Truss manipulator system with anti-falling protection function and using method thereof

Abstract

The invention relates to a truss manipulator system with an anti-falling protection function and a using method thereof. The truss manipulator system comprises a stand column I, a stand column II, a stand column III, a stand column IV, an X shaft I, an X shaft II, a Y shaft, a Z shaft, a gripper mechanism and a control cabinet. A Y-axis driving mechanism for the Y-axis to move along the X-axis I and the X-axis II is arranged between the Y-axis and the X-axis I and between the Y-axis and the X-axis II; the Z shaft is installed on the side face of the Y shaft, a Z shaft driving mechanism for the Z shaft to move along the Y shaft and the vertical direction is installed between the Z shaft and the Y shaft, and a pneumatic band-type brake for preventing the Z shaft from falling is installed beside the Z shaft; and the gripper mechanism is mounted at the lower end of the Z shaft so as to automatically grab a workpiece below the Z shaft. According to the truss manipulator system with the anti-falling protection function, band-type brake protection after power failure and air failure is achieved through the pneumatic band-type brake, accidental free falling motion of the Z axis is prevented, and normal operation of logistics transfer is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic logistics transfer, and in particular to a truss manipulator system with anti-fall protection and a method of using the same. Background Art

[0002] In domestic production enterprises, due to the safety requirements of some important workpieces, customers do not allow accidental drop of workpieces during the automatic handling of workpieces, so they put forward more stringent safety protection requirements for truss manipulator systems. In order to meet the safety needs of customers in production, it is necessary to design a truss manipulator system with multiple anti-drop protection functions such as no drop after power failure, no drop after air failure, and no drop during handling. Summary of the invention

[0003] The technical problem to be solved by the present invention is to address the deficiencies in the prior art and to provide a truss manipulator system with anti-drop protection, which realizes multiple anti-drop protections such as preventing the workpiece from falling after power failure, air failure, and transportation during the production process, thereby meeting the production needs of important safety workpieces and a method of using the system.

[0004] The technical problem to be solved by the present invention is achieved through the following technical solution: a truss manipulator system with anti-drop protection, including column I, column II, column III, column IV, X-axis I, X-axis II, Y-axis, Z-axis, gripper mechanism and control cabinet; X-axis I is installed above column I and column IV, and X-axis II is installed above column II and column III; Both ends of the Y axis are installed above the X axis I and X axis II, and a Y axis driving mechanism is installed between the Y axis and the X axis I and X axis II for the Y axis to move along the X axis I and X axis II; The Z axis is installed on the side of the Y axis, and a Z axis driving mechanism is installed between the Z axis and the Y axis for the Z axis to move along the Y axis and in the vertical direction. A pneumatic brake is installed on the side of the Z axis to prevent the Z axis from falling. The gripper mechanism is installed at the lower end of the Z axis to automatically grip the workpiece below the Z axis.

[0005] The technical problem to be solved by the present invention can also be achieved by the following technical solutions. The above-mentioned truss manipulator system with anti-drop protection, the Y-axis driving mechanism includes a rotating power mechanism I fixed at the bottom of the Y-axis, and a rack I meshing with the power output end of the rotating power mechanism I is fixed on the side walls of the X-axis I and the X-axis II to provide a transmission for the Y-axis to move.

[0006] The technical problem to be solved by the present invention can also be achieved by the following technical solutions. The above-mentioned truss manipulator system with anti-drop protection, the Z-axis drive mechanism includes a walking board I, the Z-axis is vertically slidably installed on the walking board I, and a rotating power mechanism II and a rotating power mechanism III are also installed on the walking board I. A rack II is fixed on the side wall of the Y-axis for meshing transmission with the power output end of the rotating power mechanism II to supply horizontal movement of the Z-axis, and a rack III is also vertically fixed on the side wall of the Z-axis for meshing transmission with the power output end of the rotating power mechanism III to supply vertical movement of the Z-axis.

[0007] The technical problem to be solved by the present invention can also be achieved by the following technical solutions: the above-mentioned truss manipulator system with anti-drop protection is provided with a bracket I fixedly on the walking board I, the pneumatic brake is fixedly installed on the bracket I, the Z axis is formed into a frame structure and is set as the frame I, the top side wall of the frame I is fixedly provided with a bracket II, the bottom side wall of the frame I is fixedly provided with a bracket II, and an anti-drop rod passing through the pneumatic brake is fixedly provided between the bracket II and the bracket II; The pneumatic brake selectively locks the anti-fall rod to prevent frame I from falling; It also includes an air storage tank, which is installed on column IV to provide an emergency air source for the pneumatic brake.

[0008] The technical problem to be solved by the present invention can also be achieved by the following technical solutions: the above-mentioned truss manipulator system with anti-drop protection, the gripper mechanism includes anti-unhooking I, anti-unhooking II, anti-unhooking III, anti-unhooking IV, frame II, a first clamping motion mechanism and a second clamping motion mechanism; The bottoms of the anti-drop hooks I, II, III and IV are screwed on the top side wall of the frame II, an anti-drop plate is fixedly provided on the bottom surface of the frame I, the top surface of the frame II is bolted to the bottom surface of the anti-drop plate, and the tops of the anti-drop hooks I, II, III and IV extend inward with a plate-shaped protrusion and are located directly above the edge of the anti-drop plate, so that when the frame II loses connection with the anti-drop plate and causes the frame II to fall, the tops of the anti-drop hooks I, II, III and IV are mounted on the top edge of the anti-drop plate, thereby preventing the gripper mechanism from falling; The first clamping motion mechanism and the second clamping motion mechanism are symmetrically arranged on the bottom surface of the frame II. The first clamping motion mechanism and the second clamping motion mechanism have the same structure. The first clamping motion mechanism comprises a reduction motor, a clamping jaw I, a clamping jaw II, a rack I, a rack II, a guide rail I, a guide rail II (56), a slider I, a slider II, a slider III, a slider IV, a slider V, a slider VI, a walking board II and a walking board III. Guide rails I and II are fixedly installed on the bottom surface of frame II at intervals; The sliders Ⅰ, Ⅱ and Ⅳ are fixed on three of the four corners of the top surface of the walking board Ⅱ, and the walking board Ⅱ is slidably installed on the guide rail Ⅰ through the sliders Ⅰ, Ⅱ and Ⅳ. The sliders Ⅴ, Ⅵ and Ⅲ are fixed on three of the four corners of the top surface of the walking board Ⅲ, and the walking board Ⅲ is slidably installed on the guide rails Ⅰ and Ⅱ through the sliders Ⅴ, Ⅵ and Ⅲ. The racks Ⅰ and Ⅱ are fixedly installed on the side walls of the corners of the walking boards Ⅱ and Ⅲ that are close to each other and not installed with the sliders. The reduction motor is fixedly mounted on the top surface of the frame II, and its power output end passes through the bottom surface of the frame II and is located between the rack I and the rack II, thereby driving the walking board II and the walking board III to move in the same or opposite directions; The clamping claw I is fixedly mounted on the bottom surface of the walking board II, and the clamping claw II is fixedly mounted on the bottom surface of the walking board III.

[0009] The technical problem to be solved by the present invention can also be achieved by the following technical solutions. The above-mentioned truss manipulator system with anti-drop protection also includes a limit mechanism, which includes a limit plate I, a limit plate II, a proximity switch I, a bracket III, a bracket IV, a proximity switch II, a bracket V and a bracket VI; The limit plate I and the limit plate II are respectively fixedly mounted on the frame II and face the guide rail I and the guide rail II; The bracket IV is fixedly mounted on the bottom surface of the walking board II and is located on the end of the walking board II on which the limit plate I is mounted. The bracket III is fixedly mounted on the side of the frame II and is located on the end of the frame II close to the limit plate I. The proximity switch I is fixed on the side wall of the bracket III and is located above the bracket IV, so as to detect the position of the bracket IV. The bracket V is fixedly mounted on the bottom surface of the walking board III and is located on one end of the walking board III on which the limit plate II is mounted. The bracket VI is fixedly mounted on the side of the frame II and is located on one end of the frame II close to the limit plate II. The proximity switch II is fixedly mounted on the side wall of the bracket VI and is located above the bracket VI, so as to detect the position of the bracket VI.

[0010] The technical problem to be solved by the present invention can also be achieved by the following technical solution: the above-mentioned truss manipulator system with anti-drop protection also includes a laser ranging sensor, a beam detection mechanism, a micro-motion sensor I and a micro-motion sensor II; The laser distance measuring sensor is fixedly mounted on the side of the frame II, and its measuring direction is vertically downward, so as to detect the distance between the bottom surface of the frame II and the workpiece; The said cross-beam detection mechanism comprises a transmitting end, a bracket VII, a receiving end and a bracket VIII; The bracket VII is fixedly mounted on the bottom side wall of the clamping jaw I, and the transmitting end of the cross-beam detection mechanism is mounted on the bracket VII. The bracket VIII is fixedly mounted on the bottom side wall of the clamping jaw II, and the receiving end of the cross-beam detection mechanism is mounted on the bracket VIII. The second clamping motion mechanism also has a pair of jaws, which are respectively configured as jaw III and jaw IV. A square area is surrounded by jaws I, jaw II, jaw III and jaw IV. Mounting grooves are reserved on the bottom of jaws II and jaw III. The micro-motion sensor I and micro-motion sensor II are respectively installed in the mounting grooves of jaws II and jaw III to detect whether the workpiece is detached from jaws I, jaw II, jaw III and jaw IV.

[0011] A method for using a truss manipulator system with anti-drop protection that adopts the above technical solution, the steps of which are: a control cabinet drives a Y-axis drive mechanism and a Z-axis drive mechanism to move a gripper mechanism along an X-axis I, an X-axis II, a Y-axis and a Z-axis, a laser ranging sensor and a corresponding shooting detection mechanism cooperate until jaws I, II, III and IV in the gripper mechanism grab a workpiece, during which micro-motion sensors I and II jointly detect whether the workpiece is out of jaws I, II, III and IV, when micro-motion sensors I and II detect that there is a workpiece and the system is in a handling process, the system does not allow a first clamping motion mechanism and a second clamping motion mechanism to open jaws I, II, III and IV, and only when the workpiece is placed at a specified position and micro-motion sensors I and II both detect that there is no workpiece, the system can open the four jaws to prevent the workpiece from accidentally falling due to accidental opening of the four jaws during the handling process.

[0012] The technical problem to be solved by the present invention can also be achieved by the following technical solutions: the above-mentioned truss manipulator system with anti-drop protection is equipped with an air source pipeline of a pneumatic brake, the air source pipeline includes a ball valve, an air source processing component, the air storage tank and a two-position three-way solenoid valve connected in sequence through a pipeline, a pressure sensor is connected to the air source pipeline between the air source inlet and the ball valve through a pipeline, and the pneumatic brake is connected to the left position of the two-position three-way solenoid valve; When the system is powered on normally and the air source is normal, the two-position three-way solenoid valve is energized and connected to the left position. At this time, the workshop air source supplies compressed air of a certain pressure to the pneumatic brake through the ball valve, air source processing component and air storage tank. The pneumatic brake works normally and the brake is not activated; When the system is powered off but the air source is normal, the right position of the two-position three-way solenoid valve is connected after power is lost, and the air tank cannot supply compressed air to the pneumatic brake. At the same time, the pneumatic brake releases the internal compressed air through the right position of the two-position three-way solenoid valve. The pneumatic brake achieves rapid braking due to the loss of compressed air. When the system is powered on normally but the gas source is cut off, the pressure sensor detects that the gas source is cut off, and the system automatically alarms to prompt that the workshop gas source has been disconnected. At this time, the ball valve prevents the gas source from flowing back to keep the internal pressure relatively stable. The gas tank temporarily supplies compressed air to the pneumatic brake. The pneumatic brake temporarily works normally without starting the brake. The system stops working after moving the existing workpieces on the gripper mechanism 7 and waits for the gas source to return to normal before continuing production.

[0013] Compared with the prior art, the beneficial technical effects of the present invention are: (1) The truss manipulator system with anti-fall protection of the present invention realizes brake protection after power failure and air failure through a pneumatic brake, thereby preventing accidental free fall of the Z axis and ensuring the normal progress of logistics transfer; (2) Four anti-unhooking hooks are used to provide double protection for the connection between the gripper mechanism and the Z-axis to prevent the gripper mechanism from accidentally falling off; (3) A laser ranging sensor is used to achieve precise grasping of the workpiece, a beam detection mechanism is used to monitor the status of the workpiece in real time, and two micro-motion sensors are used to detect whether there is a workpiece on the four jaws. The four jaws can only release the workpiece after the four jaws move downward and leave the bottom of the workpiece, preventing the four jaws from accidentally opening during the handling process and causing the workpiece to fall accidentally. The structural design is reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the truss manipulator system with anti-fall protection of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the Y axis and the Z axis; Figure 3 is a schematic diagram of the three-dimensional structure of the gripper mechanism; Figure 4 for Figure 3 Schematic diagram after inversion; Figure 5 This is the pneumatic working principle diagram of the pneumatic brake.

[0015] Figure numerals: 1, column Ⅰ; 2, X-axis Ⅰ; 3, column Ⅱ; 4, X-axis Ⅱ; 5, Z-axis; 6, Y-axis; 7, gripper mechanism; 8, control cabinet; 9, column Ⅲ; 10, gas storage tank; 11, column Ⅳ; 12, frame Ⅰ; 13, bracket Ⅱ; 14, pneumatic brake; 15, walking board Ⅰ; 16, bracket Ⅰ; 17, bracket Ⅱ; 18, reduction motor; 19, anti-unhook Ⅰ; 20, frame Ⅱ; 21, anti-unhook Ⅱ; 22, anti-unhook Ⅲ; 23, anti-unhook Ⅳ; 24, slider Ⅰ; 25, limit plate Ⅰ; 26, bracket Ⅲ; 27, proximity switch Ⅰ; 28, bracket Ⅳ; 29, transmitting end; 30, bracket Ⅶ; 31. Gripper I; 32. Slider II; 33. Micro-motion sensor I; 34. Receiving end; 35. Bracket VIII; 36. Gripper II; 37. Slider III; 38. Limit plate II; 39. Slider VI; 40. Gripper III; 41. Micro-motion sensor II; 42. Laser ranging sensor; 43. Gripper IV; 44. First clamping motion mechanism; 45. Rack I; 46. Guide rail I; 47. Rack II; 48. Through-beam detection mechanism; 49. Walking board III; 50. Walking board II; 51. Second clamping motion mechanism; 52. Bracket VI; 53. Bracket V; 54. Proximity switch II; 55. Slider IV; 56. Guide rail II; 57. Slider V. DETAILED DESCRIPTION

[0016] The specific technical solutions of the present invention are further described below with reference to the accompanying drawings, so as to facilitate further understanding of the present invention by those skilled in the art, and do not constitute a limitation on the rights thereof.

[0017] Example 1, reference Figure 1-2 , a truss manipulator system with anti-drop protection, including column Ⅰ1, column Ⅱ3, column Ⅲ9, column Ⅳ11, X-axis Ⅰ2, X-axis Ⅱ4, Y-axis 6, Z-axis 5, gripper mechanism 7 and control cabinet 8, column Ⅰ1, column Ⅱ3, column Ⅲ9, column Ⅳ11 are formed into a roughly columnar structure; X-axis Ⅰ2 is installed above column Ⅰ1 and column Ⅳ11, and X-axis Ⅱ4 is installed above column Ⅱ3 and column Ⅲ9; Both ends of the Y-axis 6 are installed above the X-axis Ⅰ2 and the X-axis Ⅱ4, and a Y-axis driving mechanism is installed between the Y-axis 6 and the X-axis Ⅰ2 and the X-axis Ⅱ4 for the Y-axis 6 to move along the X-axis Ⅰ2 and the X-axis Ⅱ4; The Z axis 5 is installed on the side of the Y axis 6, and a Z axis driving mechanism is installed between the Z axis 5 and the Y axis 6 for the Z axis 5 to move along the Y axis 6 and in the vertical direction. A pneumatic brake 14 is installed beside the Z axis 5 to prevent the Z axis 5 from falling. The gripper mechanism 7 is installed at the lower end of the Z-axis 5 to automatically grab the workpiece below the Z-axis 5; The Y-axis driving mechanism includes a rotating power mechanism I fixed to the bottom of the Y-axis 6, the rotating power mechanism I can be a motor, and a rack I meshing with the power output end of the rotating power mechanism I is fixed on the side walls of the X-axis I2 and the X-axis II4 to provide a transmission for the Y-axis 6 to move. The Z-axis driving mechanism includes a walking board Ⅰ15, and the Z-axis 5 is vertically slidably mounted on the walking board Ⅰ15. A rotating power mechanism Ⅱ and a rotating power mechanism Ⅲ are also mounted on the walking board Ⅰ15. The rotating power mechanism Ⅱ and the rotating power mechanism Ⅲ can be motors. A rack Ⅱ is fixed on the side wall of the Y-axis 6 and meshes with the power output end of the rotating power mechanism Ⅱ to provide horizontal movement of the Z-axis 6. A rack Ⅲ is also vertically fixed on the side wall of the Z-axis 5 and meshes with the power output end of the rotating power mechanism Ⅲ to provide vertical movement of the Z-axis 6. A bracket Ⅰ16 is fixedly provided on the walking board Ⅰ15, the pneumatic brake 14 is fixedly installed on the bracket Ⅰ16, the Z axis 5 is formed into a frame structure and is set as a frame Ⅰ12, a bracket Ⅱ13 is fixedly provided on the top side wall of the frame Ⅰ12, a bracket Ⅱ17 is fixedly provided on the bottom side wall of the frame Ⅰ12, and an anti-fall rod passing through the pneumatic brake 14 is fixedly provided between the bracket Ⅱ13 and the bracket Ⅱ17; When the system loses power, the pneumatic brake 14 loses air supply and locks the anti-fall rod, thereby preventing the frame I 12 from falling. It also includes an air storage tank 10, which is installed on the column IV 11 to provide an emergency air source for the pneumatic brake 14; Reference Figure 3-4 The gripper mechanism 7 includes an anti-disconnection hook Ⅰ19, an anti-disconnection hook Ⅱ21, an anti-disconnection hook Ⅲ22, an anti-disconnection hook Ⅳ23, a frame Ⅱ20, a first clamping movement mechanism 44 and a second clamping movement mechanism 51; The bottoms of the anti-drop hooks Ⅰ19, Ⅱ21, Ⅲ22 and Ⅳ23 are screwed on the top side walls of the frame Ⅱ20. An anti-drop plate is fixedly provided on the bottom surface of the frame Ⅰ12. The top surface of the frame Ⅱ20 is bolted to the bottom surface of the anti-drop plate. The tops of the anti-drop hooks Ⅰ19, Ⅱ21, Ⅲ22 and Ⅳ23 have plate-like protrusions extending inward and are located directly above the edge of the anti-drop plate. The plate-like protrusions are formed into a roughly square plate-like structure. The design purpose is only that when the frame Ⅱ20 falls, the bottom surface of the plate-like protrusions can form an abutment state with the top surface of the anti-drop plate. When the frame Ⅱ20 loses connection with the anti-drop plate and causes the frame Ⅱ20 to fall, the tops of the anti-drop hooks Ⅰ19, Ⅱ21, Ⅲ22 and Ⅳ23 are mounted on the top edge of the anti-drop plate, thereby realizing the anti-falling of the gripper mechanism 7. The four anti-drop hooks provide dual protection for the connection between the gripper mechanism and the Z axis to prevent the gripper mechanism from accidentally falling off. When the gripper mechanism accidentally falls off, the tops of the anti-drop hooks Ⅰ19, Ⅱ21, Ⅲ22 and Ⅳ23 can abut against the top edge of the anti-drop plate, thereby achieving complete drop-off of the gripper mechanism. The first clamping movement mechanism 44 and the second clamping movement mechanism 51 are symmetrically arranged on the bottom surface of the frame II 20. The first clamping movement mechanism 44 and the second clamping movement mechanism 51 have the same structure. The first clamping movement mechanism 44 includes a reduction motor 18, a clamping jaw I 31, a clamping jaw II 36, a rack I 45, a rack II 47, a guide rail I 46, a guide rail II 56, a slider I 24, a slider II 32, a slider III 37, a slider IV 55, a slider V 57, a slider VI 39, a walking board II 50 and a walking board III 49. The slider I 24, the slider II 32, the slider III 37, the slider IV 55, the slider V 57 and the slider VI 39 are formed into a roughly square slider. The guide rails Ⅰ46 and Ⅱ56 are fixedly installed on the bottom surface of the frame Ⅱ20 at intervals; The slider I24, slider II32 and slider IV55 are fixed on three of the four corners of the top surface of the walking board II50, and the walking board II50 is slidably installed on the guide rail I46 through the slider I24, slider II32 and slider IV55. The slider V57, slider VI39 and slider III37 are fixed on three of the four corners of the top surface of the walking board III49, and the walking board III49 is slidably installed on the guide rails I46 and II56 through the slider V57, slider VI39 and slider III37. The rack I45 and rack II47 are fixedly installed on the side wall of the corner of the walking board II50 and the walking board III49 that is close to each other and not installed with the slider; The reduction motor 18 is fixedly mounted on the top surface of the frame II 20, and its power output end penetrates the bottom surface of the frame II 20 and is located between the rack I 45 and the rack II 47, thereby driving the walking board II 50 and the walking board III 49 to move in the same or opposite directions; The clamping claw I 31 is fixedly mounted on the bottom surface of the walking board II 50, and the clamping claw II 36 is fixedly mounted on the bottom surface of the walking board III 49; In order to improve the safety of the operation, we also add a limit mechanism, which includes a limit plate I 25, a limit plate II 38, a proximity switch I 27, a bracket III 26, a bracket IV 28, a proximity switch II 54, a bracket V 53 and a bracket VI 52; The limit plate I25 and the limit plate II38 are respectively fixedly mounted on the frame II20 and face the guide rail I46 and the guide rail II56. The limit plate I25 and the limit plate II38 are formed into a roughly square plate-shaped structure. The bracket IV28 is fixedly mounted on the bottom surface of the walking board II50 and is located on one end of the walking board II50 where the limit plate I25 is mounted. The bracket III26 is fixedly mounted on the side of the frame II20 and is located on one end of the frame II20 close to the limit plate I25. The proximity switch I27 is fixed on the side wall of the bracket III26 and is located above the bracket IV28, so as to detect the position of the bracket IV28. The bracket V53 is fixedly mounted on the bottom surface of the walking board III49 and is located on one end of the walking board III49 where the limit plate II38 is mounted. The bracket VI52 is fixedly mounted on the side of the frame II20 and is located on one end of the frame II20 close to the limit plate II38. The proximity switch II54 is fixedly mounted on the side wall of the bracket VI52 and is located above the bracket VI52, so as to detect the position of the bracket VI52. It also includes a laser distance sensor 42, a beam detection mechanism 48, a micro-motion sensor I 33 and a micro-motion sensor II 41, and its model and specifications can be selected according to the use requirements; The laser distance measuring sensor 42 is fixedly mounted on the side of the frame II 20, and its measuring direction is vertically downward, so as to detect the distance between the bottom surface of the frame II 20 and the workpiece; The said beam detection mechanism 48 comprises a transmitting end 29, a bracket VII 30, a receiving end 34 and a bracket VIII 35; The bracket VII 30 is fixedly mounted on the bottom side wall of the clamping jaw I 31, the transmitting end 29 of the beam detection mechanism 48 is mounted on the bracket VII 30, the bracket VIII 35 is fixedly mounted on the bottom side wall of the clamping jaw II 36, and the receiving end 34 of the beam detection mechanism 48 is mounted on the bracket VIII 35; The second clamping motion mechanism 51 also has a pair of jaws, which are respectively configured as jaw III40 and jaw IV43. A square area is surrounded by jaw I31, jaw II36, jaw III40 and jaw IV43. Mounting grooves are reserved on the bottom of jaw II36 and jaw III40. The micro-motion sensor I33 and micro-motion sensor II41 are respectively installed in the mounting grooves of jaw II36 and jaw III40 to detect whether the workpiece is detached from jaw I31, jaw II36, jaw III40 and jaw IV43.

[0018] Example 2, reference Figure 5A method for using the truss manipulator system with anti-drop protection in Example 1, the steps of which are: the control cabinet 8 drives the Y-axis drive mechanism and the Z-axis drive mechanism to move the gripper mechanism 7 along the X-axis Ⅰ2, X-axis Ⅱ4, Y-axis 6 and Z-axis 5, the laser ranging sensor 42 and the beam detection mechanism 48 cooperate until the gripper mechanism 7 has the workpiece grasped by the gripper claws Ⅰ31, Ⅱ36, Ⅲ40 and Ⅳ, during which the micro-motion sensor Ⅰ33 and the micro-motion sensor Ⅱ41 jointly detect whether the workpiece is out of the gripper claws Ⅰ31 and Ⅱ36. Ⅱ36, gripper Ⅲ40 and gripper Ⅳ43. When the micro-motion sensor Ⅰ33 and the micro-motion sensor Ⅱ41 detect that there is a workpiece and the system is in the process of transporting, the system does not allow the first clamping motion mechanism 44 and the second clamping motion mechanism 51 to open the gripper Ⅰ31, gripper Ⅱ36, gripper Ⅲ40 and gripper Ⅳ43. Only when the workpiece is placed at the specified position and the micro-motion sensor Ⅰ33 and the micro-motion sensor Ⅱ41 both detect that there is no workpiece, the system can open the four grippers to prevent the workpiece from accidentally falling due to the accidental opening of the four grippers during the transport process. The air source pipeline of the pneumatic brake 14 is configured, and the air source pipeline includes a ball valve, an air source processing component, the air storage tank 10 and a two-position three-way solenoid valve which are connected in sequence through a pipeline. A pressure sensor is connected to the air source pipeline between the air source inlet and the ball valve through a pipeline, and the pneumatic brake 14 is connected to the left position of the two-position three-way solenoid valve; when the system is powered on normally and the air source is normal, the two-position three-way solenoid valve is powered on and the left position is connected. At this time, the workshop air source supplies compressed air of a certain pressure to the pneumatic brake 14 through the ball valve, the air source processing component and the air storage tank 10, and the pneumatic brake 14 works normally and does not start the brake; when the system is powered off and the air source is normal, the two-position three-way solenoid valve fails to work. After the power is turned on, the right position is connected, and the air tank cannot supply compressed air to the pneumatic brake 14. At the same time, the pneumatic brake 14 releases the internal compressed air through the right position of the two-position three-way solenoid valve. The pneumatic brake 14 achieves rapid braking due to the loss of compressed air; when the system is normally powered on but the air source is cut off, the pressure sensor detects that the air source is cut off, and the system automatically alarms to prompt that the workshop air source has been disconnected. At this time, the ball valve prevents the air source from flowing back to keep the internal pressure relatively stable. The air tank temporarily supplies compressed air to the pneumatic brake 14, and the pneumatic brake 14 temporarily works normally without starting the brake. The system stops working after moving the existing workpieces on the gripper mechanism 7, and waits for the air source to return to normal before continuing production; It should be noted that Figure 5 The left side is left, the right side is right, the left or right position of the two-position three-way solenoid valve is as follows Figure 5 The left and right sides of the two-position three-way solenoid valve.

Claims

1. A truss manipulator system with anti-fall protection, characterized in that: It includes a column I (1), a column II (3), a column III (9), a column IV (11), an X-axis I (2), an X-axis II (4), a Y-axis (6), a Z-axis (5), a gripper mechanism (7) and a control cabinet (8); The X-axis I (2) is installed above the column I (1) and the column IV (11), and the X-axis II (4) is installed above the column II (3) and the column III (9); Both ends of the Y axis (6) are mounted above the X axis I (2) and the X axis II (4), and a Y axis driving mechanism is mounted between the Y axis (6) and the X axis I (2) and the X axis II (4) for moving the Y axis (6) along the X axis I (2) and the X axis II (4); The Z axis (5) is mounted on the side of the Y axis (6), a Z axis driving mechanism for moving the Z axis (5) along the Y axis (6) and in the vertical direction is mounted between the Z axis (5) and the Y axis (6), and a pneumatic brake (14) for preventing the Z axis (5) from falling is mounted on the side of the Z axis (5); The gripper mechanism (7) is installed at the lower end of the Z axis (5) to automatically grip the workpiece below the Z axis (5).

2. A truss manipulator system with anti-fall protection according to claim 2, characterized in that: The Y-axis driving mechanism comprises a rotary power mechanism I fixed to the bottom of the Y-axis (6), and a rack I fixed on the side walls of the X-axis I (2) and the X-axis II (4) for meshing with the power output end of the rotary power mechanism I to move the Y-axis (6).

3. A truss manipulator system with anti-fall protection according to claim 1, characterized in that: The Z-axis driving mechanism comprises a walking board Ⅰ (15), the Z-axis (5) is vertically slidably mounted on the walking board Ⅰ (15), a rotating power mechanism Ⅱ and a rotating power mechanism Ⅲ are also mounted on the walking board Ⅰ (15), a rack Ⅱ meshing with the power output end of the rotating power mechanism Ⅱ for horizontal movement of the Z-axis (6) is fixedly provided on the side wall of the Y-axis (6), and a rack Ⅲ meshing with the power output end of the rotating power mechanism Ⅲ for vertical movement of the Z-axis (6) is also vertically fixedly provided on the side wall of the Z-axis (5).

4. A truss manipulator system with anti-fall protection according to claim 3, characterized in that: A bracket I (16) is fixedly provided on the walking board I (15), the pneumatic brake (14) is fixedly mounted on the bracket I (16), the Z axis (5) is formed into a frame structure and is provided as a frame I (12), a bracket II (13) is fixedly provided on the top side wall of the frame I (12), a bracket II (17) is fixedly provided on the bottom side wall of the frame I (12), and an anti-fall rod passing through the pneumatic brake (14) is fixedly provided between the bracket II (13) and the bracket II (17); The pneumatic brake selectively locks the anti-fall rod to prevent frame I from falling; It also includes an air storage tank (10), which is installed on the column IV (11) to provide an emergency air source for the pneumatic brake (14).

5. A truss manipulator system with anti-fall protection according to claim 4, characterized in that: The gripper mechanism (7) comprises an anti-disconnection hook I (19), an anti-disconnection hook II (21), an anti-disconnection hook III (22), an anti-disconnection hook IV (23), a frame II (20), a first clamping movement mechanism (44) and a second clamping movement mechanism (51); The bottoms of the anti-drop hooks I (19), II (21), III (22) and IV (23) are screwed onto the top side wall of the frame II (20); an anti-drop plate is fixedly provided on the bottom surface of the frame I (12); the top surface of the frame II (20) is bolted to the bottom surface of the anti-drop plate; the tops of the anti-drop hooks I (19), II (21), III (22) and IV (23) have plate-shaped protrusions extending inward and are located directly above the edge of the anti-drop plate, so that when the frame II (20) loses connection with the anti-drop plate and causes the frame II (20) to fall, the tops of the anti-drop hooks I (19), II (21), III (22) and IV (23) are mounted on the top edge of the anti-drop plate, thereby preventing the gripper mechanism (7) from falling; The first clamping motion mechanism (44) and the second clamping motion mechanism (51) are symmetrically arranged on the bottom surface of the frame II (20); the first clamping motion mechanism (44) and the second clamping motion mechanism (51) have the same structure; the first clamping motion mechanism (44) comprises a reduction motor (18), a clamping jaw I (31), a clamping jaw II (36), a rack I (45), a rack II (47), a guide rail I (46), a guide rail II (56), a slider I (24), a slider II (32), a slider III (37), a slider IV (55), a slider V (57), a slider VI (39), a walking board II (50) and a walking board III (49); The guide rail I (46) and the guide rail II (56) are fixedly installed on the bottom surface of the frame II (20) at intervals; The slider I (24), the slider II (32) and the slider IV (55) are fixed on three of the four corners of the top surface of the walking board II (50), and the walking board II (50) is slidably mounted on the guide rail I (46) through the slider I (24), the slider II (32) and the slider IV (55). The slider V (57), the slider VI (39) and the slider III (37) are fixed on three of the four corners of the top surface of the walking board III (49), and the walking board III (49) is slidably mounted on the guide rail I (46) and the guide rail II (56) through the slider V (57), the slider VI (39) and the slider III (37). The rack I (45) and the rack II (47) are fixedly mounted on the side walls of the walking board II (50) and the walking board III (49) at a corner close to each other and not mounted with the slider. The reduction motor (18) is fixedly mounted on the top surface of the frame II (20), and its power output end passes through the bottom surface of the frame II (20) and is located between the rack I (45) and the rack II (47), thereby driving the walking board II (50) and the walking board III (49) to move in the same or opposite directions; The clamping claw I (31) is fixedly mounted on the bottom surface of the walking board II (50), and the clamping claw II (36) is fixedly mounted on the bottom surface of the walking board III (49).

6. A truss manipulator system with anti-fall protection according to claim 5, characterized in that: It also includes a limiting mechanism, which includes a limiting plate I (25), a limiting plate II (38), a proximity switch I (27), a bracket III (26), a bracket IV (28), a proximity switch II (54), a bracket V (53) and a bracket VI (52); The limit plate I (25) and the limit plate II (38) are respectively fixedly mounted on the frame II (20) and face the guide rail I (46) and the guide rail II (56); The bracket IV (28) is fixedly mounted on the bottom surface of the walking board II (50) and is located on one end of the walking board II (50) on which the limit plate I (25) is mounted. The bracket III (26) is fixedly mounted on the side of the frame II (20) and is located on one end of the frame II (20) close to the limit plate I (25). The proximity switch I (27) is fixed on the side wall of the bracket III (26) and is located above the bracket IV (28) to detect the position of the bracket IV (28). The bracket V (53) is fixedly mounted on the bottom surface of the walking board III (49) and is located on one end of the walking board III (49) on which the limit plate II (38) is mounted. The bracket VI (52) is fixedly mounted on the side of the frame II (20) and is located on one end of the frame II (20) close to the limit plate II (38). The proximity switch II (54) is fixedly mounted on the side wall of the bracket VI (52) and is located above the bracket VI (52), so as to detect the position of the bracket VI (52).

7. A truss manipulator system with anti-fall protection according to claim 6, characterized in that: It also includes a laser distance measuring sensor (42), a beam detection mechanism (48), a micro-motion sensor I (33) and a micro-motion sensor II (41); The laser distance measuring sensor (42) is fixedly mounted on the side of the frame II (20), and its measuring direction is vertically downward, so as to detect the distance between the bottom surface of the frame II (20) and the workpiece; The said cross-beam detection mechanism (48) comprises a transmitting end (29), a bracket VII (30), a receiving end (34) and a bracket VIII (35); The bracket VII (30) is fixedly mounted on the bottom side wall of the clamping jaw I (31), the transmitting end (29) of the beam detection mechanism (48) is mounted on the bracket VII (30), the bracket VIII (35) is fixedly mounted on the bottom side wall of the clamping jaw II (36), and the receiving end (34) of the beam detection mechanism (48) is mounted on the bracket VIII (35); The second clamping motion mechanism (51) also has a pair of jaws, which are respectively configured as jaw III (40) and jaw IV (43). A square area is surrounded by jaw I (31), jaw II (36), jaw III (40) and jaw IV (43). Mounting grooves are reserved on the bottoms of jaws II (36) and jaw III (40). The micro-motion sensor I (33) and micro-motion sensor II (41) are respectively installed in the mounting grooves of jaws II (36) and jaw III (40) to detect whether the workpiece is detached from jaws I (31), jaws II (36), jaws III (40) and jaw IV (43).

8. A method for using a truss manipulator system with anti-fall protection according to any one of claims 1 to 7, characterized in that: The steps are as follows: a control cabinet (8) drives a Y-axis driving mechanism and a Z-axis driving mechanism to move a gripper mechanism (7) along an X-axis I (2), an X-axis II (4), a Y-axis (6) and a Z-axis (5); a laser distance measuring sensor (42) and a beam detection mechanism (48) cooperate with each other until the gripper jaws I (31), II (36), III (40) and IV in the gripper mechanism (7) grasp the workpiece; during this period, the micro-motion sensor I (33) and the micro-motion sensor II (41) jointly detect whether the workpiece is separated from the gripper jaws I (31), II (36), III (40) and IV. When the micro-motion sensor I (33) and the micro-motion sensor II (41) detect that there is a workpiece and the system is in the process of transporting, the system does not allow the first clamping motion mechanism (44) and the second clamping motion mechanism (51) to open the four clamping jaws I (31), II (36), III (40) and IV (43). Only when the workpiece is placed at the specified position and the micro-motion sensor I (33) and the micro-motion sensor II (41) both detect that there is no workpiece, can the system open the four clamping jaws to prevent the workpiece from accidentally falling due to the accidental opening of the four clamping jaws during the transport process.

9. The method for using the truss manipulator system with anti-fall protection according to claim 8, characterized in that: A gas source pipeline is provided for the pneumatic brake (14), the gas source pipeline comprising a ball valve, a gas source processing component, the gas storage tank (10) and a two-position three-way solenoid valve connected in sequence through a pipeline, a pressure sensor is connected to the gas source pipeline between the gas source inlet and the ball valve through a pipeline, and the pneumatic brake (14) is connected to the left position of the two-position three-way solenoid valve; When the system is powered on normally and the air source is normal, the two-position three-way solenoid valve is energized and connected to the left position. At this time, the workshop air source supplies compressed air of a certain pressure to the pneumatic brake (14) through the ball valve, the air source processing component and the air storage tank (10). The pneumatic brake (14) works normally and the brake is not activated. When the system is powered off but the air source is normal, the two-position three-way solenoid valve is powered off and the right position is connected, the air storage tank cannot supply compressed air to the pneumatic brake (14), and the pneumatic brake (14) releases the internal compressed air through the two-position three-way solenoid valve in the right position, and the pneumatic brake (14) achieves rapid braking due to the loss of compressed air; When the system is powered on normally but the gas source is cut off, the pressure sensor detects that the gas source is cut off and the system automatically alarms to indicate that the workshop gas source has been disconnected. At this time, the ball valve prevents the gas source from flowing back to keep the internal pressure relatively stable. The gas storage tank temporarily supplies compressed air to the pneumatic brake (14). The pneumatic brake (14) temporarily works normally without activating the brake. The system stops working after moving the existing workpieces on the gripper mechanism (7) and waits for the gas source to return to normal before continuing production.

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