states of the gantry robot during inkjet printing or moving workpiece operations.

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