Truss manipulator with balance compensation function

Abstract

The present application relates to the technical field of manipulator, and discloses a truss manipulator with balance compensation function, which comprises a truss body and a grabbing chassis, a main suction mechanism is arranged at the center position of the grabbing chassis, and a compensation mechanism is installed at each corner position of the grabbing chassis; the compensation mechanism comprises an electric push rod and a secondary suction disc, and the secondary suction disc is arranged at the telescopic end of the electric push rod; the main suction mechanism comprises a suction disc body and a tension measuring element, the suction disc body comprises an upper suction disc and a lower suction disc, the two are of an integrated structure, and the upper suction disc is designed to have elasticity; the tension measuring element comprises four pressure plates distributed in different directions and corresponding load sensors, and each load sensor is arranged below the corresponding pressure plate; through the ingenious combination of the main suction mechanism and the compensation mechanism, the present application realizes accurate balance compensation of the vehicle door workpiece during the carrying process, and reduces carrying failures and workpiece damage caused by workpiece shaking or tilting.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more specifically, to a gantry robotic arm with a balance compensation function. Background Technology

[0002] The gantry robot for gripping car door workpieces is an automated device used in the automotive manufacturing industry. It is mainly used to efficiently and accurately complete tasks such as handling, assembling, and positioning car door components. The gantry robot consists of multiple rigid structures, typically including a base, multiple support arms, and an end effector. This type of robot has high flexibility and stability, and can move precisely in multiple directions to adapt to car door workpieces of different sizes and shapes.

[0003] Gantry robots typically employ a gantry structure, consisting of columns, beams, guide rails, rams, and other components, forming a stable frame. The gripping chassis is mounted on the moving end of the robot and is used to support and grip workpieces. The gripping chassis is equipped with suction cups for adsorbing workpieces.

[0004] However, due to its design, the door workpiece exhibits uneven weight distribution. When the suction cup adsorbs and lifts the workpiece, if there is a significant offset between the workpiece's center of gravity and the suction point, the workpiece will sway during lifting due to the gravitational torque. This swaying intensifies as the distance traveled increases. To address this, we propose a gantry robot with balance compensation functionality. Summary of the Invention

[0005] This invention provides a gantry robot with a balance compensation function, which solves the problem in related technologies where there is a large offset between the center of gravity of the car door workpiece and the suction point of the suction cup, causing the workpiece to sway during the lifting process due to the gravitational torque.

[0006] The present invention provides a truss manipulator with a balance compensation function, comprising: a truss body and a gripping chassis, wherein a main suction mechanism is provided at the center of the gripping chassis and compensation mechanisms are installed at its four corners;

[0007] The compensation mechanism includes an electric push rod and a secondary suction cup, with the secondary suction cup located at the telescopic end of the electric push rod;

[0008] The main suction mechanism includes a suction cup body and a force measuring component. The suction cup body includes an upper suction cup and a lower suction cup, which are integrated into one piece. The upper suction cup is designed to be elastic. The force measuring component includes four pressure plates distributed in different directions and corresponding load cells. Each load cell is located below the corresponding pressure plate, and the lower wall of each pressure plate is fixedly connected to the junction of the upper and lower suction cups by a spring-loaded pull rope.

[0009] The suction disc body and the four-direction auxiliary suction disc jointly adsorb and lift the vehicle door workpiece. Due to the uneven weight of the vehicle door workpiece, the four-direction elastic limiting pull ropes are subjected to different falling forces, different downward pressures are applied to the four weighing sensors, the weighing sensors transmit the measured data to the control system, the control system controls the extension and retraction of the electric push rod at the corresponding position according to the received data, drives the auxiliary suction disc to lift the vehicle door workpiece in the corresponding direction, and realizes the balance compensation function.

[0010] Further, the truss body comprises a traveling frame, the traveling frame is connected with the truss body through a driving member, and the traveling frame and the truss body are configured to move relative to each other. The bottom end of the traveling frame is fixedly connected with the grabbing chassis.

[0011] Further, the suction disc body further comprises a mounting disc, the mounting disc is fixedly connected with the upper segment suction disc, the mounting disc is fixedly connected with the grabbing chassis, a central control box is fixedly arranged at the inner center position of the mounting disc, and four pressing plates are rotatably connected with the outer wall of the central control box. The end of the pressing plate away from the central control box is aligned with the probe of the corresponding weighing sensor.

[0012] Further, the inner side of the lower segment suction disc is provided with an inner segment suction disc, the inner segment suction disc and the lower segment suction disc are in an integral form, and the inner segment suction disc and the lower segment suction disc are concentric. The space from the inner segment suction disc to the center is in communication with the inner space of the upper segment suction disc, and the space from the outer wall of the inner segment suction disc to the inner wall of the lower segment suction disc is not in communication with the inner space of the upper segment suction disc. The end of the elastic limiting pull rope close to the pressing plate is one, and the end away from the pressing plate is divided into several, which are connected with the joint of the upper segment suction disc and the lower segment suction disc, and are distributed in an umbrella shape.

[0013] Further, the compensation mechanism further comprises a side box fixedly connected with the grabbing chassis, and the inner side of the side box is provided with a liquid storage box. The outlet end of the liquid storage box is connected with a liquid passage pipe, the liquid passage pipe is filled with liquid in the liquid storage box, and the liquid storage box is in a bubble-free state.

[0014] Further, the telescopic column side wall of the electric push rod is fixedly provided with two mutually symmetrical pull columns, and the end of the pull column away from the auxiliary suction disc is fixedly provided with a pressure plate. The pressure plate is located below the liquid storage box, and the pressure plate is slidably connected with the liquid storage box. The pressure plate is extruded by the telescopic column of the electric push rod.

[0015] Further, the end of the liquid passage pipe away from the side box is connected with an auxiliary control box, the auxiliary control box is fixedly arranged in the inner side of the central control box, the inner side of the auxiliary control box is divided into four independent spaces, each space corresponds to one compensation mechanism in the same direction, and an expansion film is fixedly arranged in each space. The included angle space between the expansion film and the auxiliary control box is in communication with the corresponding liquid passage pipe.

[0016] Further, the center of the auxiliary control box is fixedly provided with a control switch, the control switch is connected with the control system through wires, signals are transmitted to the control system through the control switch, and after receiving the control signal of the control system, the telescopic end of the electric push rod is pushed to be telescopic.

[0017] Further, the other side of the inflatable film is fixedly connected with a telescopic column, the outer wall of the telescopic column is inlaid with a plurality of groups of conductive sheets, each group of conductive sheets is divided into two non-contact parts from the center line position, two electric contact heads one are arranged on the two sides of the telescopic column respectively, and the two electric contact heads one of the same group are connected in series through wires.

[0018] Further, a guide column is slidably arranged in the telescopic column, a second electric contact head is fixedly arranged at the bottom end of the guide column, the second electric contact head is in contact with the inner wall of the conductive sheet, and the second electric contact head is connected with the control switch through wires.

[0019] The beneficial effects of the present application are:

[0020] The present application realizes the precise balance compensation of the vehicle door workpiece in the carrying process through the ingenious combination of the main suction mechanism and the compensation mechanism, the upper section suction disc in the main suction mechanism is designed as an elastic structure, can sensitively perceive the falling force caused by uneven weight distribution of the workpiece, and transmit the force to the weighing sensors in four directions through the elastic limiting rope, the control system rapidly adjusts the telescopic action of the electric push rod in the corresponding position according to the data fed back by the sensor, drives the auxiliary suction disc to lift or lower the specific part of the workpiece, so that the precise adjustment of the overall balance state of the workpiece is realized, and the stability and safety of the manipulator in carrying the vehicle door workpiece are greatly improved, and the carrying failure and workpiece damage caused by the shaking or tilting of the workpiece are reduced.

[0021] The control system can receive and analyze the data of the weighing sensor in real time, automatically calculate and adjust the telescopic amount of the electric push rod, and realize the balance compensation function without manual intervention, so that the operation efficiency of the manipulator is improved, the operation difficulty and labor cost are reduced, and since the system can accurately control the telescopic action of the electric push rod, the situation of excessive adjustment or insufficient adjustment can be avoided, so that the accuracy and stability of the workpiece carrying are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is the overall structure schematic diagram of the present application;

[0023] Figure 2 is the structure schematic diagram of the grabbing chassis of the present application;

[0024] Figure 3 is the structure schematic diagram of the mounting disc of the present application;

[0025] Figure 4is the schematic diagram of the upper segment suction disc structure of the present application;

[0026] Figure 5 is the schematic diagram of the inner segment suction disc structure of the present application;

[0027] Figure 6 is the schematic diagram of the side box structure of the present application;

[0028] Figure 7 is the schematic diagram of the right view structure of the electric push rod of the present application;

[0029] Figure 8 is the schematic diagram of the internal structure of the side box of the present application;

[0030] Figure 9 is the schematic diagram of the internal structure of the auxiliary control box of the present application;

[0031] Figure 10 is the schematic diagram of the internal structure of the pressure following column of the present application.

[0032] In the figure: 11, truss body; 12, traveling frame; 13, grabbing chassis; 2, main suction mechanism; 21, mounting disc; 22, upper segment suction disc; 23, lower segment suction disc; 24, central control box; 25, pressure applying plate; 26, weighing sensor; 27, elastic rope limiting pulley; 28, inner segment suction disc; 3, compensation mechanism; 31, side box; 32, electric push rod; 33, auxiliary suction disc; 34, liquid storage box; 35, pressure following plate; 36, pressure following column; 37, liquid passage pipe; 41, auxiliary control box; 42, expanding rubber sheet; 43, extension column; 44, conductive sheet; 45, electric contact head one; 46, control switch; 47, guide column; 48, electric contact head two. DETAILED DESCRIPTION

[0033] The subject matter described herein will now be discussed with reference to example implementations. It should be understood that the discussion of these implementations is merely meant to provide a better understanding of the subject matter described herein and can be changed in the function and arrangement of the elements discussed without departing from the scope of the content of this specification. Various processes or components can be omitted, substituted, or added according to need from various examples. In addition, features described with respect to some examples can also be combined in other examples.

[0034] As shown in Figures 1-10 A truss manipulator with a balance compensation function includes a truss body 11 and a grabbing chassis 13, the center of the grabbing chassis 13 is provided with a main suction mechanism 2, and the four corners of the grabbing chassis 13 are each provided with a compensation mechanism 3.

[0035] The compensation mechanism 3 includes an electric push rod 32 and an auxiliary suction disc 33, the auxiliary suction disc 33 is arranged at the telescopic end of the electric push rod 32.

[0036] The main suction mechanism 2 comprises a suction disc body and a tension measuring element, the suction disc body comprises an upper section suction disc 22 and a lower section suction disc 23, both of which are of an integral structure, and the upper section suction disc 22 is designed to have elasticity; the tension measuring element comprises four pressure plates 25 distributed in different directions and corresponding load sensors 26, each load sensor 26 is arranged below the corresponding pressure plate 25, and the lower wall of each pressure plate 25 is fixedly connected with the joint of the upper section suction disc 22 and the lower section suction disc 23 through an elastic limiting pull rope 27.

[0037] The suction disc body and the four-directional auxiliary suction disc 33 jointly adsorb and lift the door workpiece, due to the uneven weight of the door workpiece, the four-directional elastic limiting pull ropes 27 are subjected to different downward forces, the four load sensors 26 are subjected to different downward pressures, the load sensors 26 transmit the measured data to the control system, and the control system controls the extension and retraction action of the corresponding electric push rod 32 according to the received data, drives the auxiliary suction disc 33 to lift the door workpiece in the corresponding direction, and realizes the balance compensation function.

[0038] The truss body 11 comprises a traveling frame 12, the traveling frame 12 is connected with the truss body 11 through a driving element, and constitutes mutual movement, and the grabbing chassis 13 is fixedly connected with the bottom end of the traveling frame 12.

[0039] As shown in Figure 2 , Figure 4 and Figure 5 , the suction disc body further comprises a mounting disc 21, the mounting disc 21 is fixedly connected with the upper section suction disc 22, the mounting disc 21 is fixedly connected with the grabbing chassis 13, a central control box 24 is fixedly arranged at the inner center position of the mounting disc 21, and the four pressure plates 25 are rotationally connected with the outer wall of the central control box 24, and the end of the pressure plate 25 away from the central control box 24 is aligned with the probe of the corresponding load sensor 26.

[0040] The inner side of the lower section suction disc 23 is provided with an inner section suction disc 28, the inner section suction disc 28 and the lower section suction disc 23 are of an integral structure, and the inner section suction disc 28 and the lower section suction disc 23 are concentric, the space from the inner section suction disc 28 to the center is communicated with the inner space of the upper section suction disc 22, the space from the outer wall of the inner section suction disc 28 to the inner wall of the lower section suction disc 23 is not communicated with the inner space of the upper section suction disc 22, and the end of the elastic limiting pull rope 27 close to the pressure plate 25 is one, the end of the elastic limiting pull rope 27 away from the pressure plate 25 is divided into several, and is connected with the joint of the upper section suction disc 22 and the lower section suction disc 23, and is distributed in an umbrella shape.

[0041] The traveling frame 12 moves according to the designed predetermined path by its driving member, so that the grabbing chassis 13 is tightly pressed on the door workpiece, and at the same time, the control mechanism of the suction cup simultaneously extracts air in one suction cup body and four auxiliary suction cups 33 to form a negative pressure state, and then the door workpiece is sucked up to the designated position through the predetermined path, and then the control mechanism of the suction cup fills air into one suction cup body and four auxiliary suction cups 33 to drop the door workpiece;

[0042] When the traveling frame 12 lifts the door workpiece, due to the uneven weight distribution around the door workpiece, the downward moment of the door workpiece on the upper suction cup 22 is reflected when the door workpiece is separated from the platform, the upper suction cup 22 is elastic and is elongated, at the same time, the elastic limiting pull rope 27 in four directions is pulled down, and the downward force of the elastic limiting pull rope 27 is transmitted to the pressing plate 25, driving the pressing plate 25 to pressurize the load sensor 26, the downward pressure received by the load sensor 26 in four directions is different, and the data transmitted by the load sensor 26 to the system is different, the system judges according to the data of the load sensor 26 in different directions, and controls the corresponding electric push rod 32 to work;

[0043] For example, the left side of the upper suction cup 22 receives a larger downward force, so that the telescopic column of the electric push rod 32 at the left upper corner and the left lower corner is retracted through system control, reducing the downward displacement or increasing the upward pulling force in this direction, which can increase the upward pulling force on this side, so as to balance the downward force, and the working mode of the electric push rod 32 in other directions is the same as above;

[0044] The elastic limiting pull rope 27 can limit the deformation of the upper suction cup 22 under gravity, so as to prevent the door workpiece from falling off;

[0045] The concentric circle structure formed by the inner suction cup 28 and the lower suction cup 23 can ensure that the space between the inner suction cup 28 and the lower suction cup 23 is tightly sucked on the door workpiece after the upper suction cup 22 receives the downward force.

[0046] The compensation mechanism 3 further includes a side box 31 fixedly connected with the grabbing chassis 13, the inside of the side box 31 is provided with a liquid storage box 34, and the water outlet end of the liquid storage box 34 is connected with a liquid passage pipe 37, the liquid passage pipe 37 is filled with liquid in the liquid storage box 34, and is in a bubble-free state.

[0047] The telescopic column of the electric push rod 32 is fixedly provided with two mutually symmetrical pull columns 36 on the side wall, and the end of the pull column 36 away from the auxiliary suction cup 33 is fixedly provided with a pressure plate 35, the pressure plate 35 is located below the liquid storage box 34, and the pressure plate 35 is slidably connected with the liquid storage box 34, the pressure plate 35 is extruded by the telescopic and same direction movement of the telescopic column of the electric push rod 32.

[0048] The auxiliary control box 41 is connected to one end of the liquid passage pipe 37 away from the side box 31, is fixed in the inside of the central control box 24, and is internally divided into four independent spaces, each of which corresponds to one compensation mechanism 3 in the same direction. An expansion rubber sheet 42 is fixedly arranged in each space. The included angle between the expansion rubber sheet 42 and the auxiliary control box 41 is in communication with the corresponding liquid passage pipe 37.

[0049] As shown in Figure 8 , Figure 9 and Figure 10 , a control switch 46 is fixedly arranged at the center of the auxiliary control box 41. The control switch 46 is connected to the control system through wires and transmits signals to the control system through the control switch 46. After receiving the control signal of the control system, the telescopic end of the electric push rod 32 is pushed to extend or retract.

[0050] The other side of the expansion rubber sheet 42 is fixedly connected to a telescopic column 43. A plurality of groups of conductive sheets 44 are inlaid on the outer wall of the telescopic column 43. Each group of conductive sheets 44 is divided into two non-contacting parts from the center line. Two electric contact heads 45 are arranged on the two sides of the telescopic column 43, and the two electric contact heads 45 of the same group are connected in series through wires.

[0051] A guide column 47 is slidably arranged in the inside of the telescopic column 43. An electric contact head 48 is fixedly arranged at the bottom end of the guide column 47. The electric contact head 48 is in contact with the inner wall of the conductive sheet 44. The electric contact head 48 is connected to the control switch 46 through wires.

[0052] When the telescopic column of the electric push rod 32 is shortened, the telescopic column of the electric push rod 32 drives the telescopic column 36 to rise. The telescopic column 36 drives the pressing plate 35 to rise and extrude the liquid storage box 34. The liquid in the liquid storage box 34 flows into the included angle space of the corresponding expansion rubber sheet 42 and auxiliary control box 41 through the liquid passage pipe 37, so that the expansion rubber sheet 42 expands. The expansion of the expansion rubber sheet 42 drives the telescopic column 43 to slide. At this time, the two electric contact heads 45 of the same group contact the same group of conductive sheets 44, and the sliding of the electric contact head 48 is in contact with the inner wall of the same group of conductive sheets 44, so that the same group of conductive sheets 44 are electrified. If the expansion volumes of the four expansion rubber sheets 42 are the same, the four electric contact heads 45 in the four directions and the corresponding telescopic column 43 and electric contact head 48 form a complete series at this time. At this time, the control switch 46 is electrified to send a signal to the system, and the electric push rod 32 stops working.

[0053] If the expansion volumes of the four expansion rubber sheets 42 are different, the electric contact head 45 and the electric contact head 48 in the same position contact the conductive sheets 44 in different positions. At this time, the control switch 46 does not work, and the four electric push rods 32 continue to work. The data of the weighing sensor 26 are matched to compensate the vehicle door workpieces in the four directions until the compensation reaches the preset value.

[0054] S1, initial preparation and adsorption stage:

[0055] The traveling frame 12 moves along a predetermined path by the driving member, so that the grabbing chassis 13 closely contacts the door workpiece. At the same time, the air in the suction cup body and the four auxiliary suction cups 33 is extracted by the control mechanism of the suction cup, so that a negative pressure state is formed. Under the action of the negative pressure, the suction cup body and the auxiliary suction cups 33 jointly adsorb and lift the door workpiece.

[0056] S2, weight distribution detection and data collection stage:

[0057] Due to the uneven weight distribution of the door workpiece, the upper suction cup 22 is elongated under the action of elasticity, and the downward force is transmitted to the four-direction pressing plates 25 through the elastic limiting pull rope 27. The pressing plates 25 exert different downward pressures on the load sensors 26, and the load sensors 26 measure and record these downward pressure data. The load sensors 26 transmit the data to the control system to provide data support for subsequent balance compensation.

[0058] S3, balance compensation calculation and control instruction sending stage:

[0059] The control system receives the data of the load sensors 26 and analyzes and processes them. According to the data analysis results, the control system calculates the position and extension amount of the electric push rod 32 that needs to be adjusted, and sends control instructions to the electric push rod 32 at the corresponding position, preparing for the balance compensation action.

[0060] S4, balance compensation execution stage:

[0061] The electric push rod 32 performs extension and retraction action according to the received control instructions, drives the auxiliary suction cup 33 to lift or lower the door workpiece in the corresponding direction, and adjusts the extension amount of the four-direction electric push rod 32 to realize the balance compensation of the door workpiece.

[0062] S5, inflation film 42 detection and stop condition judgment stage:

[0063] At the same time of the work of the electric push rod 32, the liquid in the liquid storage box 34 flows into the space between the inflation film 42 and the auxiliary control box 41 through the liquid pipe 37 by extruding the liquid storage box 34 by the pressing plate 35. The inflation film 42 expands and pushes the sliding column 43 to slide, and at the same time, the contact head one 45 and the contact head two 48 contact the conductive sheet 44 to form a series circuit. The control system detects whether the contact head one 45 and the contact head two 48 in the four directions form a complete series circuit to judge whether the balance compensation reaches the preset value.

[0064] S6, complete balance compensation and subsequent operation stage:

[0065] If the four-directional contact head one 45 and the contact head two 48 form a complete series circuit, it indicates that the balance compensation reaches the preset value, the control system sends a stop working instruction to the electric push rod 32, if the preset value is not reached, the control system continues to adjust the extension and retraction amount of the electric push rod 32 until the condition is met, finally, the control mechanism of the suction cup fills air into the suction cup body and the auxiliary suction cup 33, and the vehicle door workpiece is lowered, completing the entire working process.

[0066] The above describes the embodiments of the present embodiment, but the present embodiment is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative but not restrictive, and those skilled in the art can make many forms under the inspiration of the present embodiment, which all belong to the protection of the present embodiment.

Claims

1. A gantry robot with a balance compensation function, comprising: The truss body (11) and the gripping chassis (13) are characterized in that a main suction mechanism (2) is provided at the center of the gripping chassis (13), and a compensation mechanism (3) is installed at each of its four corners. The compensation mechanism (3) includes an electric push rod (32) and a secondary suction cup (33), wherein the secondary suction cup (33) is located at the telescopic end of the electric push rod (32); The main suction mechanism (2) includes a suction cup body and a force measuring component. The suction cup body includes an upper suction cup (22) and a lower suction cup (23), which are integrated into one piece. The upper suction cup (22) is designed to be elastic. The force measuring component includes four pressure plates (25) distributed in different directions and corresponding weighing sensors (26). Each weighing sensor (26) is located below the corresponding pressure plate (25), and the lower wall of each pressure plate (25) is fixedly connected to the junction of the upper suction cup (22) and the lower suction cup (23) by a spring-loaded pull rope (27). The suction cup body and the auxiliary suction cups (33) in four directions work together to adsorb and lift the door workpiece. Due to the uneven weight of the door workpiece, the elastic pull ropes (27) in the four directions are subjected to different downward forces, which apply different downward pressures to the four weighing sensors (26). The weighing sensors (26) transmit the measured data to the control system. The control system controls the electric push rod (32) at the corresponding position to extend and retract according to the received data, driving the auxiliary suction cups (33) to lift the door workpiece in the corresponding direction, thereby realizing the balance compensation function.

2. A gantry robot with balance compensation function according to claim 1, characterized in that, The truss body (11) includes a traveling frame (12), which is connected to the truss body (11) by a driving component to move relative to each other. The grabbing chassis (13) is fixedly connected to the bottom end of the traveling frame (12).

3. A gantry robot with balance compensation function according to claim 1, characterized in that, The suction cup body also includes a mounting plate (21), which is fixedly connected to the upper suction cup (22) and the gripping base (13). A central control box (24) is fixedly installed in the center of the mounting plate (21), and four pressure plates (25) are rotatably connected to the outer wall of the central control box (24). The end of the pressure plate (25) away from the central control box (24) is aligned with the probe of the corresponding weighing sensor (26).

4. A gantry robot with balance compensation function according to claim 1, characterized in that, The lower suction cup (23) has an inner suction cup (28) on its inner side. The inner suction cup (28) and the lower suction cup (23) are integrated and are concentric circles. The space from the inner suction cup (28) to the center of the circle is connected to the internal space of the upper suction cup (22). The space from the outer wall of the inner suction cup (28) to the inner wall of the lower suction cup (23) is not connected to the internal space of the upper suction cup (22). The elastic pull rope (27) has one end near the pressure plate (25) and several ends away from the pressure plate (25). All of them are connected to the junction of the upper suction cup (22) and the lower suction cup (23) and are distributed in an umbrella shape.

5. A gantry robot with balance compensation function according to claim 3, characterized in that, The compensation mechanism (3) also includes a side box (31) fixedly connected to the gripping chassis (13). The side box (31) is provided with a liquid storage box (34), and the water outlet of the liquid storage box (34) is connected to a liquid pipe (37). The liquid pipe (37) and the liquid storage box (34) are filled with liquid and are in a bubble-free state.

6. A gantry robot with balance compensation function according to claim 5, characterized in that, The telescopic column sidewall of the electric push rod (32) is fixedly provided with two mutually symmetrical follower columns (36), and the end of the follower column (36) away from the auxiliary suction cup (33) is fixedly provided with a follower pressure plate (35). The follower pressure plate (35) is located below the liquid storage box (34), and the follower pressure plate (35) is slidably connected to the liquid storage box (34). The follower pressure plate (35) moves in the same direction as the telescopic column of the electric push rod (32) to squeeze the liquid storage box (34).

7. A gantry robot with balance compensation function according to claim 5, characterized in that, The end of the liquid inlet tube (37) away from the side box (31) is connected to the auxiliary control box (41). The auxiliary control box (41) is fixed inside the central control box (24). The interior of the auxiliary control box (41) is divided into four independent spaces. Each space corresponds to a compensation mechanism (3) in the same direction. An expansion film (42) is fixedly installed in each space. The angle between the expansion film (42) and the auxiliary control box (41) is connected to the corresponding liquid inlet tube (37).

8. A gantry robot with balance compensation function according to claim 7, characterized in that, A control switch (46) is fixedly installed at the center of the auxiliary control box (41). The control switch (46) is connected to the control system through a wire. The control switch (46) transmits signals to the control system. After receiving the control signal from the control system, it pushes the telescopic end of the electric push rod (32) to extend or retract.

9. A gantry robot with balance compensation function according to claim 8, characterized in that, The other side of the expansion film (42) is fixedly connected to the extension column (43). The outer wall of the extension column (43) is inlaid with several sets of conductive sheets (44), and each set of conductive sheets (44) is divided into two non-contact parts from the center line position. Two contact heads (45) are respectively provided on both sides of the extension column (43), and the two contact heads (45) of the same set are connected in series by wires.

10. A gantry robot with balance compensation function according to claim 9, characterized in that, The guide post (47) is slidably arranged inside the follower post (43). A second contact (48) is fixedly arranged at the bottom end of the guide post (47), and the second contact (48) is in contact with the inner wall of the conductive sheet (44). The second contact (48) is connected to the control switch (46) through a wire.

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