Truss robot suitable for carrying heavy workpieces

Abstract

The truss robot comprises a truss device and a moving block assembly, the truss device is provided with a sliding groove extending in the length direction of the truss device, an opening is formed in the upper end of the sliding groove, and a cavity is formed in the groove wall of the sliding groove; the side portion of the sliding groove is provided with a liquid storage barrel arranged in the vertical direction, the liquid storage barrel is communicated with the cavity, the space between the liquid storage barrel and the cavity is filled with lubricating liquid, the movable block assembly is movably assembled in the sliding groove through a fastening adjusting piece, when the fastening adjusting piece moves, the lubricating liquid can be extruded intermittently, and the lubricating liquid can be extruded out intermittently through rolling of the fastening adjusting piece in the sliding groove. The movable block assembly is arranged in the cavity and extrudes the lubricating liquid in the cavity in the rolling process, so that abrasion generated when the movable block moves on the sliding groove is reduced, meanwhile, when the movable block needs to be disassembled, the movable block assembly can be conveniently disassembled from the interior of the sliding groove by controlling the fastening adjusting piece, and the convenience of later maintenance is improved.

Description

Technical Field

[0001] The present application relates to the technical field of truss robots, and in particular to a truss robot suitable for handling heavy workpieces. Background Art

[0002] With the advent of the industrial age, automated production has become an important trend in the transformation and upgrading of the manufacturing industry, especially in the processing and manufacturing of heavy workpieces. Due to the large size and heavy weight of the workpieces, traditional manual handling is not only inefficient but also has high safety risks. Existing automated equipment generally uses truss robots to transport parts produced by machine tools in the production line.

[0003] At present, AGV (automatic guided vehicle) is generally used in conjunction with traditional crane systems for transportation and assembly of heavy workpieces. The crane system uses slings or grippers on the truss to transport and assemble the workpiece.

[0004] During use, existing handling robots need to move frequently on the truss. The sliding wear between the slider on the truss and the truss slide groove is large, which causes the truss robot to shake more when moving or transporting workpieces, and the operation is not stable enough. When the truss robot needs to be disassembled for maintenance, the disassembly method is relatively cumbersome. Summary of the invention

[0005] The present application provides a truss robot suitable for handling heavy workpieces, which can solve the problems that the existing truss robots are severely worn when walking on the truss and are not convenient to disassemble and maintain.

[0006] The technical solution of the present application is as follows: A truss robot suitable for handling heavy workpieces, comprising: A truss device, wherein the truss device is provided with a slide groove extending along the length direction of the truss device, the upper end of the slide groove is provided with an opening, the inner part of the groove wall of the slide groove is provided with a cavity, the side of the slide groove is provided with a liquid storage cylinder arranged in the vertical direction, the liquid storage cylinder is connected with the cavity, and the space between the liquid storage cylinder and the cavity is filled with lubricating liquid; A moving block assembly, wherein the moving block assembly includes a moving block, wherein the moving block is horizontally arranged above the slide groove, wherein a detachable fastening and adjusting member is arranged at one end of the moving block, and the moving block is movably assembled in the slide groove through the fastening and adjusting member, and wherein the fastening and adjusting member can intermittently squeeze out lubricating liquid when moving, so that the lubricating liquid lubricates the fastening and adjusting member and the slide groove.

[0007] The fastening and adjusting member comprises: A threaded rod, the threaded rod is vertically arranged, the lower end of which passes through the moving block and extends into the sliding groove, and the upper end surface of the threaded rod is provided with a paddle; The first limiting roller, the first limiting roller is arranged obliquely downward and is symmetrically rotatably assembled on both sides of the threaded rod. The distance between the two first limiting rollers is greater than the width of the opening. The inner walls on both sides of the chute are both provided with inclined limiting surfaces symmetrically arranged in the vertical direction. The first limiting rollers correspond to the inclined limiting surfaces one by one and can roll on the inclined limiting surfaces. There is an adjusting gap between the first limiting roller and the inner wall of the bottom end of the chute; The second limiting roller, the second limiting roller is arranged horizontally. The second limiting roller is rotatably assembled on the lower surface of the moving block and is symmetrically located on both sides of the threaded rod. An annular depression is formed in the middle of the second limiting roller along its circumferential direction. Arc-shaped surfaces are provided on both sides at the upper end of the chute. The annular depression is in contact with the arc-shaped surface and rolls along the length direction of the arc-shaped surface; The clamping plate, the clamping plate is detachably assembled on the upper surface of the moving block through a clamping member. The upper end of the threaded rod penetrates through the clamping plate and is threadedly connected to the clamping plate.

[0008] By adopting the above scheme, the moving block rolls inside the chute through the fastening and adjusting member, and during the rolling process, the lubricating liquid inside the cavity is extruded, thereby reducing the wear generated when the moving block moves on the chute; At the same time, when it is necessary to disassemble the moving block, since the distance between the first limiting rollers is greater than the width of the opening, the first limiting rollers can be engaged with the inclined limiting surfaces and cannot be disengaged upward from the opening. By setting the threaded rod and the first limiting rollers to cooperate, when the device needs to remove the fastening and adjusting member, the threaded rod can be rotated, and the threaded rod drives the two first limiting rollers to deflect 90 degrees, so that the first limiting rollers will not be engaged with the inclined limiting surfaces, and the entire moving block assembly can be conveniently removed from the chute; At the same time, through the mutual cooperation of the first limiting roller and the second limiting roller, the first limiting roller abuts against the inclined limiting surface, thereby preventing the threaded rod from moving upward and laterally. The limiting effect between the arc-shaped groove of the second limiting roller and the arc-shaped surface prevents the threaded rod from moving downward, and at the same time can prevent the threaded rod from deflecting laterally. In summary, the moving block can move stably along the length direction of the chute without being affected by external forces, without deflecting, and at the same time improving the convenience of disassembling the moving block.

[0009] In one embodiment of the present application, a plurality of protrusions are provided on the second limiting roller. The plurality of protrusions are circumferentially arranged on the annular depression and are arranged at intervals. Liquid outlet channels communicating with the cavity at one end are provided on both sides of the upper end of the chute. The other end of the liquid outlet channel is deflected towards the direction close to the threaded rod. An elastic strip is provided at the other end of the liquid outlet channel. An inclined mating surface is provided on the side of the liquid outlet channel away from the threaded rod. An inclined fitting surface is provided on one side of the elastic strip. The inclined fitting surface is arranged on the side of the inclined mating surface close to the cavity and is in contact with the inclined mating surface.

[0010] By adopting the above scheme, when the second limiting roller rotates horizontally at the upper end of the chute and causes the moving block to move along the length direction of the chute, the protrusions on the second limiting roller can continuously squeeze the elastic strip as the second limiting roller rotates. After being squeezed, the elastic strip deflects towards the cavity, so that the lubricating liquid inside the cavity seeps out of the chute to lubricate the second limiting roller. At the same time, since the liquid outlet channel deflects towards the side close to the threaded rod, the emulsified liquid seeping out can flow down along the inner wall of the chute. When the first limiting roller passes by, it can also lubricate the first limiting roller, reducing the wear caused by friction.

[0011] In one embodiment of the present application, the height of the liquid storage cylinder from the ground is H1 and the height of the upper end of the chute from the ground is H2, satisfying H1 < H2.

[0012] By adopting the above scheme, by defining the height of the liquid storage cylinder from the ground as H1 and the height of the upper end of the chute from the ground as H2, the liquid level height inside the liquid storage cylinder is always higher than the liquid level height inside the cavity, facilitating the natural seepage of the lubricating liquid inside after the elastic strip is squeezed and deformed.

[0013] In one embodiment of the present application, the clamping plate includes: A clamping ring, the inner wall of the clamping ring is provided with threads, and the upper end of the threaded rod passes through the clamping ring and is threadedly connected with the clamping ring; A protruding part, the protruding part is arranged on the outer edge of the clamping ring and extends along the radial direction of the clamping ring. An annular clamping groove is concentrically arranged on the upper surface of the moving block outside the clamping ring. The clamping member is arranged on the protruding part and is located above the annular clamping groove.

[0014] By adopting the above scheme, when it is necessary to reverse the directions of the two first limiting rollers, since the clamping member and the clamping ring are clamped with each other, by rotating the threaded rod, the threaded rod can move in the process of being threadedly matched with the clamping ring towards the direction of adjusting the gap. At this time, the first limiting roller is separated from the inclined surface. After the two first limiting rollers are reversed, they are no longer clamped and limited by the inclined surface, so that the fastening and adjusting member can be removed from the chute, and then the moving block can be disassembled.

[0015] In one embodiment of the present application, the engaging member includes: A clamping strip, a rectangular through-hole extending in the vertical direction is provided in the protruding portion, and the clamping strip is disposed inside the rectangular through-hole and slides up and down along the rectangular through-hole; A connecting piece, the connecting piece is fixedly assembled at the upper end of the clamping strip, and an elastic member is provided between the connecting piece and the protruding portion.

[0016] By adopting the above solution, when looseness occurs between the sliding groove and the second limiting roller, by pulling up the clamping strip, the lower end of the clamping strip no longer engages with the annular clamping groove, and at the same time, the connecting piece is rotated so that the connecting piece screws down on the threaded rod until the connecting piece presses the moving block against the upper side of the sliding groove, so that when looseness occurs between the sliding groove and the second limiting roller of the device, the moving block can be conveniently pressed against the sliding groove again.

[0017] In one embodiment of the present application, the moving block assembly further includes a handling manipulator, the handling manipulator is arranged in the vertical direction and is fixedly assembled at the other end of the moving block.

[0018] By adopting the above solution, the handling manipulator is arranged at the other end of the moving block. When the moving block moves along the length direction of the sliding groove, it can drive the handling manipulator to move along the length direction of the sliding groove, so as to handle the workpieces on multiple machine tools on the production line.

[0019] In one embodiment of the present application, the truss device further includes: A cross beam, the sliding groove is assembled on the upper surface of the cross beam, and a support assembly is provided on one side of the cross beam close to the handling manipulator; Columns, at least two columns are provided and are vertically assembled on the lower surface of the cross beam.

[0020] By adopting the above solution, the sliding groove is arranged on the cross beam, and the cross beam is supported by the columns, so that the machine tool and the manipulator are staggered in the vertical height, saving a certain amount of space in the horizontal direction.

[0021] In one embodiment of the present application, the support assembly includes: An inclined frame, one side of the inclined frame is fixedly assembled at one side of the cross beam; A support beam, the support beam is arranged vertically and is located above the inclined frame. The upper end of the support beam is fixedly assembled on the lower surface of the moving block, and the other end extends downward and can walk on the other side of the inclined frame through a rolling member.

[0022] By adopting the above solution, by setting the inclined frame, when the moving block moves along the sliding groove, the support beam can walk on the inclined frame, and the support frame can support the moving block, avoiding the situation that the moving block is deformed due to the overweight of the handling manipulator at the other end of the moving block.

[0023] In one embodiment of the present application, the rolling member includes: A rolling frame, one end of which is fixedly assembled to the lower end of the support beam; A roller, which is horizontally arranged in a rotating manner and is rotatably assembled at the other end of the rolling frame.

[0024] By adopting the above solution, when the support beam moves and walks above the inclined frame, the roller can roll on the inclined frame, so that while the inclined frame can support the support beam, the resistance received by the support beam when walking on the inclined frame is reduced.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. By setting the fastening and adjusting member, the moving block is fixed inside the sliding groove by the first limiting roller and the second limiting roller, so that the moving block can only move along the length direction of the sliding groove. At the same time, by rotating the threaded rod, the first limiting roller is driven by the threaded rod to deflect at an angle, so that the two horizontally arranged first limiting rollers become vertically arranged, and the first limiting roller no longer engages and limits with the inclined limiting surface, and the moving block can be pulled out upward from the sliding groove, improving the convenience of disassembling the moving block.

[0026] 2. By providing protrusions on the second limiting roller and providing a cavity filled with lubricating liquid inside the sliding groove, when the second limiting roller rolls on the sliding groove, it can drive a plurality of protrusions to continuously squeeze the elastic strip, drive the elastic strip to deform, and at the same time, the lubricating liquid inside the cavity can be extruded. The lubricating liquid can pass through the second limiting roller to lubricate the gap between the second limiting roller and the sliding groove. At the same time, the lubricating liquid can flow out along the arc to the inner wall of the sliding groove and pass through the first limiting roller, so as to lubricate the gap between the first limiting roller and the sliding groove, and further reduce the wear generated when the moving block reciprocates inside the sliding groove.

[0027] 3. By setting the support assembly, the support assembly is used to support the other end of the moving block extending outside the cross beam, thereby reducing the possibility that the moving block is deformed due to the overweight of the other end, and improving the structural strength of the moving block. Description of the Drawings

[0028] Figure 1 It is the front view of a truss robot suitable for handling heavy workpieces provided in the embodiment of the present application; Figure 2 It is a front elevation sectional view of the chute of a truss robot applicable to heavy workpiece handling provided in an embodiment of the present application; Figure 3 It is a front elevation sectional view of the liquid outlet of a truss robot applicable to heavy workpiece handling provided in an embodiment of the present application; Figure 4 is Figure 2 an enlarged schematic view of part A in Figure 5 It is a front elevation sectional view of the engaging member of a truss robot applicable to heavy workpiece handling provided in an embodiment of the present application; Figure 6 It is a top view of the annular tooth groove of a truss robot applicable to heavy workpiece handling provided in an embodiment of the present application; Figure 7 It is a front view of the fastening and adjusting member of a truss robot applicable to heavy workpiece handling provided in an embodiment of the present application.

[0029] Explanation of reference numerals: 1, truss device; 11, chute; 111, opening; 112, cavity; 113, liquid storage cylinder; 114, inclined limiting surface; 115, adjusting gap; 116, arc surface; 117, liquid outlet channel; 1171, inclined mating surface; 118, elastic strip; 1181, inclined fitting surface; 12, cross beam; 13, column; 14, support assembly; 141, inclined frame; 142, support beam; 143, rolling member; 1431, rolling frame; 1432, roller; 2, moving block assembly; 21, moving block; 211, annular card slot; 22, fastening and adjusting member; 221, threaded rod; 2211, dial; 222, clamping plate; 2221, snap ring; 2222, protrusion; 223, first limiting roller; 224, second limiting roller; 2241, annular depression; 2242, protrusion; 225, engaging member; 2251, card strip; 2252, connecting piece; 2253, elastic member; 23, handling manipulator; 3, lubricating liquid. Detailed implementation manners

[0030] The following Figure 1-7 further elaborates in detail on a truss robot applicable to heavy workpiece handling provided by the present application.

[0031] A truss robot applicable to heavy workpiece handling provided in an embodiment of the present application includes: a truss device 1 and a moving block assembly 2.

[0032] Please refer to Figure 1 and Figure 2, a truss device 1, on which a chute 11 extending along the length direction of the truss device 1 is provided. An opening 111 is provided at the upper end of the chute 11. A cavity 112 is provided inside the chute wall of the chute 11. A liquid storage cylinder 113 arranged vertically is provided on the side of the chute 11. The liquid storage cylinder 113 is communicated with the cavity 112. A lubricating liquid 3 is filled between the liquid storage cylinder 113 and the cavity 112. By filling the lubricating liquid 3 inside the cavity 112, when the moving block assembly 2 moves along the chute 11, the lubricating liquid 3 inside the cavity 112 can be extruded to lubricate the chute 11 and reduce wear.

[0033] Please refer to Figure 2 , a moving block assembly 2, the moving block assembly 2 includes a moving block 21, the moving block 21 is horizontally arranged above the chute 11, a detachable fastening and adjusting member 22 is arranged at one end of the moving block 21, and the moving block 21 is movably assembled in the chute 11 through the fastening and adjusting member 22. When the fastening and adjusting member 22 moves, the lubricating liquid 3 can be intermittently extruded to lubricate the fastening and adjusting member 22 and the chute 11. By providing the detachable fastening and adjusting member 22, when it is necessary to remove the moving block assembly 2 from the inside of the chute 11, the moving block 21 can be rotated by rotating the fastening and adjusting member 22, so that the moving block 21 is not limited inside the chute 11, and the convenience of removing the moving block 21 from the device is improved.

[0034] Please refer to Figure 7, the fastening and adjusting member 22 includes: a threaded rod 221, a first limiting roller 223, a second limiting roller 224, and a clamping plate 222. The threaded rod 221 is vertically arranged, and its lower end penetrates through the moving block 21 and extends into the chute 11. A dial 2211 is provided on the upper end face of the threaded rod 221. The first limiting roller 223 is arranged obliquely downward and is symmetrically rotatably assembled on both sides of the threaded rod 221. The distance between the two first limiting rollers 223 is greater than the width of the opening 111. On both inner walls of the two sides of the chute 11, inclined limiting surfaces 114 symmetrically arranged in the vertical direction are provided. The first limiting roller 223 corresponds to the inclined limiting surface 114 one by one and can roll on the inclined limiting surface 114. An adjusting gap 115 is provided between the first limiting roller 223 and the inner wall of the bottom end of the chute 11. The second limiting roller 224 is horizontally arranged. The second limiting roller 224 is rotatably assembled on the lower surface of the moving block 21 and is symmetrically located on both sides of the threaded rod 221. An annular depression 2241 is provided in the middle of the second limiting roller 224 along its circumferential direction. Arc-shaped surfaces 116 are provided on both sides of the upper end of the chute 11. The annular depression 2241 contacts the arc-shaped surface 116 and rolls along the length direction of the arc-shaped surface 116. The clamping plate 222 is detachably assembled on the upper surface of the moving block 21 through a clamping member 225. The upper end of the threaded rod 221 penetrates through the clamping plate 222 and is threadedly connected to the clamping plate 222. By providing the first limiting roller 223 and the second limiting roller 224, and by fitting the first limiting roller 223 with the inclined limiting surface 114 of the inner wall of the chute 11, the fastening and adjusting member 22 cannot move upward or to the left and right sides in the chute 11. At the same time, by using the mutual limitation between the second limiting roller 224 and the upper end of the chute 11, the second limiting roller 224 abuts against the chute 11, so that the fastening and adjusting member 22 will not drop. And by using the limiting effect between the annular depression 2241 and the arc-shaped surface 116, it will not deflect in the horizontal direction.

[0035] Please refer to Figure 2 , Figure 3 and Figure 4, a plurality of protrusions 2242 are provided on the second limiting roller 224. The plurality of protrusions 2242 are circumferentially arranged on the annular depression 2241 and are arranged at intervals from each other. Liquid outlet channels 117 are formed on both sides at the upper end of the chute 11. One end of each liquid outlet channel 117 communicates with the cavity 112. The other end of the liquid outlet channel 117 is inclined towards the direction close to the threaded rod 221. An elastic strip 118 is provided at the other end of the liquid outlet channel 117. An inclined mating surface 1171 is provided on the side of the liquid outlet channel 117 away from the threaded rod 221. An inclined fitting surface 1181 is provided on one side of the elastic strip 118. The inclined fitting surface 1181 is arranged on the side of the inclined mating surface 1171 close to the cavity 112 and is in contact with the inclined mating surface 1171. By arranging the plurality of protrusions 2242 in a ring shape in the annular depression 2241, when the second limiting roller 224 rotates, the protrusions 2242 can rotate along with the second limiting roller 224 and continuously squeeze the elastic strip 118. After being squeezed, the elastic strip 118 deforms, so that the lubricating liquid 3 inside the cavity 112 oozes out, lubricating the first limiting roller 223 and the second limiting roller 224, and reducing the wear generated when the moving block 21 moves.

[0036] Please refer to Figure 3 , the height of the liquid storage cylinder 113 from the ground is H1 and the height of the upper end of the chute 11 from the ground is H2, and H1 < H2. By defining the height of the liquid storage cylinder 113 from the ground as H1 and the height of the upper end of the chute 11 from the ground as H2, it is ensured that the cavity 112 is always filled with the lubricating liquid 3, so that when the elastic strip 118 is squeezed, the lubricating liquid 3 can quickly ooze out.

[0037] Please refer to Figure 5 and Figure 6, the clamping plate 222 includes: a clamping ring 2221 and a protruding portion 2222. The inner wall of the clamping ring 2221 is provided with threads. The upper end of the threaded rod 221 penetrates through the clamping ring 2221 and is threadedly connected to the clamping ring 2221. The protruding portion 2222 is arranged on the outer edge of the clamping ring 2221 and extends along the radial direction of the clamping ring 2221. An annular clamping groove 211 is concentrically arranged on the upper surface of the moving block 21 outside the clamping ring 2221. The engaging member 225 is arranged on the protruding portion 2222 and is located above the annular clamping groove 211. By providing the clamping ring 2221 and the protruding portion 2222, when it is necessary to remove the moving block 21, due to the clamping effect between the clamping ring 2221 and the annular clamping groove 211 by the engaging member 225, the clamping ring 2221 cannot rotate. At this time, rotate the threaded rod 221, and the threaded rod 221 can be screwed into the adjusting gap 115 in the sliding groove 11, facilitating the first limit roller 223 to disengage from the inclined limit surface 114. When the moving block 21 is loose on the sliding groove 11, the engaging member 225 can be controlled to make the clamping ring 2221 no longer engage with the annular clamping groove 211. On the premise of fixing the threaded rod 221, rotate the clamping ring 2221, and utilize the screwing of the clamping ring 2221 on the threaded rod 221 to press the moving block 21 tightly on the sliding groove 11, avoiding looseness and affecting the handling effect of the handling robot.

[0038] Please refer to Figure 5 , the engaging member 225 includes: a clamping strip 2251 and a connecting piece 2252. The protruding portion 2222 is provided with a rectangular through hole extending in the vertical direction. The clamping strip 2251 is arranged inside the rectangular through hole and slides up and down along the rectangular through hole. The connecting piece 2252 is fixedly assembled at the upper end of the clamping strip 2251. An elastic member 2253 is arranged between the connecting piece 2252 and the protruding portion 2222. By using the clamping strip 2251 that can move up and down in the vertical direction on the protruding portion 2222 and the cooperation between the clamping strip 2251 and the annular clamping groove 211, the rotation of the clamping plate 222 can be controlled.

[0039] Among them, the elastic member 2253 can be a columnar spring.

[0040] Please refer to Figure 1 and Figure 2 , the moving block assembly 2 further includes a handling manipulator 23. The handling manipulator 23 is arranged in the vertical direction and is fixedly assembled at the other end of the moving block 21.

[0041] Among them, the handling manipulator 23 can be customized according to the specifications and shapes of the workpieces to be handled. Its combination method can be to use an oil cylinder to drive the clamping block to clamp the workpiece. Since the assembly method of the existing handling manipulator is a conventional prior art, it will not be elaborated here. Please continue to refer toFigure 1 and Figure 2 , the truss device 1 further includes: a cross beam 12 and a column 13. The chute 11 is assembled on the upper surface of the cross beam 12. A support assembly 14 is provided on one side of the cross beam 12 close to the handling manipulator 23. At least two columns 13 are provided and are vertically assembled on the lower surface of the cross beam 12.

[0042] Please refer to Figure 2 , the support assembly 14 includes: an inclined frame 141 and a support beam 142. One side of the inclined frame 141 is fixedly assembled at one side of the cross beam 12. The support beam 142 is vertically arranged and is located above the inclined frame 141. The upper end of the support beam 142 is fixedly assembled on the lower surface of the moving block 21, and the other end extends downward and can travel on the other side of the inclined frame 141 through a rolling member 143. By providing the inclined frame 141 and the support beam 142, when the moving block 21 moves along the chute 11, the support beam 142 can travel on the inclined frame 141, and the inclined frame 141 can provide a certain supporting force for the support beam 142 and effectively reduce the resistance suffered by the support beam 142 when moving on the inclined frame 141.

[0043] Please continue to refer to Figure 2 The rolling member 143 includes: a rolling frame 1431 and a roller 1432. One end of the rolling frame 1431 is fixedly assembled at the lower end of the support beam 142. The roller 1432 is horizontally arranged in a rotating manner and is rotatably assembled at the other end of the rolling frame 1431. When the support beam 142 travels on the inclined frame 141, the roller 1432 rolls on the inclined frame 141, thereby effectively reducing the resistance suffered by the support beam 142 when walking.

[0044] In summary, when it is necessary to remove the moving block 21 from the chute 11, by manually rotating the threaded rod 221, the threaded rod 221 can be screwed into the inside of the chute 11 on the clamping plate 222. After rotating 90°, the two first limit rollers 223 will not be engaged with the inclined limit surface 114, so that the entire moving block 21 can be lifted upward, and the moving block 21 together with the handling manipulator 23 can be removed from the truss device 1; However, due to wear and other conditions of the device, when the moving block 21 becomes loose, first lift the lifting strip 2251, and the strip 2251 is no longer engaged with the annular tooth groove. At this time, keep the threaded rod 221 fixed and rotate the clamping plate 222. The clamping plate 222 moves downward on the threaded rod 221 and presses the moving block 21 against the chute 11 again, so that the device can perform a pressing operation according to the looseness of the moving block 21; When the second limiting roller 224 rolls on the sliding groove 11, since the protrusions 2242 are arranged at annular intervals, as the second limiting roller 224 rotates, the protrusions 2242 can intermittently squeeze the elastic strip 118, causing the elastic strip 118 to continuously open and close in the liquid outlet channel 117. When the elastic strip 118 is open, the lubricating liquid 3 inside the cavity 112 can seep out. When the elastic strip 118 is closed, the lubricating liquid 3 cannot seep out, preventing excessive seepage of the lubricating liquid 3, thereby lubricating the second limiting roller 224 and the first limiting roller 223.

[0045] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A truss robot suitable for handling heavy workpieces, characterized in that: include: A truss device (1), wherein the truss device (1) is provided with a slide groove (11) extending along the length direction of the truss device (1), an opening (111) is provided at the upper end of the slide groove (11), a cavity (112) is provided inside the groove wall of the slide groove (11), a liquid storage cylinder (113) is provided in the vertical direction on the side of the slide groove (11), the liquid storage cylinder (113) is communicated with the cavity (112), and a lubricating liquid (3) is filled between the liquid storage cylinder (113) and the cavity (112); A moving block assembly (2), the moving block assembly (2) comprising a moving block (21), the moving block (21) being horizontally arranged above the slide groove (11), one end of the moving block (21) being provided with a detachable fastening adjustment member (22), and being movably assembled in the slide groove (11) through the fastening adjustment member (22), and the fastening adjustment member (22) can intermittently squeeze out the lubricating liquid (3) when moving, so that the lubricating liquid (3) lubricates the fastening adjustment member (22) and the slide groove (11); The fastening and adjusting member (22) comprises: A threaded rod (221), the threaded rod (221) is vertically arranged, the lower end of which passes through the moving block (21) and extends into the sliding groove (11), and the upper end surface of the threaded rod (221) is provided with a paddle (2211); A first limiting roller (223), the first limiting roller (223) is tilted downward and symmetrically rotated and assembled on both sides of the threaded rod (221), the distance between the two first limiting rollers (223) is greater than the width of the opening (111), the inner walls on both sides of the slide groove (11) are provided with inclined limiting surfaces (114) symmetrically arranged in the vertical direction, the first limiting roller (223) corresponds to the inclined limiting surfaces (114) one by one, and can roll on the inclined limiting surfaces (114), and an adjustable gap (115) is provided between the first limiting roller (223) and the inner wall at the bottom end of the slide groove (11); A second limiting roller (224), the second limiting roller (224) is horizontally arranged, the second limiting roller (224) is rotatably assembled on the lower surface of the moving block (21), and is symmetrically located on both sides of the threaded rod (221), an annular recess (2241) is provided in the middle of the second limiting roller (224) along its own circumference, and arc surfaces (116) are provided on both sides of the upper end of the slide groove (11), and the annular recess (2241) contacts the arc surface (116) and rolls along the length direction of the arc surface (116); A clamping plate (222) is detachably mounted on the upper surface of the moving block (21) via a clamping piece (225); the upper end of the threaded rod (221) passes through the clamping plate (222) and is threadedly connected to the clamping plate (222).

2. A truss robot suitable for handling heavy workpieces according to claim 1, characterized in that: The second limiting roller (224) is provided with a plurality of protrusions (2242), and the plurality of protrusions (2242) are circumferentially arranged on the annular recess (2241) and are arranged at intervals from each other. A liquid outlet channel (117) having one end connected to the cavity (112) is provided on both sides of the upper end of the slide groove (11), and the other end of the liquid outlet channel (117) is inclined toward the direction close to the threaded rod (221). An elastic strip (118) is provided at the other end of the liquid outlet channel (117). An inclined mating surface (1171) is provided on the side of the liquid outlet channel (117) away from the threaded rod (221), and an inclined fitting surface (1181) is provided on one side of the elastic strip (118). The inclined fitting surface (1181) is provided on the side of the inclined fitting surface (1171) close to the cavity (112) and fits with the inclined fitting surface (1171).

3. The truss robot suitable for handling heavy workpieces according to claim 1, characterized in that: The height of the liquid storage cylinder (113) from the ground is H1 and the height of the upper end of the chute (11) from the ground is H2, satisfying H1 <H2。 4. The truss robot suitable for handling heavy workpieces according to claim 1, characterized in that: The card board (222) comprises: A snap ring (2221), wherein the inner wall of the snap ring (2221) is provided with threads, and the upper end of the threaded rod (221) passes through the snap ring (2221) and is threadedly connected to the snap ring (2221); A protrusion (2222), wherein the protrusion (2222) is arranged on the outer edge of the retaining ring (2221) and extends radially along the retaining ring (2221); an annular retaining groove (211) is concentrically arranged on the upper surface of the moving block (21) outside the retaining ring (2221); and the engaging member (225) is arranged on the protrusion (2222) and is located above the annular retaining groove (211).

5. A truss robot suitable for handling heavy workpieces according to claim 4, characterized in that: The engaging member (225) comprises: A clamping strip (2251), wherein the protruding portion (2222) is provided with a rectangular through hole extending in a vertical direction, and the clamping strip (2251) is arranged inside the rectangular through hole and slides up and down along the rectangular through hole; A connecting piece (2252), wherein the connecting piece (2252) is fixedly assembled on the upper end of the clamping strip (2251), and an elastic member (2253) is provided between the connecting piece (2252) and the protruding portion (2222).

6. The truss robot suitable for heavy workpiece handling according to claim 1, characterized in that: The moving block assembly (2) also includes a handling robot (23), which is arranged in a vertical direction and fixedly assembled on the other end of the moving block (21).

7. A truss robot suitable for handling heavy workpieces according to claim 6, characterized in that: The truss device (1) further comprises: A crossbeam (12), the slide groove (11) being mounted on the upper surface of the crossbeam (12), and a support assembly (14) being provided on a side of the crossbeam (12) close to the handling robot (23); At least two upright posts (13) are provided and are vertically mounted on the lower surface of the crossbeam (12).

8. The truss robot suitable for handling heavy workpieces according to claim 7, characterized in that: The support assembly (14) comprises: A tilting frame (141), one side of the tilting frame (141) being fixedly mounted on one side of the crossbeam (12); A support beam (142) is vertically arranged and located above the tilting frame (141); the upper end of the support beam (142) is fixedly mounted on the lower surface of the moving block (21), and the other end extends downward and can move on the other side of the tilting frame (141) through a rolling member (143).

9. The truss robot suitable for heavy workpiece handling according to claim 8, characterized in that: The rolling element (143) comprises: A rolling frame (1431), one end of the rolling frame (1431) is fixedly mounted on the lower end of the support beam (142); The roller (1432) is rotatably arranged horizontally and rotatably assembled on the other end of the rolling frame (1431).

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