Heavy-load gantry truss manipulator
By designing a heavy-duty gantry truss robot with a variable load-bearing mechanism and a pressure unlocking module, the problem that existing robots are difficult to adapt to materials in different physical states is solved, and flexible transportation of granular and long strip materials is achieved, thereby improving work efficiency.
Patent Information
- Application Number
- CN202511000737.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-21
- Publication Date
- 2025-09-09
AI Technical Summary
The existing gantry truss manipulator has a single function and is difficult to adapt to the transportation of materials in different material states, which requires workers to frequently change the manipulator, reducing work efficiency.
A heavy-load gantry truss manipulator was designed, which adopted a variable load-bearing mechanism and a pressure unlocking module. It can adapt to the transportation of granular and long strip materials without changing the manipulator. Through the change of the plate structure of the variable load-bearing mechanism and the cooperation of the pressure unlocking module, it can realize the clamping and transportation of various material states.
The transport application range of the manipulator is improved, the frequency of workers replacing the manipulator is reduced, and work efficiency is improved.
Smart Images
Figure CN120606415A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of gantry truss manipulators, in particular to a heavy-load gantry truss manipulator. Background Art
[0002] In industrial production activities, in order to reduce workers' labor intensity and improve material transportation efficiency, factories use gantry truss equipment to transport materials in material loading and unloading. The manipulator on the gantry truss can automatically grab the material, and then the drive rail on the truss will move the manipulator to the specified position. However, the existing gantry truss manipulator still has some problems: The gantry truss robots on the market have relatively simple functions and are difficult to transport materials in different physical states. In actual production activities, workers need to replace the corresponding robots according to the different material states, which reduces work efficiency.
[0003] In response to the above problems, it is urgent to carry out innovative design based on the original gantry truss manipulator. Summary of the Invention
[0004] The purpose of the present invention is to provide a heavy-loaded gantry truss manipulator to solve the following problems of the existing gantry truss manipulators proposed in the above background technology: the gantry truss manipulators on the market have relatively single functions and it is difficult for the device to transport materials in different material states. In actual production activities, workers need to replace the corresponding manipulators according to different material states, thereby reducing work efficiency.
[0005] To achieve the above objectives, the present invention provides the following technical solutions: a heavy-duty gantry truss manipulator, comprising: The loading frame has a main clamping frame and a positioning frame provided below it; it also includes: a connecting piece is fixedly installed on the top of the main clamping frame, and a support shaft is rotatably provided on the upper part of the connecting piece, sleeves are rotatably sleeved on both ends of the support shaft, and the sleeves are rotatably sleeved on the bracket of the loading frame, and a variable bearing mechanism is fitly installed in the clamping claws of the lower part of the main clamping frame, and the variable bearing mechanism includes a first plate body, the inner wall of one side of the first plate body is rotatably fitted on the main clamping frame, and a second plate body is rotatably fitted on the outer wall of the other side of the first plate body, a rotating plate is fixedly connected to the top side wall of the second plate body, and the rotating plate is rotatably fitted on the inner wall of the loading frame; a pressure unlocking module is fixedly installed on the side wall of the positioning frame.
[0006] Preferably, a guide column is vertically fixedly connected to the top of the loading frame, and the guide column slides through a movable platform installed on the top of the truss body, and a horizontal drive motor is fixedly embedded on the movable platform of the truss body, and the output gear of the drive motor is rotatably embedded in the movable platform of the truss body, and the output gear plate of the drive motor engages with the gear plate provided with the guide column on its side, so that the drive motor can drive the guide column to move.
[0007] Preferably, the main clamping frame is symmetrically distributed below the loading frame, a first gear is fixedly embedded on the top inner wall of the connecting piece, and a support shaft is rotatably provided at the axis of the first gear, and an output gear of a self-locking motor is meshed on the tooth edge of the first gear, the output gear of the self-locking motor is rotatably installed on the upper part of the positioning frame, and the self-locking motor is fixedly connected to the bottom of the loading frame, and a horizontal rotating motor is fixedly connected to the side of the bottom of the loading frame away from the self-locking motor, so that the self-locking motor can drive the first gear to rotate.
[0008] Preferably, two groups of symmetrically distributed first plates and second plates are provided on both sides of the hollow clamping claws at the bottom of the main clamping frame, and the three form a hemispherical shell gripping structure, and the first plate and the second plate are in an arc-shaped structure, and the centers of the first plate and the second plate are on the axis of the main clamping frame, the centers of the first plate and the second plate are arranged to coincide, the lower ends of the first plate and the second plate are fixedly connected with corresponding interlocking blocks, and the interlocking blocks are rotatably embedded in the arc groove at the bottom of the main clamping frame, and the upper ends of the first plate and the second plate are rotatably embedded on the top inner wall of the main clamping frame, so that the first plate and the second plate can drive the corresponding interlocking blocks to move.
[0009] Preferably, an arc strip is coaxially fixedly connected to the inner side of the upper end of the first plate body, and the arc strip is rotatably embedded in the slide groove on the inner wall of the main clamping frame, and a limiting groove is provided on the outer side of the upper end of the first plate body, and a control member is rotatably provided on the inner wall of one side of the limiting groove, and the control member is fixedly connected to the inner side of the upper end of the second plate body, the top of the second plate body is higher than the top of the first plate body, and a rotating plate is fixedly connected to the inner side of the top of the second plate body, and the rotating plate is horizontally rotatably embedded in the inner wall of the main clamping frame, so that the first plate body can drive the arc strip to move.
[0010] Preferably, the axis of the rotating plate and the axis of the main clamping frame intersect perpendicularly, and a convex shaft is provided on the top of the rotating plate away from the second plate body, and the top of the convex shaft of the rotating plate is rotatably fitted in a guide groove opened at the top of the main clamping frame, and the convex shaft of the rotating plate is fitted through the through groove opened on the swing arm, and the center of the guide groove is on the axis of the main clamping frame, and a swing arm is provided above the rotating plate, and the swing arm is rotatably fitted on the inner wall of the main clamping frame, and the end of the swing arm away from the rotating plate is vertically fixedly connected to the transmission shaft at the bottom of the transmission worm gear, and the transmission shaft of the transmission worm gear rotates from bottom to top in sequence and passes through the main clamping frame and the sleeve, and a worm is meshed with the turbine side of the top of the transmission worm gear, and the end of the worm is coaxially fixedly connected to the end face of the support shaft, and the worm is rotatably embedded in the inner wall of the sleeve, so that the worm can drive the transmission worm gear to rotate.
[0011] Preferably, the pressure unlocking module includes a mounting bracket fixedly connected to the outer wall of the positioning bracket, and force-bearing rods are fitted and passed through the horizontal grooves on both sides of the mounting bracket, and corresponding thrust brackets are fixedly connected to both ends of the force-bearing rods, one side of the thrust bracket is fitted on the outer wall of the mounting bracket, and a collar provided on the other side of the thrust bracket is rotatably mounted on the outer wall of the rotating disk, the disk surface of the rotating disk is coaxially fixedly connected to the second gear, and a support shaft is rotatably provided at the axis of the rotating disk and the second gear, the collar of the thrust bracket is fitted on the tooth surface of the second gear, and the output gear of the rotating motor is provided on the side of the second gear, so that the force-bearing rod can drive the thrust bracket to move.
[0012] Preferably, the pressure unlocking module also includes a plug connector fixedly mounted on the side of the rotating disk away from the second gear, the plug connector is movably inserted in a docking hole opened on the connecting piece, and the docking holes are distributed at equal angles around the axis of the rotating disk, a limiting block is fixedly connected to the inner wall of the second gear, and the limiting block is slidably embedded in a sliding groove opened on the support shaft, a return spring is fixedly connected between the side of the second gear away from the rotating disk and the convex ring at the end of the support shaft, and the return spring is sleeved on the outside of the support shaft, and the worm gears fixedly connected at both ends of the support shaft rotate in opposite directions, so that the rotating disk can drive the plug connector to move.
[0013] Preferably, the top of the positioning frame is fixedly connected to the center of the bottom surface of the loading frame, and a multi-stage electric cylinder is fixedly embedded in the bottom of the positioning frame, and a horizontal top pressure plate is fixedly connected to the movable end of the multi-stage electric cylinder, and the top pressure plate is located between the two main clamping frames, and the top of the top pressure plate is vertically fixedly connected to a vertical plate, and the vertical plate slides through the positioning frame setting, and the upper part of the vertical plate slides through the mounting frame setting, and a force rod is fitted on the inclined surface of the upper part of the vertical plate, so that the multi-stage electric cylinder can drive the vertical plate to move through the top pressure plate.
[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the heavy-duty gantry truss manipulator is provided with two material transport states, which can transport granular and long strip materials accordingly, thereby increasing the transport application range of the device. Workers do not need to change the corresponding manipulator according to different material states, thereby improving work efficiency. The specific contents are as follows: 1. The variable load-bearing mechanism comprises a first plate body, an inner wall of one side of the first plate body rotatably fitted on the main clamping frame, and a second plate body rotatably fitted on the outer wall of the other side of the first plate body, two sets of symmetrically distributed first plates and second plates are provided on both sides of the hollow clamping claw at the bottom of the main clamping frame, the three form a hemispherical shell material gripping structure, the first plate body and the second plate body are in an arc-shaped structure, the centers of the first plate body and the second plate body are on the axis of the main clamping frame, the centers of the first plate body and the second plate body coincide with each other, the upper outer side of the first plate body is provided with a limiting groove, and a control member is rotatably fitted on the inner wall of one side of the limiting groove, the control member is fixedly connected to the inner side of the upper end of the second plate body. When the second plate body rotates, the second plate body will rotate along the outer wall of the first plate body, and then the second plate body will drive the first plate body through the control member so that the first plate body and the second plate body can enter the main clamping frame. At this time, the first plate body and the second plate body will no longer form a hemispherical shell-shaped granular material clamping structure, and the two symmetrically distributed main clamping frames will form a clamping structure for long strip materials; 2. The axis of the rotating plate and the axis of the main clamping frame intersect perpendicularly, and a convex shaft is provided on the top of the rotating plate away from the second plate body. The top of the convex shaft of the rotating plate is rotatably fitted in the guide groove opened on the top of the main clamping frame, and the convex shaft of the rotating plate is fitted through the through groove opened on the swing arm. The swing arm is rotatably fitted on the inner wall of the main clamping frame, and the end of the swing arm away from the rotating plate is vertically fixedly connected to the transmission shaft at the bottom of the transmission worm gear, and a worm is meshed on the turbine side of the top of the transmission worm gear. The end of the worm is coaxially fixedly connected to the end face of the support shaft, and the worm is rotatably embedded in the inner wall of the sleeve, so that the support shaft can drive the corresponding transmission worm gear to rotate through the worms at both ends, and the transmission worm gear will drive the rotating plate and the second plate body to rotate through the swing arm. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a schematic diagram of the overall external structure of the present invention; Figure 2 This is a schematic diagram of the installation structure of the connector of the present invention; Figure 3 This is a schematic diagram of the main clamping frame installation structure of the present invention; Figure 4 This is a schematic diagram of the first gear installation structure of the present invention; Figure 5 This is a schematic diagram of the support shaft installation structure of the present invention; Figure 6 This is a schematic diagram of the worm installation structure of the present invention; Figure 7 This is a schematic diagram of the swing arm installation structure of the present invention; Figure 8 This is a schematic diagram of the installation structure of the rotating plate of the present invention; Figure 9 This is a schematic diagram of the control component installation structure of the present invention; Figure 10 This is a schematic diagram of the installation structure of the first plate of the present invention; Figure 11 This is a schematic diagram of the second plate installation structure of the present invention; Figure 12 This is a schematic diagram of the guide groove position structure of the present invention; Figure 13 This is a schematic diagram of the thrust frame installation structure of the present invention; Figure 14 This is a schematic diagram of the installation structure of the plug connector of the present invention.
[0016] In the figure: 1. loading frame; 2. guide column; 3. driving motor; 4. truss body; 5. sleeve; 6. supporting shaft; 7. worm; 8. connecting piece; 9. first gear; 10. self-locking motor; 11. main clamping frame; 12. variable load-bearing mechanism; 1201. first plate; 1202. second plate; 1203. arc strip; 1204. limiting groove; 1205. control member; 1206. interlocking block; 1207. rotating plate; 1208. swing arm; 1209. transmission worm gear; 13. docking hole; 14. plug connector; 15. rotating disk; 16. second gear; 17. limiting block; 18. return spring; 19. thrust frame; 20. force rod; 21. mounting frame; 22. vertical plate; 23. top pressure plate; 24. multi-stage electric cylinder; 25. rotating motor; 26. positioning frame; 27. guide groove. DETAILED DESCRIPTION
[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0018] See also Figures 1-14 The present invention provides a technical solution: a heavy-duty gantry truss manipulator, comprising: The loading frame 1 has a main clamping frame 11 and a positioning frame 26 arranged below it; it also includes: a connecting member 8 is fixedly installed on the top of the main clamping frame 11, and a support shaft 6 is rotatably provided on the upper part of the connecting member 8, sleeves 5 are rotatably sleeved on both ends of the support shaft 6, and the sleeves 5 are rotatably sleeved on the bracket of the loading frame 1, and a variable load-bearing mechanism 12 is fitted in the clamping claws at the lower part of the main clamping frame 11, and the variable load-bearing mechanism 12 includes a first plate body 1201, the inner wall of one side of the first plate body 1201 is rotatably fitted on the main clamping frame 11, and a second plate body 1202 is rotatably fitted on the outer wall of the other side of the first plate body 1201, a rotating plate 1207 is fixedly connected to the top side wall of the second plate body 1202, and the rotating plate 1207 is rotatably fitted on the inner wall of the loading frame 1; a pressure unlocking module is fixedly installed on the side wall of the positioning frame 26.
[0019] The main clamping frame 11 is symmetrically distributed below the loading frame 1. The first gear 9 is fixedly embedded on the top inner wall of the connecting member 8, and the axis of the first gear 9 is rotated through a support shaft 6, and the tooth edge of the first gear 9 is engaged with the output gear of the self-locking motor 10. The output gear of the self-locking motor 10 is rotated and installed on the upper part of the positioning frame 26, and the self-locking motor 10 is fixedly connected to the bottom of the loading frame 1. A horizontal rotating motor 25 is fixedly connected to the side of the bottom of the loading frame 1 away from the self-locking motor 10, so that the self-locking motor 10 The output gear can drive the connecting member 8 and the main clamping frame 11 to rotate through the first gear 9, and the top of the loading frame 1 is vertically fixedly connected to the guide column 2, which slides through the movable platform installed on the top of the truss body 4, and a horizontal drive motor 3 is fixedly embedded on the movable platform of the truss body 4, and the output gear of the drive motor 3 is rotatably embedded in the movable platform of the truss body 4, and the output gear plate side of the drive motor 3 engages with the gear plate provided with the guide column 2, so that the drive motor 3 can drive the loading frame 1 to move vertically through the guide column 2.
[0020] The axis of the rotating plate 1207 intersects the axis of the main clamping frame 11 at right angles, and a convex shaft is provided on the top of the rotating plate 1207 away from the second plate body 1202, and the top of the convex shaft of the rotating plate 1207 is rotatably fitted in the guide groove 27 opened at the top of the main clamping frame 11, and the convex shaft of the rotating plate 1207 fits through the through groove opened on the swing arm 1208, and the center of the guide groove 27 is on the axis of the main clamping frame 11, a swing arm 1208 is provided above the rotating plate 1207, and the swing arm 1208 is rotatably fitted on the inner wall of the main clamping frame 11, and the end of the swing arm 1208 away from the rotating plate 1207 is vertically fixedly connected to the transmission shaft at the bottom of the transmission worm gear 1209, and the transmission shaft of the transmission worm gear 1209 is connected from the bottom The upper part rotates in sequence and passes through the main clamping frame 11 and the sleeve 5, and the turbine side of the top of the transmission worm wheel 1209 is meshed with a worm 7, the end of the worm 7 is coaxially fixedly connected to the end face of the support shaft 6, and the worm 7 is rotatably embedded in the inner wall of the sleeve 5, so that the support shaft 6 can drive the corresponding transmission worm wheel 1209 to rotate through the worm 7 at both ends, and the transmission worm wheel 1209 will drive the swing arm 1208 to rotate, and the swing arm 1208 will drive the rotating plate 1207 to rotate. Since the inner side of the upper end of the first plate body 1201 is coaxially fixedly connected with the arc strip 1203, and the arc strip 1203 is rotatably embedded in the slide groove on the inner wall of the main clamping frame 11, and the outer side of the upper end of the first plate body 1201 is provided with a limiting groove 1204, the limiting groove A control member 1205 is rotatably provided on the inner wall of one side of the groove 1204, and the control member 1205 is fixedly connected to the inner side of the upper end of the second plate body 1202. The top of the second plate body 1202 is higher than the top of the first plate body 1201, and a rotating plate 1207 is fixedly connected to the inner side of the top of the second plate body 1202, and the rotating plate 1207 is horizontally rotatably embedded in the inner wall of the main clamping frame 11. At this time, the rotating plate 1207 will drive the second plate body 1202 to rotate. After the second plate body 1202 rotates a certain angle, the control member 1205 on the second plate body 1202 can push the first plate body 1201 to rotate synchronously. Since two groups of symmetrically distributed first plates 1201 and second plates are provided on both sides of the hollow clamping jaws at the bottom of the main clamping frame 11 The first plate body 1201 and the second plate body 1202 are in an arc shape, and the centers of the first plate body 1201 and the second plate body 1202 are on the axis of the main clamping frame 11. The centers of the first plate body 1201 and the second plate body 1202 are arranged to coincide with each other. The lower ends of the first plate body 1201 and the second plate body 1202 are fixedly connected with corresponding engaging blocks 1206, and the engaging blocks 1206 are rotatably embedded in the arc groove at the bottom of the main clamping frame 11, and the upper ends of the first plate body 1201 and the second plate body 1202 are rotatably embedded in the top inner wall of the main clamping frame 11. At this time, the first plate body 1201 and the second plate body 1202 can be rotated and retracted into the main clamping frame 11.
[0021] The top of the positioning frame 26 is fixedly connected to the center of the bottom surface of the loading frame 1, and the bottom of the positioning frame 26 is fixedly embedded with a multi-stage electric cylinder 24, and the moving end of the multi-stage electric cylinder 24 is fixedly connected to a horizontal top pressure plate 23, and the top pressure plate 23 is between the two main clamping frames 11, and the top of the top pressure plate 23 is vertically fixedly connected to a vertical plate 22, and the vertical plate 22 slides through the positioning frame 26, and the upper part of the vertical plate 22 slides through the mounting frame 21, and the upper inclined surface of the vertical plate 22 is fitted with a force rod 20, so that the multi-stage electric cylinder 24 can drive the top pressure plate 23 and The vertical plate 22 moves upward, and the inclined surface on the vertical plate 22 will push the force-bearing rod 20 to move. Since the pressure unlocking module includes a mounting frame 21 fixedly connected to the outer wall of the positioning frame 26, the horizontal grooves on both sides of the mounting frame 21 are fitted with the force-bearing rod 20, and the two ends of the force-bearing rod 20 are fixedly connected to the corresponding thrust frames 19. One side of the thrust frame 19 is fitted on the outer wall of the mounting frame 21, and the collar provided on the other side of the thrust frame 19 is rotatably mounted on the outer wall of the rotating disk 15. The disk surface of the rotating disk 15 is coaxially fixedly connected to the second gear 16, and the rotating disk 15 and The axis of the second gear 16 rotates through a support shaft 6, a collar of a thrust frame 19 is fitted on the tooth surface of the second gear 16, and an output gear of a rotating motor 25 is provided on the side of the second gear 16. At this time, the force rod 20 will drive the two thrust frames 19 to move synchronously. Since the pressure unlocking module also includes a plug connector 14 fixedly mounted on the side of the rotating disk 15 away from the second gear 16, the plug connector 14 is movably inserted into the docking hole 13 opened on the connecting member 8, and the docking holes 13 are distributed at equal angles around the axis of the rotating disk 15. The inner wall of the second gear 16 A limiting block 17 is fixedly connected, and the limiting block 17 is slidably embedded in a slide groove opened on the support shaft 6. A return spring 18 is fixedly connected between the side of the second gear 16 away from the rotating disk 15 and the convex ring at the end of the support shaft 6, and the return spring 18 is sleeved on the outside of the support shaft 6. The worm 7 fixedly connected at both ends of the support shaft 6 rotates in opposite directions. At this time, the thrust frame 19 will push the second gear 16 and the limiting block 17 to move on the support shaft 6, and the second gear 16 will move toward the output gear of the rotating motor 25. At the same time, the rotating disk 15 will drive the plug connector 14 to disengage from the docking hole 13.
[0022] Working Principle: When using this heavy-duty gantry truss manipulator, first refer to Figures 1-14, in the initial state of the device, the main clamping frame 11 and the first plate 1201 and the second plate 1202 on both sides together constitute a hemispherical shell structure for transporting granular materials. The moving platform on the truss body 4 can drive the guide column 2 and the loading frame 1 to move in the plane, and the output gear on the drive motor 3 can drive the loading frame 1 to move vertically through the guide column 2. The main clamping frame 11 set below the loading frame 1 will move synchronously, thereby realizing the transportation of materials. When granular materials need to be transported, the device controls the self-locking motor 10 to start. At this time, the output gear on the self-locking motor 10 will drive the two first gears 9 to rotate, and the first gear 9 will drive the connecting member 8 to rotate around the support shaft 6. At this time, the connecting member 8 will drive the bottom main clamping frame 11 and the variable load mechanism 12 to move synchronously, so that the two hemispherical shell structures below the loading frame 1 are away from each other. After that, after the device moves the main clamping frame 11 above the material, the self-locking motor 10 rotates in the opposite direction. At this time, the hemispherical shell structure formed by the main clamping frame 11 and the variable load mechanism 12 can effectively clamp and transport the granular materials; When the user needs to convey long strips of material, the device controls the multi-stage electric cylinder 24 to start, and the multi-stage electric cylinder 24 will first drive the top pressure plate 23 and the vertical plate 22 to move upward. At this time, the inclined surface on the upper part of the vertical plate 22 will push the force rod 20 to move, and the force rod 20 will drive the thrust racks 19 on both sides to move. The thrust racks 19 will drive the corresponding rotating disk 15 and the second gear 16 to rotate. At this time, the rotating disk 15 will drive the plug connector 14 to disengage from the docking hole 13 on the connector 8 to release the locking relationship. At the same time, the second gear 16 will drive the fixed connection The limiting block 17 moves on the support shaft 6, and the second gear 16 further compresses the return spring 18, and the second gear 16 moves toward the output gear of the rotating motor 25 to form a meshing transmission relationship. The device controls the rotating motor 25 to rotate. At this time, the rotating motor 25 will drive the two second gears 16 to rotate. In this process, the second gear 16 will drive the support shaft 6 to rotate through the limiting block 17. The worm 7 at both ends of the support shaft 6 will drive the corresponding transmission worm gear 1209 to rotate, and the transmission worm gear 1209 will drive the swing arm 1208 to swing. At this time, the swing arm 1208 will apply pressure to the convex shaft on the rotating plate 1207. At this time, the convex shaft on the rotating plate 1207 will move along the arc-shaped guide groove 27, and the rotating plate 1207 will drive the second plate body 1202 to rotate synchronously, and the second plate body 1202 will drive the control member 1205 to move in the limit groove 1204. Finally, the second plate body 1202 will push the first plate body 1201 to move through the control member 1205, and the first plate body 1201 will drive the arc bar 1203 to move on the main clamping frame 11, and the first plate body 1202 will move. 201 and the second plate body 1202 will drive the interlocking block 1206 at the bottom to move synchronously on the main clamping frame 11. When the first plate body 1201 and the second plate body 1202 are retracted into the main clamping frame 11, the two main clamping frames 11 will form a clamping and transportation structure for the long strip material. The two main clamping frames 11 are used to position the long strip material. Then the multi-stage electric cylinder 24 will drive the top pressure plate 23 to move downward. At this time, the top pressure plate 23 will further squeeze and position the material on the main clamping frame 11, and the reset spring 18 will push the second gear 16 to reset and move.
[0023] In the description of the present invention, unless otherwise specified, "plurality" means two or more; terms such as "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," and "tail" indicate positions or relationships based on those shown in the accompanying drawings. These terms are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0024] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.
[0025] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A heavy-duty gantry truss manipulator, comprising: The loading frame (1) is provided with a main clamping frame (11) and a positioning frame (26) below the loading frame; the loading frame (1) is characterized in that: a connecting member (8) is fixedly installed on the top of the main clamping frame (11), and a support shaft (6) is rotatably provided on the upper part of the connecting member (8), sleeves (5) are rotatably provided at both ends of the support shaft (6), and the sleeves (5) are rotatably provided on the bracket of the loading frame (1), and a variable bearing mechanism (12) is fitted in the clamping claws at the lower part of the main clamping frame (11), and the variable bearing mechanism The structure (12) comprises a first plate body (1201), the inner wall of one side of the first plate body (1201) is rotatably fitted on the main clamping frame (11), and a second plate body (1202) is rotatably fitted on the outer wall of the other side of the first plate body (1201), a rotating plate (1207) is fixedly connected to the top side wall of the second plate body (1202), and the rotating plate (1207) is rotatably fitted on the inner wall of the loading frame (1); a pressure unlocking module is fixedly installed on the side wall of the positioning frame (26).
2. A heavy-duty gantry truss manipulator according to claim 1, characterized in that: Two groups of symmetrically distributed first plates (1201) and second plates (1202) are provided on both sides of the hollow clamping claws at the bottom of the main clamping frame (11), and the three form a hemispherical shell gripping structure, and the first plate (1201) and the second plate (1202) are in an arc-shaped structure, and the centers of the first plate (1201) and the second plate (1202) are on the axis of the main clamping frame (11), and the centers of the first plate (1201) and the second plate (1202) are arranged to coincide with each other, and the lower ends of the first plate (1201) and the second plate (1202) are fixedly connected with corresponding engaging blocks (1206), and the engaging blocks (1206) are rotatably embedded in the arc groove at the bottom of the main clamping frame (11), and the upper ends of the first plate (1201) and the second plate (1202) are rotatably embedded on the top inner wall of the main clamping frame (11).
3. The heavy-duty gantry truss manipulator according to claim 1, characterized in that: An arc strip (1203) is coaxially fixedly connected to the inner side of the upper end of the first plate body (1201), and the arc strip (1203) is rotatably embedded in a slide groove on the inner wall of the main clamping frame (11), and a limiting groove (1204) is provided on the outer side of the upper end of the first plate body (1201), and a control member (1205) is rotatably fitted on the inner wall of one side of the limiting groove (1204), and the control member (1205) is fixedly connected to the inner side of the upper end of the second plate body (1202), the top of the second plate body (1202) is higher than the top of the first plate body (1201), and a rotating plate (1207) is fixedly connected to the inner side of the top of the second plate body (1202), and the rotating plate (1207) is horizontally rotatably embedded on the inner wall of the main clamping frame (11).
4. The heavy-duty gantry truss manipulator according to claim 3, characterized in that: The axis of the rotating plate (1207) and the axis of the main clamping frame (11) intersect perpendicularly, a convex shaft is provided on the top of the rotating plate (1207) away from the second plate body (1202), and the top of the convex shaft of the rotating plate (1207) is rotatably fitted in the guide groove (27) opened on the top of the main clamping frame (11), and the convex shaft of the rotating plate (1207) is fitted through the through groove opened on the swing arm (1208), and the center of the guide groove (27) is on the axis of the main clamping frame (11), and a swing arm (1208) is provided above the rotating plate (1207), and The swing arm (1208) is rotatably fitted on the inner wall of the main clamping frame (11), and one end of the swing arm (1208) away from the rotating plate (1207) is vertically fixedly connected to the transmission shaft at the bottom of the transmission worm gear (1209). The transmission shaft of the transmission worm gear (1209) rotates from bottom to top and passes through the main clamping frame (11) and the sleeve (5). A worm (7) is meshed with the turbine side of the top of the transmission worm gear (1209). The end of the worm (7) is coaxially fixedly connected to the end face of the support shaft (6), and the worm (7) is rotatably embedded in the inner wall of the sleeve (5).
5. The heavy-duty gantry truss manipulator according to claim 1, characterized in that: The pressure unlocking module includes a mounting frame (21) fixedly connected to the outer wall of the positioning frame (26), and a force-bearing rod (20) is fitted and passed through the horizontal grooves on both sides of the mounting frame (21), and the two ends of the force-bearing rod (20) are fixedly connected to corresponding thrust frames (19), one side of the thrust frame (19) is fitted on the outer wall of the mounting frame (21), and a collar provided on the other side of the thrust frame (19) is rotatably mounted on the outer wall of the rotating disk (15), the disk surface of the rotating disk (15) is coaxially fixedly connected to the second gear (16), and a support shaft (6) is rotatably passed through the axis of the rotating disk (15) and the second gear (16), the collar of the thrust frame (19) is fitted on the tooth surface of the second gear (16), and the side of the second gear (16) is provided with an output gear of the rotating motor (25).
6. The heavy-duty gantry truss manipulator according to claim 5, characterized in that: The pressure unlocking module also includes a plug connector (14) fixedly mounted on the side of the rotating disk (15) away from the second gear (16), the plug connector (14) is movably inserted into the docking hole (13) provided on the connecting member (8), and the docking holes (13) are distributed at equal angles around the axis of the rotating disk (15), a limiting block (17) is fixedly connected to the inner wall of the second gear (16), and the limiting block (17) is slidably embedded in the sliding groove provided on the support shaft (6), a return spring (18) is fixedly connected between the side of the second gear (16) away from the rotating disk (15) and the convex ring at the end of the support shaft (6), and the return spring (18) is sleeved on the outside of the support shaft (6), and the worm (7) fixedly connected at both ends of the support shaft (6) rotates in opposite directions.
7. The heavy-duty gantry truss manipulator according to claim 1, characterized in that: The top of the positioning frame (26) is fixedly connected to the center of the bottom surface of the loading frame (1), and the bottom of the positioning frame (26) is fixedly embedded with a multi-stage electric cylinder (24), the movable end of the multi-stage electric cylinder (24) is fixedly connected to a horizontal top pressure plate (23), and the top pressure plate (23) is located between the two main clamping frames (11), the top of the top pressure plate (23) is vertically fixedly connected to a vertical plate (22), and the vertical plate (22) slides through the positioning frame (26), the upper part of the vertical plate (22) slides through the mounting frame (21), and a force rod (20) is fitted on the inclined surface of the upper part of the vertical plate (22).