Heavy gantry truss manipulator

Abstract

The invention belongs to the technical field of mechanical tools, particularly relates to a heavy gantry truss manipulator, and aims to solve the problems that metal fatigue is possibly caused by alternating stress generated by vibration during use of the manipulator, so that key parts such as a cross beam connecting part and a guide rail bracket are easy to crack or deform and the like. In order to solve the problems of mechanical failure and even accidents caused by the fact that a plurality of tool frames are arranged in the prior art, according to the following scheme, the tool frames comprise a plurality of tool frames, one sides of every two tool frames located on the same side are fixedly connected with the same gantry guide rail rod, and one sides of every two gantry guide rail rods are slidably connected with walking end beams; and the sliding rail main beam is fixedly connected to one sides of the two walking end beams, and a sliding mechanical arm is arranged on one side of the sliding rail main beam. The heavy gantry truss manipulator disclosed by the invention has the effects that the problems of structural damage, precision reduction and high fault risk caused by long-term vibration and impact of the heavy gantry truss manipulator are reduced, and the reliability and safety of equipment are remarkably improved, and the service life of the equipment is remarkably prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical tools, and in particular to a heavy-duty gantry truss manipulator. Background Art

[0002] With the continuous advancement of technology and automation, numerous mechanical structures and automated devices have emerged to free human hands. Robots, as a common form of machinery, have freed human hands. By mimicking certain movements of the human hand and arm, they can carry, grasp, and even manipulate objects. Heavy-duty gantry manipulators are high-load, long-span automated industrial equipment widely used in material handling, loading and unloading machine tools, and precise manipulation of heavy workpieces.

[0003] The existing heavy-duty gantry truss manipulator has a large load, and the alternating stress generated by vibration during use may cause metal fatigue in the long run, making key parts such as beam connections and guide rail brackets prone to cracks or deformation, leading to mechanical failures or even accidents. Summary of the Invention

[0004] The present invention discloses a heavy-duty gantry truss manipulator, which aims to solve the technical problem that the alternating stress generated by the vibration during use of the manipulator in the background technology may cause metal fatigue in the long run, making key parts such as beam connections and guide rail brackets prone to cracks or deformation, leading to mechanical failures or even accidents.

[0005] The present invention proposes a heavy-duty gantry truss manipulator, comprising: Multiple tooling racks, two tooling racks located on the same side are fixedly connected to the same gantry guide rod on one side, and two gantry guide rods are slidably connected to a walking end beam on one side; The slide rail main beam is fixedly connected to one side of the two walking end beams. A sliding mechanical arm is provided on one side of the slide rail main beam. A lifting mechanical arm is slidably connected inside the sliding mechanical arm. A lifting motor is provided on one side of the sliding mechanical arm. A sliding motor is provided on one side of the sliding mechanical arm. An anti-damage module is provided at the bottom of the lifting robot arm, and is used to implement multi-level buffering and adaptive clamping protection; The compensation module is arranged on one side of the walking end beam. The compensation module is used to significantly reduce the impact of walking vibration on the main structure and ensure the cleanliness of the guide rail.

[0006] In a preferred embodiment, the anti-loss module includes: A tooling support plate is fixedly connected to one side of the lifting robot arm, and mounting holes are opened at equal intervals on one side of the tooling support plate. Guide cylinders are slidably connected to the interiors of the multiple mounting holes, and one side of the multiple guide cylinders is fixedly connected to a return spring 1, and one side of the return spring 1 is fixedly connected to one side of the tooling support plate; The lifting buffer plate slides outside the multiple guide cylinders. One side of the lifting buffer plate is fixedly connected with two reset springs at equal distances. One side of the multiple reset springs is fixedly connected to one side of the tooling support plate.

[0007] In a preferred embodiment, the anti-loss module further comprises: A limiting semicircular frame is fixedly connected to one end of the plurality of guide cylinders, an adaptive semicircular head is movably connected to the interior of the limiting semicircular frame, a mounting column is fixedly connected to one side of the adaptive semicircular head, a second tooling block is distributed in a ring shape on the outside of the mounting column, and a first tooling block is distributed in a ring shape on one side of the lifting buffer plate; The plurality of rotating blocks are respectively connected to the interiors of the plurality of tooling blocks 1 and 2 through bearings, and one side of the two rotating blocks located on the same side is fixedly connected with the same buffer spring.

[0008] In a preferred embodiment, the anti-loss module further comprises: The rotary drive disc is fixedly connected to one end of the adaptive semicircular head. The driving end of the rotary drive disc is fixedly connected to a tooling connection plate. Two protective frames are symmetrically fixedly connected to one side of the tooling connection plate. A mounting circular opening is opened on one side of the protective frame. A guide circular frame is fixedly connected inside the mounting circular opening. Two U-shaped rods are fixedly connected to one side of the two tooling connecting plates. One side of the two U-shaped rods is fixedly connected to an electric drive rod. The driving ends of the two electric drive rods are fixedly connected to a conical push-pull block, and the conical push-pull block is slidably connected to the inside of the guide circular frame.

[0009] In a preferred embodiment, the anti-loss module further comprises: Multiple limiting round rods are respectively slidably connected to the two sides of the two protective frames. The opposite sides of the two limiting round rods on the same side are fixedly connected to the same U-shaped mounting frame. One side of each U-shaped mounting frame is provided with a round hole. The interiors of the two round holes are connected to rotating round rods through bearings. Both sides of the two U-shaped mounting frames are fixedly connected to an adaptive spring, and one side of the adaptive spring is fixedly connected to the inner side of the protective frame. Multiple mechanical adjustment arms are movably connected to the outside of the two rotating round rods respectively. Two round holes are opened on both sides of the two protective frames. The insides of the two round holes two on the same side are movably connected to the same guide round rod. One side of the multiple mechanical adjustment arms is fixedly connected to a telescopic spring. One side of the telescopic spring is fixedly connected to the inner side of the protective frame. The telescopic spring is located outside the guide round rod.

[0010] In a preferred embodiment, the anti-loss module further comprises: A plurality of rollers are fixedly connected to one end of the plurality of mechanical adjustment arms, and the rollers abut against the outside of the conical push-pull block; A plurality of mechanical clamping plates are respectively fixedly connected to the other ends of the plurality of mechanical adjustment arms.

[0011] In a preferred embodiment, the compensation module includes: Two travel motors are respectively arranged on one side of the two travel end beams. One side of the travel end beam is fixedly connected to two mounting blocks. One side of the two mounting blocks is connected to a lower pressure arm through a bearing. One side of the two lower pressure arms is fixedly connected to a tension spring. One side of the tension spring is fixedly connected to one side of the travel end beam. The walking installation frame is movably connected to one end of the two lower pressure arms, and both sides of the walking installation frame are connected to two walking wheels through bearings.

[0012] In a preferred solution, the compensation module further includes: Multiple hollow suction frames are fixedly connected to one side of the walking installation frame, and one side of two hollow suction frames on the same side are fixedly connected to the same connecting pipe, wherein one side of the two hollow suction frames is fixedly connected to the same suction pipe; Two electric telescopic rods are symmetrically fixedly connected to both sides of the walking installation frame. Round holes three are evenly spaced on both sides of the walking installation frame. The interiors of the plurality of round holes three are all slidably connected to limit cylinders.

[0013] In a preferred solution, the compensation module further includes: Two level adjustment plates, one side of the level adjustment plates is fixedly connected to one side of the limit cylinder, one side of the two level adjustment plates is fixedly connected to a return spring three at equal distances, one side of the return spring three is fixedly connected to one side of the travel mounting frame, and the return spring three is located outside the limit cylinder; The two damping frames are respectively fixedly connected to one side of the two horizontal adjustment plates. The interiors of the two damping frames are connected to two rollers through bearings. One side of the horizontal adjustment plate is fixedly connected to the driving end of the electric telescopic rod.

[0014] In a preferred solution, the compensation module further includes: Multiple push rods are movably connected to both sides of the two horizontal adjustment plates, one side of the multiple push rods is fixedly connected to a cleaning brush plate, one side of the multiple push rods is fixedly connected to an extrusion spring, and one side of the extrusion spring is fixedly connected to one side of the damping frame.

[0015] From the above, it can be seen that the heavy-duty gantry truss manipulator provided by the present invention has the beneficial effect of reducing the structural damage, precision degradation and high failure risk of the heavy-duty gantry truss manipulator caused by long-term vibration and impact, and significantly improving the reliability, safety and service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the main structure of a heavy-duty gantry truss manipulator proposed in the present invention.

[0017] Figure 2 This is a schematic diagram of the gantry guide rod structure of a heavy-duty gantry truss manipulator proposed in the present invention.

[0018] Figure 3 This is a schematic diagram of the sliding manipulator structure of a heavy-duty gantry truss manipulator proposed in the present invention.

[0019] Figure 4 This is a schematic diagram of the anti-damage module structure of a heavy-duty gantry truss manipulator proposed in the present invention.

[0020] Figure 5 This is a schematic diagram of the structure of the anti-damage module of a heavy-duty gantry truss manipulator proposed in the present invention.

[0021] Figure 6 This is a schematic diagram of the installation column structure of a heavy-duty gantry truss manipulator proposed in the present invention.

[0022] Figure 7 This is a schematic diagram of the mechanical adjustment arm structure of a heavy-duty gantry truss manipulator proposed in the present invention.

[0023] Figure 8 This is a schematic diagram of the compensation module structure of a heavy-duty gantry truss manipulator proposed in the present invention.

[0024] Figure 9 This is a schematic diagram of the structure of the compensation module of a heavy-duty gantry truss manipulator proposed in the present invention.

[0025] Figure 10 This is a schematic diagram of the damping frame structure of a heavy-duty gantry truss manipulator proposed in the present invention.

[0026] In the figure: 1. tooling frame; 2. gantry guide rail; 3. main beam of the slide rail; 4. walking end beam; 5. sliding robot arm; 6. sliding motor; 7. lifting robot arm; 8. anti-damage module; 801. tooling support plate; 802. guide cylinder; 803. reset spring 1; 804. reset spring 2; 805. limit semicircular frame; 806. rotary drive disk; 807. tooling connecting plate; 808. protection frame; 809. U-shaped rod; 810. guide circular frame; 811. adaptive semicircular head; 812. mounting column; 813. tooling block 1; 814. tooling block 2; 815. rotating block; 816. buffer spring; 817. electric drive rod; 818. limit circular rod; 819. adaptive spring; 820. U-shaped mounting frame; 821. rotating Round rod; 822, guide round rod; 823, telescopic spring; 824, mechanical adjustment arm; 825, roller; 826, conical push-pull block; 827, mechanical clamping plate; 828, lifting buffer plate; 9, lifting motor; 10, compensation module; 1001, mounting block; 1002, lower pressure arm; 1003, hollow suction frame; 1004, connecting pipe; 1005, suction pipe; 1006, walking installation frame; 1007, tension spring; 1008, walking wheel; 1009, limiting cylinder; 1010, reset spring three; 1011, electric telescopic rod; 1012, horizontal adjustment plate; 1013, push rod; 1014, cleaning brush plate; 1015, extrusion spring; 1016, damping frame; 1017, roller; 11, walking motor. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0028] The heavy-duty gantry truss manipulator disclosed in the present invention is mainly used to withstand the alternating stress generated by vibration when the manipulator is in use. Over time, this may cause metal fatigue, making key parts such as beam connections and guide rail brackets prone to cracks or deformation, leading to mechanical failures or even accidents.

[0029] Reference Figures 1-10 , a heavy-duty gantry truss manipulator, comprising: Multiple tooling frames 1, one side of two tooling frames 1 on the same side are fixedly connected to the same gantry guide rod 2, and one side of the two gantry guide rods 2 are slidably connected to the walking end beam 4; The slide rail main beam 3 is fixedly connected to one side of the two walking end beams 4. A sliding mechanical arm 5 is provided on one side of the slide rail main beam 3. A lifting mechanical arm 7 is slidably connected inside the sliding mechanical arm 5. A lifting motor 9 is provided on one side of the sliding mechanical arm 5. A sliding motor 6 is provided on one side of the sliding mechanical arm 5. The anti-damage module 8 is provided at the bottom of the lifting robot arm 7 and is used to implement multi-level buffering and adaptive clamping protection; The compensation module 10 is provided on one side of the walking end beam 4. The compensation module 10 is used to significantly reduce the impact of walking vibration on the main structure and ensure the cleanliness of the guide rail.

[0030] Reference Figure 1-Figure 7 In a preferred embodiment, the anti-loss module 8 includes: The tool support plate 801 is fixedly connected to one side of the lifting robot arm 7. One side of the tool support plate 801 is provided with mounting holes at equal intervals. Guide cylinders 802 are slidably connected to the interiors of the multiple mounting holes. One side of the multiple guide cylinders 802 is fixedly connected to a return spring 1 803. One side of the return spring 1 803 is fixedly connected to one side of the tool support plate 801. The lifting buffer plate 828 slides on the outside of the multiple guide cylinders 802. One side of the lifting buffer plate 828 is fixedly connected to the return spring 2 804 at equal distances. One side of the multiple return spring 2 804 is fixedly connected to one side of the tooling support plate 801.

[0031] In the present invention, the anti-loss module 8 further includes: A limiting semicircular frame 805 is fixedly connected to one end of the plurality of guide cylinders 802. An adaptive semicircular head 811 is movably connected to the interior of the limiting semicircular frame 805. A mounting post 812 is fixedly connected to one side of the adaptive semicircular head 811. A second tooling block 814 is distributed in an annular pattern on the exterior of the mounting post 812. A first tooling block 813 is distributed in an annular pattern on one side of the lifting buffer plate 828. The plurality of rotating blocks 815 are connected to the interior of the plurality of tooling blocks 1 813 and the tooling block 2 814 through bearings, and one side of the two rotating blocks 815 on the same side is fixedly connected to the same buffer spring 816.

[0032] In the present invention, the anti-loss module 8 further includes: The rotary drive disk 806 is fixedly connected to one end of the adaptive semicircular head 811. The driving end of the rotary drive disk 806 is fixedly connected to a tool connection plate 807. Two protective frames 808 are symmetrically fixedly connected to one side of the tool connection plate 807. One side of the protective frame 808 has a mounting circular opening, and the interior of the mounting circular opening is fixedly connected to a guide circular frame 810. The two U-shaped rods 809 are respectively fixedly connected to one side of the two tooling connecting plates 807. One side of the two U-shaped rods 809 is fixedly connected to an electric drive rod 817. The driving ends of the two electric drive rods 817 are fixedly connected to a conical push-pull block 826. The conical push-pull block 826 is slidably connected to the inside of the guide circular frame 810.

[0033] In the present invention, the anti-loss module 8 further includes: A plurality of limiting round rods 818 are slidably connected to the two sides of the two protective frames 808. The opposite sides of the two limiting round rods 818 on the same side are fixedly connected to the same U-shaped mounting frame 820. A circular hole 1 is opened on one side of each U-shaped mounting frame 820. The interiors of the two circular holes 1 are connected to rotating round rods 821 through bearings. The two sides of the U-shaped mounting frames 820 are fixedly connected to adaptive springs 819. One side of the adaptive spring 819 is fixedly connected to the inner side of the protective frame 808. Multiple mechanical adjustment arms 824 are movably connected to the outside of the two rotating round rods 821 respectively. Round holes 2 are opened on both sides of the two protective frames 808. The insides of the two round holes 2 on the same side are movably connected to the same guide round rod 822. One side of the multiple mechanical adjustment arms 824 is fixedly connected to a telescopic spring 823. One side of the telescopic spring 823 is fixedly connected to the inner side of the protective frame 808. The telescopic spring 823 is located on the outside of the guide round rod 822.

[0034] In the present invention, the anti-loss module 8 further includes: A plurality of rollers 825 are fixedly connected to one end of the plurality of mechanical adjustment arms 824, and the rollers 825 abut against the outside of the tapered push-pull block 826; The plurality of mechanical clamping plates 827 are respectively fixedly connected to the other ends of the plurality of mechanical adjustment arms 824 .

[0035] In a specific application scenario, the anti-loss module 8 forms a first-level buffer through the guide cylinder 802 and the return spring 1 803, and the lifting buffer plate 828 and the return spring 2 804 form a second-level buffer. When the lifting robot arm 7 grabs or places a heavy workpiece, the impact force generated by the workpiece is first transmitted to the lifting buffer plate 828, and the compression return spring 2 804 is initially absorbed. The remaining impact force is compressed by the guide cylinder 802 and the return spring 1 803 for secondary absorption. The multi-level buffer effectively disperses and absorbs the impact load in the vertical direction, significantly reducing the impact vibration on the lifting robot arm 7 and the entire gantry truss structure, especially the connection between the slide rail main beam 3 and the walking end beam 4. The alternating stress generated at the joint fundamentally reduces the risk of metal fatigue, prolongs the service life of key structural parts, and prevents the occurrence of cracks or deformation; the adaptive semicircular head 811 is connected in the limit semicircular frame 805, and the flexible connection between the mounting column 812 and the lifting buffer plate 828 through the tooling block 1 813, the tooling block 2 814, the rotating block 815 and the buffer spring 816 forms a third-level buffer. This structure allows the tooling connecting plate 807 and the clamping mechanism thereon to adaptively adjust the posture to a small deflection and tilt within a certain range when grabbing irregular or uneven heavy objects, and through the buffer spring 816 The extension and retraction further absorbs the vibration and torsional load in the horizontal direction, greatly improving the stability of the manipulator under complex working conditions and the protection ability of the equipment itself; the mechanical clamping plate 827 is connected to the driving mechanism (electric driving rod 817, conical push-pull block 826) through the mechanical adjustment arm 824, the rotating round rod 821, and the U-shaped installation frame 820; when the conical push-pull block 826 is driven to slide in the guide round frame 810, its conical surface pushes the roller 825, forcing the mechanical adjustment arm 824 to rotate around the rotating round rod 821, thereby realizing the synchronous opening and closing of the mechanical clamping plate 827, ensuring the stability and synchronization of the clamping action; the clamping mechanism as a whole (protective frame 808, The U-shaped mounting frame 820, the mechanical adjustment arm 824, etc. are not rigidly fixed. The U-shaped mounting frame 820 can float relative to the protective frame 808 through the limiting round rod 818 and the adaptive spring 819; the mechanical adjustment arm 824 can also be elastically displaced through the telescopic spring 823 and the guide round rod 822; when the mechanical clamping plate 827 accidentally collides with an obstacle during clamping or movement, these elastic elements (adaptive spring 819, telescopic spring 823) can absorb the collision energy, allowing the clamping mechanism to produce an evasive displacement, effectively avoiding deformation of the clamping mechanism, damage to the workpiece or damage to the equipment due to rigid collision, and improving operational safety and reliability.

[0036] Reference Figure 1 、 Figure 2 、 Figure 8 、 Figure 9 and Figure 10 In a preferred embodiment, the compensation module 10 includes: Two walking motors 11 are respectively arranged on one side of the two walking end beams 4. One side of the walking end beam 4 is fixedly connected to two mounting blocks 1001. One side of the two mounting blocks 1001 is connected to a lower pressure arm 1002 through a bearing. One side of the two lower pressure arms 1002 is fixedly connected to a tension spring 1007. One side of the tension spring 1007 is fixedly connected to one side of the walking end beam 4. The walking installation frame 1006 is movably connected to one end of the two lower pressure arms 1002, and two sides of the walking installation frame 1006 are connected to two walking wheels 1008 through bearings.

[0037] In the present invention, the compensation module 10 further includes: Multiple hollow suction frames 1003 are fixedly connected to one side of the walking installation frame 1006. One side of the two hollow suction frames 1003 on the same side is fixedly connected to the same connecting pipe 1004, and one side of the two hollow suction frames 1003 is fixedly connected to the same suction pipe 1005; Two electric telescopic rods 1011 are symmetrically fixedly connected to both sides of the walking installation frame 1006. Circular holes three are evenly spaced on both sides of the walking installation frame 1006. The interiors of the plurality of circular holes three are all slidably connected to the limiting cylinders 1009.

[0038] In the present invention, the compensation module 10 further includes: Two horizontal adjustment plates 1012, one side of the horizontal adjustment plates 1012 is fixedly connected to one side of the limiting cylinder 1009, and one side of the two horizontal adjustment plates 1012 is fixedly connected to the third return spring 1010 at an equal distance, and one side of the third return spring 1010 is fixedly connected to one side of the travel installation frame 1006, and the third return spring 1010 is located outside the limiting cylinder 1009; The two damping frames 1016 are respectively fixedly connected to one side of the two horizontal adjustment plates 1012. The interiors of the two damping frames 1016 are connected to two rollers 1017 through bearings. One side of the horizontal adjustment plate 1012 is fixedly connected to the driving end of the electric telescopic rod 1011.

[0039] In the present invention, the compensation module 10 further includes: Multiple push rods 1013 are movably connected to both sides of the two horizontal adjustment plates 1012, one side of each push rod 1013 is fixedly connected to a cleaning brush plate 1014, one side of each push rod 1013 is fixedly connected to an extrusion spring 1015, and one side of the extrusion spring 1015 is fixedly connected to one side of the damping frame 1016.

[0040] In a specific application scenario, the key to the compensation module 10 is that the walking wheel 1008 is not directly and rigidly mounted on the walking end beam 4, but is connected through a suspension system consisting of a lower pressure arm 1002, a tension spring 1007 and a walking mounting frame 1006. When the walking wheel 1008 encounters bumps or uneven tracks while running on the gantry guide rail rod 2, the suspension system can float up and down, and the tension spring 1007 absorbs vibration energy, significantly reducing the intensity of vibration transmitted through the walking end beam 4 to the core structures such as the slide rail main beam 3, thereby reducing structural fatigue and precision loss caused by long-term vibration; the cleaning brush plate 1014 is elastically pressed against the working surface of the gantry guide rail rod 2 by the support rod 1013 and the extrusion spring 1015; when the walking wheel 1008 drives the entire module to move along the guide rail, the cleaning brush plate 1014 continuously cleans dust, debris, oil stains and other impurities on the surface of the guide rail. The extrusion spring 1015 ensures that the brush plate always maintains effective contact pressure with the guide rail and adapts to the slight unevenness of the guide rail. The damping frame 1016 and the roller 1017 provide support and stable guidance for the cleaning brush plate 1014 to ensure stable cleaning effect. The clean guide rail surface is crucial for the smooth operation of the walking wheel 1008, reducing slippage and abnormal wear, which directly improves the walking accuracy and system life; multiple hollow suction frames 1003 form a negative pressure adsorption channel through the connecting pipe 1004 and the suction pipe 1005. The dust and debris swept up by the cleaning brush plate 1014 can be effectively sucked away by the negative pressure area under the hollow suction frame 1003 and discharged through the suction pipe 1005, preventing the swept pollutants from settling on the guide rail or walking mechanism for the second time, keeping the guide rail and working environment clean.

[0041] Working principle: When using, The anti-loss module 8 forms a first-level buffer through the guide cylinder 802 and the return spring 1 803, and the lifting buffer plate 828 and the return spring 2 804 form a second-level buffer. When the lifting robot arm 7 grabs or places a heavy workpiece, the impact force generated by the workpiece is first transmitted to the lifting buffer plate 828, and the return spring 2 804 is compressed for preliminary absorption, and the remaining impact force is secondarily absorbed by the guide cylinder 802 compressing the return spring 1 803; the adaptive semicircular head 811 is movably connected in the limiting semicircular frame 805, and the flexible connection between the mounting column 812 and the lifting buffer plate 828 through the tooling block 1 813, tooling block 2 814, rotating block 815 and buffer spring 816 forms a third-level buffer. This structure allows the tooling connecting plate 807 and the clamping mechanism thereon to adaptively adjust the posture to a slight deflection and tilt within a certain range when grabbing irregular or uneven heavy objects, and further absorb horizontal vibration and torsional loads through the expansion and contraction of the buffer spring 816, greatly improving The stability of the manipulator under complex working conditions and the protection capability of the equipment itself are improved; the mechanical clamping plate 827 is connected to the driving mechanism (electric driving rod 817, conical push-pull block 826) through the mechanical adjustment arm 824, the rotating rod 821, and the U-shaped mounting frame 820; when the conical push-pull block 826 is driven to slide in the guide frame 810, its conical surface pushes the roller 825, forcing the mechanical adjustment arm 824 to rotate around the rotating rod 821, thereby realizing the synchronous opening and closing of the mechanical clamping plate 827; the clamping mechanism as a whole ( The protective frame 808, U-shaped mounting frame 820, and mechanical adjustment arm 824 are not rigidly fixed. The U-shaped mounting frame 820 can float relative to the protective frame 808 via a limiting rod 818 and an adaptive spring 819. The mechanical adjustment arm 824 can also be elastically displaced via a telescopic spring 823 and a guide rod 822. When the mechanical clamping plate 827 accidentally collides with an obstacle during clamping or movement, these elastic elements (adaptive spring 819 and telescopic spring 823) can absorb the collision energy. When the walking wheel 1008 walks on the walking end beam 4, it is connected through the suspension system composed of the lower pressure arm 1002, the tension spring 1007 and the walking mounting frame 1006. When the walking wheel 1008 encounters bumps or uneven tracks when running on the gantry guide rail rod 2, the suspension system can float up and down, and the tension spring 1007 absorbs the vibration energy; the cleaning brush plate 1014 is elastically pressed against the working surface of the gantry guide rail rod 2 through the support rod 1013 and the extrusion spring 1015; when the walking wheel 1008 drives the entire module to move along the guide rail, the cleaning brush plate 1014 continuously cleans dust, debris, oil stains and other impurities on the surface of the guide rail. The extrusion spring 1015 ensures that the brush plate always maintains effective contact pressure with the guide rail and adapts to the slight unevenness of the guide rail. The damping frame 1016 and the roller 1017 provide support and stable guidance for the cleaning brush plate 1014 to ensure a stable cleaning effect; multiple hollow suction frames 1003 form a negative pressure adsorption channel through the connecting tube 1004 and the suction tube 1005. The dust and debris swept up by the cleaning brush plate 1014 can be effectively sucked away by the negative pressure area below the hollow suction frame 1003 and discharged through the suction tube 1005.

[0042] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A heavy-duty gantry truss manipulator, characterized in that: include: A plurality of tooling frames (1), wherein one side of two tooling frames (1) located on the same side is fixedly connected to the same gantry guide rail (2), and one side of the two gantry guide rails (2) is slidably connected to a walking end beam (4); A slide rail main beam (3) is fixedly connected to one side of the two walking end beams (4); a sliding mechanical arm (5) is provided on one side of the slide rail main beam (3); a lifting mechanical arm (7) is slidably connected to the interior of the sliding mechanical arm (5); a lifting motor (9) is provided on one side of the sliding mechanical arm (5); and a sliding motor (6) is provided on one side of the sliding mechanical arm (5); An anti-damage module (8) is arranged at the bottom of the lifting mechanical arm (7), and the anti-damage module (8) is used to achieve multi-level buffering and adaptive clamping protection; The compensation module (10) is arranged on one side of the walking end beam (4), and the compensation module (10) is used to significantly reduce the impact of walking vibration on the main structure and ensure the cleanliness of the guide rail.

2. A heavy-duty gantry truss manipulator according to claim 1, characterized in that: The anti-loss module (8) comprises: A tool support plate (801) is fixedly connected to one side of the lifting robot arm (7), and mounting holes are opened at equal intervals on one side of the tool support plate (801). Guide cylinders (802) are slidably connected to the interiors of the plurality of mounting holes. One side of the plurality of guide cylinders (802) is fixedly connected to a return spring (803), and one side of the return spring (803) is fixedly connected to one side of the tool support plate (801); The lifting buffer plate (828) slides outside the plurality of guide cylinders (802), and one side of the lifting buffer plate (828) is fixedly connected to a second return spring (804) at equal distances, and one side of the plurality of second return springs (804) is fixedly connected to one side of the tooling support plate (801).

3. A heavy-duty gantry truss manipulator according to claim 2, characterized in that: The anti-loss module (8) further includes: A limiting semicircular frame (805) is fixedly connected to one end of the plurality of guide cylinders (802); an adaptive semicircular head (811) is movably connected to the interior of the limiting semicircular frame (805); a mounting column (812) is fixedly connected to one side of the adaptive semicircular head (811); a second tooling block (814) is distributed in an annular manner on the exterior of the mounting column (812); and a first tooling block (813) is distributed in an annular manner on one side of the lifting buffer plate (828); The plurality of rotating blocks (815) are respectively connected to the interior of the plurality of tooling blocks 1 (813) and tooling blocks 2 (814) through bearings, and one side of the two rotating blocks (815) located on the same side is fixedly connected to the same buffer spring (816).

4. A heavy-duty gantry truss manipulator according to claim 3, characterized in that: The anti-loss module (8) further includes: A rotary drive disc (806) is fixedly connected to one end of the adaptive semicircular head (811); a tooling connection plate (807) is fixedly connected to the driving end of the rotary drive disc (806); two protective frames (808) are symmetrically fixedly connected to one side of the tooling connection plate (807); a mounting circular opening is opened on one side of the protective frame (808); a guide circular frame (810) is fixedly connected to the inside of the mounting circular opening; Two U-shaped rods (809) are fixedly connected to one side of the two tooling connecting plates (807), and one side of the two U-shaped rods (809) is fixedly connected to an electric drive rod (817). The driving ends of the two electric drive rods (817) are fixedly connected to a tapered push-pull block (826), and the tapered push-pull block (826) is slidably connected to the inside of the guide circular frame (810).

5. A heavy-duty gantry truss manipulator according to claim 4, characterized in that: The anti-loss module (8) further includes: A plurality of limiting round rods (818) are respectively slidably connected to both sides of the two protective frames (808); opposite sides of the two limiting round rods (818) on the same side are fixedly connected to the same U-shaped mounting frame (820); a round hole (1) is opened on one side of the two U-shaped mounting frames (820); the interiors of the two round holes (1) are connected to rotating round rods (821) via bearings; both sides of the two U-shaped mounting frames (820) are fixedly connected to adaptive springs (819); one side of the adaptive springs (819) is fixedly connected to one side of the interior of the protective frame (808); Multiple mechanical adjustment arms (824), the multiple mechanical adjustment arms (824) are movably connected to the outside of the two rotating round rods (821), two round holes are opened on both sides of the two protective frames (808), the insides of the two round holes on the same side are movably connected to the same guide round rod (822), one side of the multiple mechanical adjustment arms (824) is fixedly connected to a telescopic spring (823), one side of the telescopic spring (823) is fixedly connected to the inner side of the protective frame (808), and the telescopic spring (823) is located outside the guide round rod (822).

6. The heavy-duty gantry truss manipulator according to claim 5, characterized in that: The anti-loss module (8) further includes: A plurality of rollers (825) are respectively fixedly connected to one end of a plurality of mechanical adjustment arms (824), and the rollers (825) abut against the outside of the conical push-pull block (826); The plurality of mechanical clamping plates (827) are respectively fixedly connected to the other ends of the plurality of mechanical adjustment arms (824).

7. A heavy-duty gantry truss manipulator according to claim 6, characterized in that: The compensation module (10) comprises: Two walking motors (11) are respectively arranged on one side of the two walking end beams (4); one side of the walking end beam (4) is fixedly connected to two mounting blocks (1001); one side of the two mounting blocks (1001) is connected to a lower pressure arm (1002) via a bearing; one side of the two lower pressure arms (1002) is fixedly connected to a tension spring (1007); one side of the tension spring (1007) is fixedly connected to one side of the walking end beam (4); The walking installation frame (1006) is movably connected to one end of the two lower pressure arms (1002), and both sides of the walking installation frame (1006) are connected to two walking wheels (1008) through bearings.

8. The heavy-duty gantry truss manipulator according to claim 7, characterized in that: The compensation module (10) further includes: A plurality of hollow suction frames (1003) are fixedly connected to one side of the walking installation frame (1006), and one side of two hollow suction frames (1003) located on the same side are fixedly connected to the same connecting pipe (1004), wherein one side of two hollow suction frames (1003) are fixedly connected to the same suction pipe (1005); Two electric telescopic rods (1011) are symmetrically fixedly connected to both sides of the walking installation frame (1006). Three circular holes are opened at equal distances on both sides of the walking installation frame (1006). The interiors of the plurality of circular holes are all slidably connected to the limiting cylinders (1009).

9. The heavy-duty gantry truss manipulator according to claim 8, characterized in that: The compensation module (10) further includes: Two horizontal adjustment plates (1012), one side of the horizontal adjustment plates (1012) is fixedly connected to one side of the limiting cylinder (1009), one side of the two horizontal adjustment plates (1012) is fixedly connected to a return spring three (1010) at an equal distance, one side of the return spring three (1010) is fixedly connected to one side of the walking installation frame (1006), and the return spring three (1010) is located outside the limiting cylinder (1009); The two damping frames (1016) are respectively fixedly connected to one side of the two horizontal adjustment plates (1012). The interiors of the two damping frames (1016) are connected to two rollers (1017) via bearings. One side of the horizontal adjustment plate (1012) is fixedly connected to the driving end of the electric telescopic rod (1011).

10. The heavy-duty gantry truss manipulator according to claim 9, characterized in that: The compensation module (10) further includes: A plurality of push rods (1013) are movably connected to both sides of the two horizontal adjustment plates (1012); one side of each of the push rods (1013) is fixedly connected to a cleaning brush plate (1014); one side of each of the push rods (1013) is fixedly connected to an extrusion spring (1015); and one side of the extrusion spring (1015) is fixedly connected to one side of a damping frame (1016).

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