Truss robot

Abstract

The invention relates to the field of program control mechanical arms, in particular to a truss robot which comprises a track frame, a steering assembly fixed to the upper portion of the track frame, a second track connected with the steering assembly and a mechanical arm fixed to the side, away from the second track, of a moving block. The second rail comprises a moving block linearly moving along the second rail, the mechanical arm comprises a third rail and at least two sets of side plates reversely moving along the third rail, and clamping jaws capable of rotating along the surfaces of the side plates are arranged on the inner sides of the side plates. Through cooperation of the arranged steering assembly and the corresponding structural parts, the track frame with the same structural design as the truss is guaranteed, meanwhile, the corresponding steering structure is further arranged to achieve angle adjustment of the whole track structure, the control angle can be freely set according to requirements, and the control precision is improved. And the grabbing function at any angle in the space is really realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of programmable manipulator, in particular to a truss robot. BACKGROUND

[0002] The programmable manipulator generally refers to a multifunctional machine for performing some related operations in industrial production through program control of the manipulator arm, such as the handling of materials. In order to ensure the working freedom of the programmable manipulator, various auxiliary frame structures are usually provided to ensure that the position movement of the manipulator in the work meets the requirements. For the truss robot, the direction control of the programmable manipulator arm is usually realized through the frame structure of the truss cooperating with the track drive design of the lead screw.

[0003] The existing truss structure usually includes a three-degree-of-freedom track structure, i.e. it can realize positioning at any position in space. However, since the structural design is usually realized through linear track drive, although it can achieve positioning at any point, when transporting some bagged materials, the stacking state may be damaged due to shaking, thereby forming a relatively chaotic stacking state, such as the angle of some bagged materials not only tilting but also changing, etc. Since the structure control of the truss is linear movement, when grabbing the bagged materials whose stacking state is damaged, the grabbing action cannot be correctly completed. SUMMARY

[0004] The present application provides the following technical solutions in view of the deficiencies of the prior art.

[0005] A truss robot, comprising: a track frame, a steering assembly fixed above the track frame, a track two connected with the steering assembly, and a manipulator fixed to the side of the moving block away from the track two.

[0006] Specifically, the steering assembly is used to drive the track two to rotate along its own track axis, the track two includes a moving block moving linearly along the track two, the manipulator includes a track three and at least two groups of side plates moving in opposite directions along the track three, and the inner side of the side plate is provided with a gripper that can rotate along the surface of the side plate.

[0007] As an improvement of the above technical solution, the track frame includes a track one, a lead screw one is inserted into the inside of the track one, a motor one is arranged on one side of the track one, one end of the lead screw one is connected with the power output end of the motor one, a telescopic rod is vertically arranged in the inside of the track one, the end of the lead screw one screwing through the inside of the track one is located in the end of the telescopic rod in the inside of the track one, the telescopic end of the telescopic rod is fixed with a mounting plate, and the mounting plate is used to mount the steering assembly.

[0008] As the improvement of the above technical scheme, the surface of the moving block is provided with a through slot and a threaded groove, the track two penetrates the slot, one end of the track two is provided with a linkage gear, the steering assembly comprises a transmission gear meshing with the linkage gear, one side of the transmission gear is provided with a motor two, the power end of the motor two is connected with a drive gear, and the drive gear is meshed with the transmission gear.

[0009] As the improvement of the above technical scheme, the center of the linkage gear is provided with a through slot, a lead screw two is inserted into the slot, the lead screw two penetrates the threaded groove, the end of the lead screw two is provided with a gear slot, and the number of the motor two is two, one of which is connected with the drive gear, and the drive gear of the other motor two is meshed with the gear slot.

[0010] As the improvement of the above technical scheme, the steering assembly comprises a housing, one side of the housing is provided with a sealing plate, the inner wall of the housing is provided with a bearing, the surface of the transmission gear and the linkage gear is provided with a positioning groove, the inner ring of the bearing is embedded into the inside of the positioning groove, the two ends of the lead screw two are provided with limiting grooves, and the outer side of the limiting groove is provided with a positioning plate for limiting.

[0011] As the improvement of the above technical scheme, the side surface of the housing close to the moving block is provided with a circular side groove one, the track two penetrates into the inside of the side groove one, and when the track two rotates, it always adheres to the groove wall of the side groove one.

[0012] As the improvement of the above technical scheme, the upper end of the mounting plate is fixed with a mounting bracket, one side of the mounting bracket is provided with a fixing bolt penetrating into the inside of the positioning plate, the outer side of the housing is integrally formed with a plurality of mounting columns, one side of the mounting bracket is provided with a positioning shaft penetrating into the inside of the mounting column, and the two ends of the positioning shaft are fixed with the mounting column through nuts.

[0013] As the improvement of the above technical scheme, the track frame is provided with a cutting assembly, the cutting assembly comprises a track four towards the middle position of the track two, the track four is vertically arranged, one side of the track four towards the middle position of the track two is provided with a track groove four, and the inside of the track groove four is provided with a cutting piece ascending and descending along the track groove four.

[0014] As the improvement of the above technical scheme, the side groove two is provided on the side away from the track two of the track groove four, the cutting piece comprises a positioning block, a blade provided on one side of the positioning block and a screw rod threadedly connected on the other side of the positioning block, the positioning block is arranged in the track groove four, and the screw rod is threadedly penetrated into the inside of the positioning block in the track groove four from the side groove two.

[0015] As the improvement of the above technical scheme, the upper end surface of the third rail is integrally formed with a connecting sleeve, one side end surface of the moving block is provided with a third motor, the power end of the third motor is inserted into the inside of the connecting sleeve and is detachably fixed to the surface of the third rail, the lower end surface of the third rail is fixed with a rotatable lead screw three through a bearing, the lead screw three is screwed through a side plate, the side plate is provided with a third rail groove at one end, the third rail groove is attached to the surface of the third rail, and the other end of the side plate is fixed with a fourth motor outside, the power end of the fourth motor is inserted into the inside of the side plate and is detachably fixed to the clamping jaw.

[0016] The beneficial effects of the present application are:

[0017] Through the cooperation between the steering assembly and the corresponding structural members, the track frame with the same structural design as the truss is ensured, and the corresponding steering structure is also provided, so that the angle adjustment of the entire track two can be controlled. Since the track two has angle adjustment, the mechanical hand installed on the moving block also follows the angle adjustment, thereby realizing the angle adjustment of the entire track structure, and the control angle can be freely set according to the needs, and the grabbing function at any angle in space is truly realized.

[0018] Through the cooperation between the mechanical hand, the cutting assembly and the steering assembly, automatic grabbing, moving, cutting and unloading of bagged materials can be realized, and after the operation is completed, the packaging bag can be grabbed to other positions for processing. Compared with the traditional truss robot, the adjustment range is larger and the application range is wider. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective view of the present application;

[0020] Figure 2 is an exploded view of the present application;

[0021] Figure 3 is Figure 2 is an enlarged view of position A in FIG. 1;

[0022] Figure 4 is Figure 3 is an enlarged view of position a in FIG. 2;

[0023] Figure 5 is Figure 2 is an enlarged view of position B in FIG. 3;

[0024] Figure 6 is Figure 2 is an enlarged view of position C in FIG. 4;

[0025] Figure 7 is Figure 2 is an enlarged view of position D in FIG. 5;

[0026] Figure 8 For Figure 2 Enlarged structural view at E.

[0027] Reference numerals: 10, track frame; 11, track one; 12, screw one; 13, motor one; 14, synchronous belt; 15, telescopic rod; 16, mounting plate;

[0028] 20, steering assembly; 21, housing; 211, side slot one; 22, screw two; 221, limiting slot; 222, tooth slot; 223, positioning plate; 23, transmission gear; 24, bearing; 25, motor two; 251, drive gear; 26, sealing plate; 27, mounting column; 28, mounting frame; 281, positioning shaft; 282, fixing bolt;

[0029] 30, track two; 31, linkage gear; 311, positioning slot; 32, moving block; 321, insertion slot; 322, threaded slot; 33, motor three;

[0030] 40, manipulator; 41, track three; 411, connecting sleeve; 42, side plate; 421, track slot three; 43, screw three; 44, clamping jaw; 45, motor four;

[0031] 50, cutting assembly; 51, track four; 511, track slot four; 512, side slot two; 52, cutting piece; 521, positioning block; 522, screw rod; 523, blade. DETAILED DESCRIPTION

[0032] The present application is herein described, by way of example only, with the assistance of specific details to thereby fully enable a person skilled in the art to practice the application. Various modifications to the embodiments described herein will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without the use of the inventive faculty. The present application is not limited to the embodiments described herein, but is limited only by the claims hereinafter appended.

[0033] The existing truss structure is usually a track structure including three degrees of freedom, i.e. capable of realizing positioning at any position in space, but since the structural member is usually designed to realize driving through a straight track, although the positioning at any point can be achieved, when the conveyed material presents an inclined state, since the truss structure control is linear movement, when the manipulator itself does not have the function of adjusting the angle of grabbing, the grabbing action cannot be correctly completed.

[0034] To solve the above problems, please refer to Figures 1 to 8 , a truss robot is provided, comprising a track frame 10, a steering assembly 20 fixed above the track frame 10, a track two 30 connected with the steering assembly 20, and a manipulator 40 fixed to the side away from the track two 30 of the moving block 32.

[0035] Specifically, the steering assembly 20 is used to drive the track two 30 to rotate along its own track axis, the track two 30 comprises a moving block 32 moving linearly along the track two 30, the manipulator 40 comprises a track three 41 and at least two groups of side plates 42 moving reversely along the track three 41, the inner side of the side plate 42 is provided with a clamping jaw 44 rotatable along the surface of the side plate 42.

[0036] The positioning of the manipulator 40 in space is controlled by the track frame 10 and the track two 30, after the positioning is completed, the whole track two 30 is driven by the steering assembly 20 to adjust the angle according to the different inclination angles of the materials, until the grabbing angle of the manipulator 40 is appropriate, the manipulator 40 realizes the grabbing action through the two groups of side plates 42 and the track three 41, and realizes the clamping action of the materials according to the setting of the clamping jaw 44, when some bagged materials are grabbed, because of the problems of stacking and shaking, the angle of the bagged materials changes, the bagged materials can be grabbed in the relatively chaotic stacked materials by adjusting the grabbing angle.

[0037] The track frame 10 in the embodiment is similar in structure design to the existing truss and lead screw track, specifically, please refer to Figures 1 to 3 The track frame 10 comprises a track one 11, the inside of the track one 11 penetrates a lead screw one 12, one side of the track one 11 is provided with a motor one 13, one end of the lead screw one 12 is connected with the power output end of the motor one 13, a telescopic rod 15 is vertically arranged inside the track one 11, the lead screw one 12 is screwed through the end of the telescopic rod 15 located inside the track one 11, the telescopic end of the telescopic rod 15 is fixed with a mounting plate 16, the mounting plate 16 is used to be mounted with the steering assembly 20.

[0038] The reciprocating motion of the telescopic rod 15 is controlled by the track one 11, and the telescopic rod 15 can realize the lifting control of the whole structure, combined with the transverse design of the track two 30, so as to realize the control design of the truss in three degrees of freedom in the prior art, under the condition of guaranteeing the function of the structure, please refer to Figures 1 to 4 The specific design is as follows:

[0039] The surface of the moving block 32 is provided with a through slot 321 and a threaded groove 322, the track two 30 penetrates the slot 321, one end of the track two 30 is provided with a linkage gear 31, the steering assembly 20 comprises a transmission gear 23 engaged with the linkage gear 31, one side of the transmission gear 23 is provided with a motor two 25, the power end of the motor two 25 is connected with a drive gear 251, the drive gear 251 is engaged with the transmission gear 23.

[0040] The rotation of the driving gear 251 is controlled by the rotation of the motor 25, and the power is transmitted to the linkage gear 31 through the transmission gear 23. Since the linkage gear 31 is connected to the track 30, the rotation control function of the track 30 is realized. On this basis, the power design of the track 30 in the original technical scheme needs to be ensured, so please refer to Figures 1 to 4 , the following improvements are made:

[0041] A through slot is formed in the center of the linkage gear 31, and a lead screw 22 is inserted into the slot. The lead screw 22 passes through the threaded groove 322, and the end of the lead screw 22 is provided with a tooth groove 222. The number of the motor 25 is two, one of which is connected with the driving gear 251, and the other motor 25 is connected with the tooth groove 222.

[0042] The lead screw 22 is driven by another motor 25, and the lead screw 22 is screwed into the threaded groove 322 to form a lead screw driven structure with the moving block 32. Since the lead screw 22 directly passes through the center of the linkage gear 31 and is not directly connected with the linkage gear 31, when the entire track 30 and the linkage gear 31 rotate, the lead screw 22 will not rotate, and the moving block 32 will move in the process. When the moving block 32 needs to be controlled, the lead screw 22 only needs to be rotated. Both motors 25 are locking motors, which are in a locked state when not working, thereby ensuring the independence of the adjustment angle and the control movement functions, and providing a restraining function when the other part is working.

[0043] The above scheme only designs the main structure. In order to further improve the structure of the steering assembly 20, please refer to Figures 1 to 4 , the specific structure design is as follows:

[0044] The steering assembly 20 includes a housing 21, and the housing 21 is provided with a sealing plate 26 on one side. The inner wall of the housing 21 is provided with a bearing 24, and the surface of the transmission gear 23 and the linkage gear 31 is provided with a positioning groove 311. The inner ring of the bearing 24 is embedded into the inside of the positioning groove 311, and the two ends of the lead screw 22 are provided with a limiting groove 221. The outer side of the limiting groove 221 is provided with a positioning plate 223 for limiting.

[0045] The transmission gear 23 and the linkage gear 31 are positioned by the inner ring of the bearing 24 to ensure the stability of the rotation after installation, and the lead screw 22 is separately buckled and fixed by the positioning plate 223 to provide the position limiting function of the rotatable lead screw 22.

[0046] On the basis of the foregoing technical scheme, the normal work of the track 30 also needs to be further ensured, please refer toFigure 7 And Figures 1 to 4 The specific design is as follows:

[0047] The side surface of the shell 21 close to the moving block 32 is provided with a circular side groove one 211, the track two 30 penetrates into the inside of the side groove one 211, and when the track two 30 rotates, it always adheres to the groove wall of the side groove one 211.

[0048] The position limitation of the track two 30 is provided through the side groove one 211, and the rotation space of the track two 30 is also provided, which ensures the normal operation of the structure. On this basis, the connection state between the steering assembly 20 and the track frame 10 is further designed, please refer to Figures 1 to 4 The specific design is as follows:

[0049] The upper end of the mounting plate 16 is fixed with a mounting frame 28, one side of the mounting frame 28 is provided with a fixed bolt 282 penetrating into the inside of the positioning plate 223, the outside of the shell 21 is integrally formed with a plurality of mounting columns 27, one side of the mounting frame 28 is provided with a positioning shaft 281 penetrating into the inside of the mounting column 27, and the both ends of the positioning shaft 281 are fixed with the mounting column 27 through the nut.

[0050] The mounting plate 16 is fixed with the mounting frame 28, the mounting frame 28 fixes the shell 21 and the positioning plate 223 from the position of the edge through the positioning shaft 281 and the fixed bolt 282, and the symmetrical structure design of both sides can provide stable position limitation and support function for the track two 30 and the lead screw two 22, and ensure the subsequent detachability.

[0051] For bagged materials, the truss robot can also be used for unloading, feeding and other operations, therefore, please refer to Figure 1 、 Figure 2 And Figure 8 The track frame 10 is also provided with a cutting assembly 50, the cutting assembly 50 includes a track four 51 facing the middle position of the track two 30, the track four 51 is vertically arranged, a rail groove four 511 is formed on one side facing the middle position of the track two 30, and a cutting piece 52 is arranged in the inside of the rail groove four 511 and can ascend and descend along the rail groove four 511.

[0052] The position limitation of ascending and descending is provided through the track four 51, the position of cutting is adjusted by controlling the cutting piece 52 to ascend and descend on the track four 51, the bagged material gripped by the mechanical hand 40 is controlled to adhere to the cutting piece 52 through the ascending and descending of the telescopic rod 15, so as to realize the cutting function, the outer packaging of the cut bagged material is broken, so as to realize the functions of unloading or feeding. Specifically, the cutting piece 52 can be designed as follows:

[0053] The side groove two 512 is arranged on the side away from the rail two 30. The cutting piece 52 comprises a positioning block 521, a blade 523 arranged on one side of the positioning block 521, and a screw rod 522 threadedly connected to the other side of the positioning block 521. The positioning block 521 is arranged in the rail groove four 511. The screw rod 522 is threadedly penetrated into the inside of the positioning block 521 in the rail groove four 511.

[0054] The positioning block 521 and the screw rod 522 clamp the plate structure between the side groove two 512 and the rail two 30 by screwing the screw rod 522. Thus, the clamping state is achieved. The blade 523 is fixed on the positioning block 521, usually by a plug-in bolt fixing mode. When not needed, the blade 523 can be removed.

[0055] In addition, the structural parts of the mechanical hand 40 can be improved according to different operation requirements. Please refer to Figure 1 、 Figure 2 and Figure 5 for specific designs as follows:

[0056] The rail three 41 is integrally formed with a connecting sleeve 411 on the upper end surface. The moving block 32 is provided with a motor three 33 on one side end surface. The power end of the motor three 33 is inserted into the inside of the connecting sleeve 411 and detachably fixed to the surface of the rail three 41. The lower end surface of the rail three 41 is fixed with a rotatable lead screw three 43 through a bearing. The lead screw three 43 is threadedly penetrated through the side plate 42. The side plate 42 is provided with a rail groove three 421 on one end. The rail groove three 421 is attached to the surface of the rail three 41. The other end of the side plate 42 is fixed with a motor four 45 on the outside. The power end of the motor four 45 is penetrated into the inside of the side plate 42 and detachably fixed to the clamping jaw 44.

[0057] This design can make the cutting piece 52 realize the discharging function in combination with the rotating function. That is, the clamping jaw 44 is driven to rotate by the motor four 45. Since the clamping jaw 44 clamps the bagged material, when the telescopic rod 15 moves downward, the synchronous rotation of the clamping jaw 44 can control the bagged material and the blade 523 to form a downward cutting state. Thus, the discharging function is realized. During the discharging process, the side plate 42 also needs to be controlled to move inward to ensure that the packaging bag of the material is always clamped by the clamping jaw 44 during the discharging process. After completion, the clamping jaw 44 is released after the packaging bag is transferred to other positions.

[0058] In this embodiment, please refer to Figure 1 and Figure 2 . Two symmetrical designs are adopted for the rail one 11 and the overall lead screw driving structure adapted thereto. A channel steel is fixed on one side between the two. The lead screw one 12 in the channel steel is designed in two types as follows:

[0059] The first one is to design a single screw rod, and the inside of the track 11 on the other side is designed as a smooth rod. This design is only driven by one side, and the smooth rod on the other side provides position limitation. However, due to the structure of the telescopic rod 15, the length may be too large when it is stretched, causing the telescopic rod 15 or the connection between its structural parts to twist. Therefore, when designing, a material with higher hardness or a lower height adjustment space needs to be considered.

[0060] The second one is that the structure except the power structure is completely symmetrical. The screw rod 12 and the corresponding power structure on both sides need to be adjusted in advance in terms of parameters and positions. The two screw rods 12 are connected through the synchronous belt 14 arranged therebetween to ensure that the power output of both during the telescopic process can remain consistent.

[0061] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical idea disclosed by the present application should be covered by the claims of the present application.

Claims

1. A gantry robot, characterized in that, include: Track frame (10); Steering assembly (20) fixed above the track frame (10); A second track (30) is connected to a steering assembly (20), the steering assembly (20) being used to drive the second track (30) to rotate along its own track axis, the second track (30) including a moving block (32) that moves linearly along the second track (30). A robotic arm (40) is fixed to the side of the moving block (32) away from the second track (30). The robotic arm (40) includes a third track (41) and at least two sets of side plates (42) that move in the opposite direction along the third track (41). The inner side of the side plate (42) is provided with grippers (44) that can rotate along the surface of the side plate (42).

2. A gantry robot according to claim 1, characterized in that: The track frame (10) includes a track (11), a lead screw (12) is inserted inside the track (11), a motor (13) is provided on one side of the track (11), one end of the lead screw (12) is connected to the power output end of the motor (13), a telescopic rod (15) is vertically provided inside the track (11), the lead screw (12) is threaded through the end of the telescopic rod (15) located inside the track (11), and a mounting plate (16) is fixed to the telescopic end of the telescopic rod (15), the mounting plate (16) is used to install with the steering assembly (20).

3. A gantry robot according to claim 2, characterized in that: The surface of the moving block (32) is provided with a through slot (321) and a threaded groove (322). The second track (30) passes through the slot (321). One end of the second track (30) is provided with a linkage gear (31). The steering assembly (20) includes a transmission gear (23) that meshes with the linkage gear (31). A second motor (25) is provided on one side of the transmission gear (23). The power end of the second motor (25) is connected to a drive gear (251). The drive gear (251) meshes with the transmission gear (23).

4. A gantry robot according to claim 3, characterized in that: The linkage gear (31) has a through slot at its center, into which a lead screw (22) is inserted. The lead screw (22) passes through a threaded groove (322), and a toothed groove (222) is formed at the end of the lead screw (22). There are two motors (25), one of which is connected to the drive gear (251), and the drive gear (251) of the other motor (25) meshes with the toothed groove (222).

5. A gantry robot according to claim 3, characterized in that: The steering assembly (20) includes a housing (21), a sealing plate (26) is provided on one side of the housing (21), a bearing (24) is provided on the inner wall of the housing (21), a positioning groove (311) is provided on the surface of the transmission gear (23) and the linkage gear (31), the inner ring of the bearing (24) is embedded in the interior of the positioning groove (311), and a limit groove (221) is provided at both ends of the lead screw (22), and a positioning plate (223) for limiting is provided on the outer side of the limit groove (221).

6. A gantry robot according to claim 5, characterized in that: The housing (21) has a circular side groove (211) on one side surface near the moving block (32). The track (30) is inserted into the interior of the side groove (211) and always fits against the groove wall of the side groove (211) when the track (30) rotates.

7. A gantry robot according to claim 5, characterized in that: The upper end of the mounting plate (16) is fixed with a mounting bracket (28). A fixing bolt (282) is provided on one side of the mounting bracket (28) and penetrates into the positioning plate (223). A number of mounting posts (27) are integrally formed on the outer side of the housing (21). A positioning shaft (281) is provided on one side of the mounting bracket (28) and penetrates into the mounting post (27). The two ends of the positioning shaft (281) are fixed to the mounting post (27) by nuts.

8. A gantry robot according to claim 1, characterized in that: The track frame (10) is provided with a cutting assembly (50), which includes a track four (51) facing the middle of the track two (30). The track four (51) is vertically arranged, and a track groove four (511) is opened on one side facing the middle of the track two (30). A cutting piece (52) that moves up and down along the track groove four (511) is provided inside the track groove four (511).

9. A gantry robot according to claim 8, characterized in that: The track groove four (511) has a side groove two (512) on the side away from the track two (30). The cutting part (52) includes a positioning block (521), a blade (523) set on one side of the positioning block (521), and a screw (522) threaded to the other side of the positioning block (521). The positioning block (521) is set inside the track groove four (511), and the screw (522) is threaded into the positioning block (521) inside the track groove four (511) by the side groove two (512).

10. A gantry robot according to any one of claims 1-9, characterized in that: The upper end face of the track three (41) is integrally formed with a connecting sleeve (411). The side end face of the moving block (32) is provided with a motor three (33). The power end of the motor three (33) is inserted into the interior of the connecting sleeve (411) and is detachably fixed to the surface of the track three (41). The lower end face of the track three (41) is fixed with a rotatable lead screw three (43) through a bearing. The lead screw three (43) is threaded through the side plate (42). One end of the side plate (42) is provided with a rail groove three (421). The rail groove three (421) fits the surface of the track three (41). The other side of the side plate (42) is fixed with a motor four (45). The power end of the motor four (45) is inserted into the inside of the side plate (42) and is detachably fixed to the gripper (44).

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