Truss mechanical arm

Abstract

The invention relates to the technical field of industrial machinery, and discloses a truss mechanical arm which comprises two groups of vertical frames, an X shaft is arranged on the two groups of vertical frames, an X-shaft moving plate is arranged above the X shaft, an X walking motor is installed on the X-shaft moving plate, the output end of the X walking motor is connected with an X walking gear, the X walking gear is located below the X-shaft moving plate, and the output end of the X walking gear is connected with an X driving motor. An X-axis rack is installed on the X-axis and connected with the X walking gear in an engaged mode. By arranging the reinforcing angle seats in the truss structure, the stability of the overall structure of the mechanical arm is enhanced, vibration generated during high-speed movement is reduced, and therefore the positioning precision of the mechanical arm is improved. The truss mechanical arm has good rigidity and bearing capacity and can meet the heavy-load operation requirements on different production lines. And by arranging the clamp assembly and the rotating air cylinder, the clamp can be replaced and adjusted more conveniently and rapidly, and the maintenance cost and time are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial machinery, and in particular to a traveling frame mechanical arm. Background Art

[0002] In modern industrial production, robotic arms are widely used as an automation equipment in various production lines to improve production efficiency and precision. Truss robotic arms play an important role in the field of industrial automation due to their simple structure, good rigidity, strong load-bearing capacity, high motion accuracy, and relatively low cost. Truss robotic arms are usually composed of multiple joints and connecting rods, and the precise position and posture control of the end effector of the robotic arm is achieved by precisely controlling the movement of each joint.

[0003] However, there are still some problems in the design and application of existing truss robotic arms. For example, due to the particularity of the truss structure, it may produce large vibrations when moving at high speeds, affecting the positioning accuracy and stability of the robotic arm. In addition, the control system of the truss robotic arm is complex and requires precise control algorithms to ensure the smoothness and accuracy of its movement. At the same time, during the long-term operation of the truss robotic arm, the wear of the joints and drive components may cause the accuracy of the robotic arm to decrease, requiring regular maintenance and calibration.

[0004] Therefore, based on the above technical problems, it is necessary for technicians in this field to develop a gantry robot arm. Summary of the invention

[0005] The purpose of the present invention is to provide a gantry robot arm to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A technical solution for a traveling frame mechanical arm comprises two groups of vertical frames, wherein the two groups of vertical frames are provided with an X-axis for quality inspection, an X-axis moving plate is provided above the X-axis, an X-axis moving plate is installed with an X-axis traveling motor, an output end of the X-axis traveling motor is connected with an X-axis traveling gear, the X-axis traveling gear is located below the X-axis moving plate, an X-axis rack is installed on the X-axis, the X-axis rack is meshed and connected with the X-axis traveling gear, a Y-axis is provided on the top surface of the X-axis moving plate, a Y-axis traveling motor is installed on the X-axis moving plate, an output end of the Y-axis traveling motor is connected with a Y-axis traveling gear, a Y-axis traveling rack is provided on the adjacent side of the Y-axis traveling gear, the Y-axis traveling rack is installed on the Y-axis, a Z-axis fixing plate is provided at the tail end of the Y-axis, a Z-axis traveling motor is installed on the Z-axis fixing plate, an output end of the Z-axis traveling motor is connected with a Z-axis gear, a Z-axis is provided on the adjacent side of the Z-axis gear, a Z-axis is installed on the Z-axis, the Z-axis gear is meshed with the Z-axis rack, and a fixture assembly is provided at the bottom end of the Z-axis.

[0008] As a preferred technical solution, the clamp assembly includes a clamp seat, a rotating cylinder is installed on the clamp seat, a rotating head is connected to the output end of the rotating cylinder, clamp one and clamp two are installed on the rotating head, and clamp one and clamp two are distributed in an L-shape.

[0009] As a preferred technical solution, a reinforced corner seat is installed between the stand and the corner of the X-axis, and the reinforced corner seat is used to enhance the stability of the overall structure of the robotic arm.

[0010] As a preferred technical solution, multiple sets of X-axis slide rails are arranged on both sides of the X-axis rack, an X-axis slide seat is slidably connected to the X-axis slide rail, and the X-axis slide seat is connected to the X-axis moving plate.

[0011] As a preferred technical solution, Y-axis slide rails are arranged on both sides of the Y-axis, a Y-axis slide seat is slidably connected to the Y-axis slide rails, a Y-axis positioning seat is arranged outside the Y-axis slide seat, and the Y-axis positioning seat is installed on the X-axis moving plate for guiding the sliding of the Y-axis.

[0012] As a preferred technical solution, multiple groups of Z-axis slide rails are arranged on both sides of the Z-axis, the Z-axis slide rails are slidably connected with a Z-axis slide seat, a Z-axis positioning seat is installed on the Z-axis slide seat, and the Z-axis positioning seat is connected to the Z-axis fixed plate for guiding the sliding of the Z-axis.

[0013] As a preferred technical solution, end seats are provided at both ends of the X-axis slide rail, the Y-axis slide rail and the Z-axis slide rail, and buffer rubber pads are installed on the end seats.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention is a gantry robot arm, which enhances the stability of the overall structure of the robot arm by arranging reinforced corner seats in the truss structure, reduces the vibration generated during high-speed movement, and thus improves the positioning accuracy of the robot arm. The truss robot arm of the present invention has good rigidity and load-bearing capacity, and can adapt to the heavy-load operation requirements on different production lines. By arranging a clamp assembly and a rotating cylinder, the replacement and adjustment of the clamp are made more convenient and quick, and the maintenance cost and time are reduced. By arranging buffer rubber pads at both ends of the slide rail, the impact and wear of the robot arm during movement are reduced, thereby extending the service life of the robot arm. The truss robot arm of the present invention can quickly and accurately complete production tasks through precise position and posture control, thereby improving production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of a gantry robot arm;

[0017] Figure 2The figure is a schematic diagram of the disassembled structure of a gantry robot arm.

[0018] In the accompanying drawings: 11, stand; 12, reinforced angle seat; 2, X-axis; 21, X-axis moving plate; 22, X-axis travel motor; 23, X-axis travel gear; 24, X-axis rack; 25, X-axis slide rail; 26, X-axis slide seat; 3, Y-axis; 31, Y-axis travel motor; 32, Y-axis travel gear; 33, Y-axis travel rack; 34, Y-axis positioning seat; 35, Y-axis slide seat; 36, Y-axis slide rail; 4, Z-axis; 41, Z-axis fixed plate; 42, Z-axis travel motor; 43, Z-axis gear; 44, Z-axis positioning seat; 45, Z-axis slide seat; 46, Z-axis slide rail; 5, fixture seat; 51, rotating cylinder; 52, rotating head; 53, fixture one; 54, fixture two; 6, end seat; 61, buffer rubber pad. DETAILED DESCRIPTION

[0019] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present invention by illustrating examples of the present invention.

[0020] like Figure 1 , Figure 2 As shown, the present invention provides a technical solution for a traveling frame robot arm: comprising two sets of vertical frames 11, an X-axis 2 is arranged between the two sets of vertical frames 11. An X-axis moving plate 21 is arranged above the X-axis 2, and an X-travel motor 22 is installed on the X-axis moving plate 21. An output end of the X-travel motor 22 is connected to an X-travel gear 23, and the X-travel gear 23 is located below the X-axis moving plate 21. An X-axis rack 24 is installed on the X-axis 2, and the X-axis rack 24 is meshed and connected with the X-travel gear 23.

[0021] The top surface of the X-axis moving plate 21 is provided with a Y-axis 3, and a Y-axis travel motor 31 is installed on the Y-axis 3. The output end of the Y-axis travel motor 31 is connected to the Y-axis travel gear 32, and a Y-axis travel rack 33 is provided on the adjacent side of the Y-axis travel gear 32. The Y-axis travel rack 33 is installed on the Y-axis 3, and a Z-axis fixing plate 41 is provided at the tail end of the Y-axis 3. A Z-axis travel motor 42 is installed on the Z-axis fixing plate 41, and a Z-axis gear 43 is connected to the output end of the Z-axis travel motor 42. A Z-axis 4 is provided on the adjacent side of the Z-axis gear 43, and a Z-axis rack 44 is installed on the Z-axis 4, and the Z-axis gear 43 is meshed with the Z-axis rack 44. A clamp assembly 5 is provided at the bottom end of the Z-axis 4.

[0022] The fixture assembly 5 includes a fixture base 5, on which a rotary cylinder 51 is mounted. The output end of the rotary cylinder 51 is connected to a rotary head 52, on which a fixture 1 53 and a fixture 2 54 are mounted. The fixture 1 53 and the fixture 2 54 are distributed in an L-shaped orientation to facilitate the grabbing and placement of different workpieces.

[0023] A reinforcement angle seat 12 is installed between the stand 11 and the corner of the X-axis 2. The reinforcement angle seat 12 is used to enhance the stability of the overall structure of the robot arm and reduce the vibration generated during high-speed movement, thereby improving the positioning accuracy of the robot arm.

[0024] A plurality of sets of X-axis rails 25 are arranged on both sides of the rack 24 of the X-axis 2, and an X-axis slide 26 is slidably connected to the X-axis rails 25, and the X-axis slide 26 is connected to the X-axis moving plate 21. Y-axis rails 35 are arranged on both sides of the Y-axis 3, and a Y-axis slide 36 is slidably connected to the Y-axis rails 35, and a Y-axis positioning seat 34 is arranged outside the Y-axis slide 36, and the Y-axis positioning seat 34 is installed on the X-axis moving plate 21, and is used to slide and guide the Y-axis 3.

[0025] A plurality of Z-axis rails 46 are arranged on both sides of the Z-axis 4 , a Z-axis slide seat 45 is slidably connected to the Z-axis rails 46 , a Z-axis positioning seat 44 is installed on the Z-axis slide seat 45 , and the Z-axis positioning seat 44 is connected to the Z-axis fixing plate 41 for slidingly guiding the Z-axis 4 .

[0026] End seats 6 are provided at both ends of the X-axis slide rail 25, the Y-axis slide rail 35 and the Z-axis slide rail 46, and cushioning rubber pads 61 are installed on the end seats 6. The cushioning rubber pads 61 are used to reduce the impact and wear of the robot arm during the movement, thereby extending the service life of the robot arm.

[0027] The present invention has good rigidity and load-bearing capacity, and can adapt to the heavy-load operation requirements on different production lines. At the same time, by setting the clamp assembly and the rotating cylinder, the replacement and adjustment of the clamp are more convenient and quick, reducing the maintenance cost and time. In addition, by setting buffer rubber pads at both ends of the slide rail, the impact and wear of the robot arm during movement are reduced, thereby extending the service life of the robot arm. The rack robot arm of the present invention can quickly and accurately complete production tasks through precise position and posture control, thereby improving production efficiency and product quality.

[0028] According to the above scheme, in this embodiment, the X-travel motor 22 is started, the X-travel gear 23 is meshed with the X-travel rack 23, and the X-axis moving plate 21 moves along the X-axis slide rail 25 under the guidance of the X-axis slide 26 to achieve positioning in the X-axis direction. The Y-travel motor 31 drives the Y-travel gear 32 to mesh with the Y-axis travel rack 33, and the Y-axis 3 moves under the guidance of the Y-axis slide 36 to achieve positioning in the Y-axis direction. The Z-axis travel motor 42 is started, and the Z-axis travel motor 42 drives the Z-axis gear 43 to mesh with the Z-axis rack, so that the Z-axis 4 moves under the guidance of the Z-axis slide 45 to achieve positioning in the Z-axis direction. Through this multi-axis linkage method, the robot arm can achieve precise positioning and operation in three-dimensional space.

[0029] In actual operation, the fixture assembly 5 can realize the rapid switching between fixture 1 53 and fixture 2 54 through the driving of the rotary cylinder 51 to meet the requirements of grabbing and placing different workpieces. The precise control of the rotary cylinder 51 ensures the rapid response and stable operation of the fixture, thereby improving the flexibility and operating efficiency of the entire robot arm system.

[0030] In summary, the gantry robot arm of the present invention is not only stable in structure and flexible in operation, but also greatly improves production efficiency and product quality through precise control and rapid fixture replacement, meeting the needs of modern industrial production for automation and intelligent equipment.

[0031] The working principle and use process of the present invention: After assembling the various components of the present solution in sequence, all the working steps can be completed by working in accordance with the above implementation methods in sequence according to actual needs.

[0032] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

[0033] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" 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, and do not indicate or imply 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 a limitation on the present invention.

[0034] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0035] According to the embodiments of the present invention as described above, these embodiments do not describe all the details in detail, nor do they limit the invention to specific embodiments. Obviously, many modifications and changes can be made based on the above description. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can make good use of the present invention and the modified use based on the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A rack robot arm, characterized in that: The invention comprises two groups of vertical frames (11), wherein the two groups of vertical frames (11) are provided with an X-axis (2), an X-axis moving plate (21) is provided above the X-axis (2), an X-travel motor (22) is installed on the X-axis moving plate (21), an output end of the X-travel motor (22) is connected to an X-travel gear (23), the X-travel gear (23) is located below the X-axis moving plate (21), an X-axis rack (24) is installed on the X-axis (2), the X-axis rack (24) is meshedly connected with the X-travel gear (23), a Y-axis (3) is provided on the top surface of the X-axis moving plate (21), a Y-travel motor (31) is installed on the X-axis moving plate (21), and the X-travel motor (31) is installed on the X-axis moving plate (21). The output end of the Y travel motor (31) is connected to a Y travel gear (32), a Y axis travel rack (33) is arranged on the adjacent side of the Y travel gear (32), the Y axis travel rack (33) is mounted on the Y axis (3), a Z axis fixing plate (41) is arranged at the tail end of the Y axis (3), a Z axis travel motor (42) is mounted on the Z axis fixing plate (41), the output end of the Z axis travel motor (42) is connected to a Z axis gear (43), a Z axis (4) is arranged on the adjacent side of the Z axis gear (43), a Z axis rack is mounted on the Z axis (4), the Z axis gear (43) is meshed with the Z axis rack, and a clamp assembly is arranged at the bottom end of the Z axis (4).

2. A rack robot arm according to claim 1, characterized in that: The clamp assembly comprises a clamp seat (5), a rotary cylinder (51) is mounted on the clamp seat (5), an output end of the rotary cylinder (51) is connected to a rotary head (52), a clamp 1 (53) and a clamp 2 (54) are mounted on the rotary head (52), and the clamp 1 (53) and the clamp 2 (54) are distributed in an L-shaped direction.

3. The rack robot arm according to claim 1, characterized in that: A reinforcement angle seat (12) is installed between the stand (11) and the corner of the X-axis (2), and the reinforcement angle seat (12) is used to enhance the stability of the overall structure of the robotic arm.

4. The rack robot arm according to claim 1, characterized in that: A plurality of groups of X-axis slide rails (25) are arranged on both sides of the X-axis rack (24); an X-axis slide seat (26) is slidably connected to the X-axis slide rail (25); and the X-axis slide seat (26) is connected to the X-axis moving plate (21).

5. A rack robot arm according to claim 4, characterized in that: Y-axis slide rails (36) are arranged on both sides of the Y-axis (3), a Y-axis slide seat (35) is slidably connected to the Y-axis slide rails (36), a Y-axis positioning seat (34) is arranged outside the Y-axis slide seat (35), and the Y-axis positioning seat (34) is installed on the X-axis moving plate (21) for slidingly guiding the Y-axis (3).

6. A rack robot arm according to claim 5, characterized in that: A plurality of groups of Z-axis slide rails (46) are arranged on both sides of the Z-axis (4); a Z-axis slide seat (45) is slidably connected to the Z-axis slide rails (46); a Z-axis positioning seat (44) is installed on the Z-axis slide seat (45); the Z-axis positioning seat (44) is connected to the Z-axis fixing plate (41) and is used for slidingly guiding the Z-axis (4).

7. The rack robot arm according to claim 6, characterized in that: End seats (6) are provided at both ends of the X-axis slide rail (25), the Y-axis slide rail (36) and the Z-axis slide rail (46), and a buffer rubber pad (61) is installed on the end seat (6).

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