Monorail gantry robot with integrated lubrication system

Abstract

This invention discloses a linear guide truss manipulator with an integrated lubrication system, specifically relating to the field of manipulators. It includes a control mechanism, a first truss guide rail fixedly connected to one side of the control mechanism, a first moving component slidably connected to the outer side of the first truss guide rail, a second truss guide rail fixedly connected to the inner side of the first moving component, a second moving component slidably connected to the outer side of the second truss guide rail, a third moving component fixedly connected to one side of the second moving component, a third truss guide rail slidably connected to the inner side of the third moving component, a fixed end plate fixedly connected to one end of the third truss guide rail, and a manipulator assembly disposed on one side of the fixed end plate. This invention uses a clamping assembly to fix and transfer various types of objects, avoiding situations where the object's contour is incompatible, preventing transfer. Furthermore, adjusting the clamping contour is simple and convenient, and work efficiency is not affected by replacement.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to a linear guide gantry robotic arm with an integrated lubrication system. Background Technology

[0002] A linear guide gantry robot is a fully automated industrial device based on a Cartesian X, Y, Z coordinate system. It performs functions such as workpiece positioning and trajectory movement. Its control core is implemented through an industrial controller. The controller analyzes and processes various input signals (from sensors, buttons, etc.), makes logical judgments, and then issues execution commands to various output components (relays, motor drivers, indicator lights, etc.) to complete the coordinated movement between the X, Y, and Z axes. This achieves a complete fully automated operation process. The linear guide gantry robot also incorporates an integrated lubrication system to supply lubricant to multiple lubrication points on the linear guide gantry at regular intervals and in measured quantities, thereby improving lubrication efficiency and extending the equipment's service life.

[0003] Current gantry robots have a simple outline shape and mostly use straight gripper designs. When gripping and transporting objects of various shapes, these grippers often fail to achieve the purpose of gripping and transporting because the outline of the robot does not match the outline of the object. In this case, the entire robot needs to be replaced. Since the replacement process takes a long time, it will interrupt the working state and affect the work efficiency.

[0004] According to Chinese Publication No. CN115674217A, a gantry robot system includes an X-axis traveling mechanism, a Y-axis traveling mechanism, and a Z-axis lifting mechanism. The Y-axis traveling mechanism is movably mounted on the X-axis traveling mechanism. By mounting the first-stage fixed axis assembly on the Y-axis traveling mechanism, the overall height of the gantry robot can be effectively reduced. The second-stage sliding axis can rise and retract into the first-stage fixed axis assembly, thereby preventing the gantry robot from interfering with other overhead cranes in the workshop when it rises to its highest point.

[0005] The aforementioned application can prevent the gantry robot from interfering with other overhead cranes in the workshop when it rises to its highest point. However, its robot has a straight profile, which makes it easy to be restricted when handling items, unable to adapt to various shapes of items, and easily affects work efficiency. Therefore, in order to address this problem, this application provides a linear guide gantry robot with an integrated lubrication system to meet the requirements. Summary of the Invention

[0006] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide a linear guide gantry robot with an integrated lubrication system. By setting up a clamping assembly, it can fix and transfer multi-contour items, reducing the time required to change the robot and thus solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A linear guide truss manipulator with an integrated lubrication system includes a control mechanism. A first truss guide rail is fixedly connected to one side of the control mechanism. A first moving component is slidably connected to the outer side of the first truss guide rail. A second truss guide rail is fixedly connected to the inner side of the first moving component. A second moving component is slidably connected to the outer side of the second truss guide rail. A third moving component is fixedly connected to one side of the second moving component. A third truss guide rail is slidably connected to the inner side of the third moving component. A fixed end plate is fixedly connected to one end of the third truss guide rail. A manipulator assembly is disposed on one side of the fixed end plate. The manipulator assembly includes a transmission component and a clamping component. The clamping component is disposed inside the transmission component. The transmission component includes a mounting plate disposed on one side of the fixed end plate. A fixing bolt is inserted into the interior of the mounting plate. The fixing bolt is inserted into the interior of the fixed end plate.

[0009] In a preferred embodiment, a fixed housing is fixedly connected to one side of the mounting plate, a motor is fixedly connected inside the fixed housing, and a transmission worm gear is fixedly connected to the output end of the motor.

[0010] In a preferred embodiment, a movable shaft block is rotatably connected inside the fixed housing, a transmission turbine is fixedly connected inside the movable shaft block, the transmission worm gear and the transmission turbine are meshed, and an electric cylinder is fixedly connected to the top of the movable shaft block.

[0011] In a preferred embodiment, the output end of the electric cylinder is fixedly connected to a transmission component, the transmission component is slidably connected to the inner side of the support frame, both ends of the transmission component are fixedly connected to sliding columns, and the bottom of the movable shaft block is fixedly connected to the support frame.

[0012] In a preferred embodiment, the clamping assembly includes two sliding side plates slidably connected to the inner side of the support frame. The two sliding side plates are arranged in an axisymmetric manner, and a limit rod is fixedly connected to the side of the two sliding side plates that are far apart. The limit rod is slidably connected inside the support frame.

[0013] In a preferred embodiment, a robotic gripper is fixedly connected to the bottom of the sliding side plate, a reinforcing rod and a transmission guide rail are fixedly connected to one side of the sliding side plate, the reinforcing rod is fixedly connected to one side of the transmission guide rail, a connecting limiting member is slidably connected to the inner side of the transmission guide rail, and the sliding column is slidably connected to the inner side of the transmission guide rail.

[0014] In a preferred embodiment, a first clamping plate is fixedly connected to the inner side of the robotic gripper, and a second clamping plate is fixedly connected to the bottom of the robotic gripper. A column groove is provided on one side of both the first clamping plate and the second clamping plate.

[0015] In a preferred embodiment, a connecting side plate is provided on one side of the second clamping plate, and a connecting protrusion is fixedly connected to the side of the connecting side plate close to the second clamping plate. The connecting protrusion is inserted into the inner side of the column groove. A double-end elastic frame is fixedly connected to the side of the connecting side plate away from the second clamping plate. A main clamping plate is fixedly connected to one side of the double-end elastic frame, and side clamping plates are fixedly connected to both ends of the double-end elastic frame.

[0016] In a preferred embodiment, a side convex plate is fixedly connected to one side of the second clamping plate, and a vacuum suction cup is fixedly connected inside the side convex plate. The top of the vacuum suction cup is connected to a suction cup conduit.

[0017] The technical effects and advantages of this invention are as follows:

[0018] By assembling and disassembling the connecting side plates, it can accommodate objects with both straight and curved contours, enabling the fixation and transfer of these two types of objects. The convenient assembly and disassembly of the connecting side plates significantly reduces the time required for assembly and disassembly, thus avoiding disruption to normal work efficiency. Furthermore, the vacuum suction cup allows for the adsorption and fixation of large, smooth objects that are not suitable for clamping, facilitating their transfer. The vacuum suction cup connects to the robotic gripper, and the distance between the two grippers can be controlled to adjust the suction position between the vacuum suction cup and the object, allowing for optimal and stable adsorption based on the object's size. In summary, the clamping assembly can fix and transfer various types of objects, preventing situations where the object's contour is incompatible and unable to be transferred. Adjusting the clamping contour is simple and convenient, and changes will not affect work efficiency.

[0019] The control mechanism is equipped with an integrated lubrication system to improve the lubrication performance of components such as the first truss guide rail, the second truss guide rail, and the third truss guide rail. The arrangement of the first truss guide rail, the second truss guide rail, and the third truss guide rail allows the robot arm assembly to perform arbitrary displacement in the x, y, and z axes. By activating the motors in the first, second, and third moving components to rotate the corresponding gears and mesh with the rack, the three-axis displacement of the robot arm assembly can be achieved, thereby greatly improving the flexibility of the robot arm assembly.

[0020] By starting the motor, the transmission worm gear can be rotated and engaged with the transmission turbine, which in turn causes the movable shaft block to rotate. This controls the orientation of the support frame and clamping components, allowing for adjustments based on the shape of the object and actual needs when clamping and transferring objects, thus adapting to the transfer of various object types. Attached Figure Description

[0021] Figure 1 A three-dimensional structural diagram of a linear guide gantry robot with an integrated lubrication system;

[0022] Figure 2 for Figure 1 Enlarged view of the A-section structure;

[0023] Figure 3 This is a three-dimensional structural diagram of the robotic arm components;

[0024] Figure 4 This is a partial structural cross-sectional view of the robotic arm assembly;

[0025] Figure 5 This is a schematic diagram of the front structure of the robotic arm assembly;

[0026] Figure 6 for Figure 5 Enlarged view of the structure of section B;

[0027] Figure 7 This is a schematic diagram of the bottom structure of the robotic arm assembly;

[0028] Figure 8 for Figure 7 Enlarged view of the C-section structure.

[0029] The attached figures are labeled as follows: 1. Control mechanism; 2. First truss guide rail; 3. First moving component; 4. Second truss guide rail; 5. Second moving component; 6. Third moving component; 7. Third truss guide rail; 8. Fixed end plate; 9. Mounting plate; 10. Fixing bolt; 11. Fixed housing; 12. Motor; 13. Transmission worm gear; 14. Movable shaft block; 15. Transmission worm; 16. Electric cylinder; 17. Support frame; 18. 19. Sliding side plate; 20. Limiting rod; 21. Robotic gripper; 22. Reinforcing rod; 23. Transmission guide rail; 24. Connecting limiting component; 25. Transmission component; 26. Sliding column; 27. First clamping plate; 28. Second clamping plate; 29. ​​Column groove; 30. Connecting side plate; 31. Connecting protrusion; 32. Double-end elastic frame; 33. Main clamping plate; 34. Side clamping plate; 35. Side protrusion plate; 36. Vacuum suction cup; 37. Suction cup guide tube. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Refer to the instruction manual appendix Figures 1-8 As shown in the figure, an integrated lubrication system linear guide truss manipulator according to an embodiment of the present invention includes a control mechanism 1. A first truss guide rail 2 is fixedly connected to one side of the control mechanism 1. A first moving component 3 is slidably connected to the outer side of the first truss guide rail 2. A second truss guide rail 4 is fixedly connected to the inner side of the first moving component 3. A second moving component 5 is slidably connected to the outer side of the second truss guide rail 4. A third moving component 6 is fixedly connected to one side of the second moving component 5. A third truss guide rail 7 is slidably connected to the inner side of the third moving component 6. Racks are provided on the first truss guide rail 2, the second truss guide rail 4, and the third truss guide rail 7. Gears and motors for driving the gears to rotate are provided inside the first moving component 3, the second moving component 5, and the third moving component 6. The gears mesh with the racks.

[0032] A fixed end plate 8 is fixedly connected to one end of the third truss guide rail 7. A robotic arm assembly is provided on one side of the fixed end plate 8. The robotic arm assembly includes a transmission assembly and a clamping assembly. The clamping assembly is located inside the transmission assembly. The transmission assembly includes a mounting plate 9 located on one side of the fixed end plate 8. A fixing bolt 10 is inserted into the inside of the mounting plate 9. The fixing bolt 10 is inserted into the inside of the fixed end plate 8. A fixed housing 11 is fixedly connected to one side of the mounting plate 9. A motor 12 is fixedly connected inside the fixed housing 11. A transmission worm gear 13 is fixedly connected to the output end of the motor 12. A movable shaft block 14 is rotatably connected inside the fixed housing 11. A transmission turbine 15 is fixedly connected inside the movable shaft block 14. The transmission worm gear 13 and the transmission turbine 15 are meshed. The transmission worm gear 13 drives the transmission turbine 15, thereby causing the movable shaft block 14 to rotate. The self-locking mechanism of the transmission worm gear 13 and the transmission turbine 15 can stop the transmission turbine 15 from rotating after the transmission worm gear 13 stops, so as to maintain the current position of the movable shaft block 14.

[0033] An electric cylinder 16 is fixedly connected to the top of the movable shaft block 14. The electric cylinder 16 can be replaced with a hydraulic cylinder as needed. A transmission component 24 is fixedly connected to the output end of the electric cylinder 16. The transmission component 24 is slidably connected to the inner side of the support frame 17. Both ends of the transmission component 24 are fixedly connected to sliding columns 25. The support frame 17 is fixedly connected to the bottom of the movable shaft block 14.

[0034] It should be noted that the control mechanism 1 is equipped with an integrated lubrication system to improve the lubrication performance of components such as the first truss guide rail 2, the second truss guide rail 4, and the third truss guide rail 7. The arrangement of the first truss guide rail 2, the second truss guide rail 4, and the third truss guide rail 7 enables the robot arm assembly to perform arbitrary displacement along the x, y, and z axes. By activating the motors in the first moving assembly 3, the second moving assembly 5, and the third moving assembly 6, the corresponding gears rotate and mesh with the rack, thereby achieving the three-axis displacement of the robot arm assembly, which can greatly improve the flexibility of the robot arm assembly.

[0035] The fixed end plate 8 and the mounting plate 9 are fixed together by fixing bolts 10 to realize the connection between the robot arm assembly and the third truss guide rail 7. In actual use, the motor 12, electric cylinder 16 and control mechanism 1 can be electrically connected to control the robot arm assembly through the control mechanism 1. By starting the motor 12, the transmission worm gear 13 can be rotated and meshed with the transmission turbine 15, thereby causing the movable shaft block 14 to rotate, thereby controlling the orientation of the support frame 17 and the clamping assembly. Thus, when clamping and transferring objects, it can be adjusted according to the shape of the object and actual needs to adapt to the transfer of various types of objects.

[0036] Furthermore, such as Figure 3 As shown, the clamping assembly includes two sliding side plates 18 slidably connected to the inside of the support frame 17. The two sliding side plates 18 are arranged in an axially symmetrical manner. Limiting rods 19 are fixedly connected to the opposite sides of the two sliding side plates 18. The limiting rods 19 limit the linear displacement and maximum displacement distance of the sliding side plates 18. The limiting rods 19 are slidably connected inside the support frame 17. A robotic gripper 20 is fixedly connected to the bottom of the sliding side plate 18. A reinforcing rod 21 and a transmission guide rail 22 are fixedly connected to one side of the sliding side plate 18. The reinforcing rod 21 is fixedly connected to one side of the transmission guide rail 22. A connecting limiting member 23 is slidably connected to the inside of the transmission guide rail 22. A sliding column 25 is slidably connected to the inside of the transmission guide rail 22. The two transmission guide rails 22 are arranged in an X-shape, intersecting each other.

[0037] A first clamping plate 26 is fixedly connected to the inner side of the robotic gripper 20, and a second clamping plate 27 is fixedly connected to the bottom of the robotic gripper 20. A groove 28 is provided on one side of both the first clamping plate 26 and the second clamping plate 27. The inner contour of the groove 28 is an arc shape that is close to a complete circle. A connecting side plate 29 is provided on one side of the second clamping plate 27. A connecting protrusion 30 is fixedly connected to the side of the connecting side plate 29 closest to the second clamping plate 27. The connecting protrusion 30 is inserted into the inner side of the groove 28, and the outer contour of the connecting protrusion 30 matches the inner contour of the groove 28. A double-ended elastic frame 31 is fixedly connected to the side of the side plate 29 away from the second clamping plate 27. A main clamping plate 32 is fixedly connected to one side of the double-ended elastic frame 31. Side clamping plates 33 are fixedly connected to both ends of the double-ended elastic frame 31. Both ends of the double-ended elastic frame 31 and the side clamping plates 33 are elastic structures. A side protrusion plate 34 is fixedly connected to one side of the second clamping plate 27. A vacuum suction cup 35 is fixedly connected inside the side protrusion plate 34. A suction cup guide tube 36 is connected to the top of the vacuum suction cup 35. The suction cup guide tube 36 is connected to the vacuum generator inside the control mechanism 1.

[0038] It should be noted that, when clamping and transferring an object, the electric cylinder 16 is activated to drive the transmission component 24 to descend. The sliding pins 25 at both ends of the transmission component 24 slide on the inner side of the transmission guide rail 22. Since the size of the transmission component 24 is fixed, when the transmission component 24 descends, the transmission guide rails 22 on both sides move away from each other, thereby causing the robotic grippers 20 on both sides to move away from each other. By activating the electric cylinder 16 to raise the transmission component 24, the robotic grippers 20 on both sides can move closer to each other to clamp the object. At this time, the object can be transferred by moving the first moving component 3, the second moving component 5, and the third moving component 6.

[0039] When transferring a planar object, the connecting side plates 29 on both sides are removed, exposing the first clamping plate 26 and the second clamping plate 27. The first clamping plate 26 and the second clamping plate 27 are in a planar state, allowing for clamping and transfer of the planar object. When transferring an object with an arc-shaped contour, the connecting protrusion 30 is aligned with the corresponding column groove 28, and the connecting protrusion 30 is inserted into the inner side of the column groove 28 from top to bottom, thus completing the installation of the connecting side plate 29. At this point, the side clamping plates 33 at both ends of the first truss guide rail 2 form an arc-shaped contour, and the double-end elastic frame 31 near the two ends of the side clamping plates 33 is an elastic structure. Therefore, when clamping an arc-shaped object, it can be plastically molded according to its contour until the object contacts the main clamping plate 32, completing the fixation of the arc-shaped object. At this point, the object with the arc-shaped contour can be transferred. Furthermore, because the connecting side plates 29 on both sides are easy to install and remove, actual replacement will not affect... This system improves normal work efficiency. When transferring large, smooth objects that are not suitable for clamping and fixing, such as tiles and glass, the robotic gripper 20 can be positioned downwards to ensure the vacuum suction cup 35 is perpendicular to the ground. By activating the vacuum generator, the vacuum suction cup 35 can be attracted and fixed to the object. This allows for the fixing and transfer of large, smooth objects. Since the vacuum suction cup 35 is connected to the robotic gripper 20, the distance between the two robotic grippers 20 can be controlled to adjust the suction position of the vacuum suction cup 35 to the object. This allows the vacuum suction cup 35 to be adjusted to the optimal and stable suction position according to the size of the object. In summary, the clamping assembly can fix and transfer various types of objects, avoiding situations where the object cannot be transferred due to mismatch with the object's contour. The adjustment of the clamping contour is simple and convenient, and work efficiency will not be affected by replacement.

[0040] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0041] Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other.

[0042] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A linear guide gantry robot with an integrated lubrication system, comprising a control mechanism (1), characterized in that: The control mechanism (1) is fixedly connected to a first truss guide rail (2) on one side. A first moving component (3) is slidably connected to the outer side of the first truss guide rail (2). A second truss guide rail (4) is fixedly connected to the inner side of the first moving component (3). A second moving component (5) is slidably connected to the outer side of the second truss guide rail (4). A third moving component (6) is fixedly connected to one side of the second moving component (5). A third truss guide rail (7) is slidably connected to the inner side of the third moving component (6). A fixed end plate (8) is fixedly connected to one end of the third truss guide rail (7). A robot arm assembly is provided on one side of the fixed end plate (8). The robot arm assembly includes a transmission assembly and a clamping assembly. The clamping assembly is located inside the transmission assembly. The transmission assembly includes a mounting plate (9) located on one side of the fixed end plate (8). A fixing bolt (10) is inserted into the inside of the mounting plate (9). The fixing bolt (10) is inserted into the inside of the fixed end plate (8).

2. The linear guide gantry robot with an integrated lubrication system according to claim 1, characterized in that: A fixed housing (11) is fixedly connected to one side of the mounting plate (9), and a motor (12) is fixedly connected inside the fixed housing (11). A transmission worm gear (13) is fixedly connected to the output end of the motor (12).

3. The linear guide gantry robot with an integrated lubrication system according to claim 2, characterized in that: The fixed housing (11) is rotatably connected to a movable shaft block (14), and a transmission turbine (15) is fixedly connected inside the movable shaft block (14). The transmission worm (13) and the transmission turbine (15) are meshed together, and an electric cylinder (16) is fixedly connected to the top of the movable shaft block (14).

4. The linear guide gantry robot with an integrated lubrication system according to claim 3, characterized in that: The output end of the electric cylinder (16) is fixedly connected to a transmission component (24), which is slidably connected to the inner side of the support frame (17). Both ends of the transmission component (24) are fixedly connected to sliding columns (25), and the bottom of the movable shaft block (14) is fixedly connected to the support frame (17).

5. The linear guide gantry robot with an integrated lubrication system according to claim 4, characterized in that: The clamping assembly includes two sliding side plates (18) slidably connected to the inside of the support frame (17). The two sliding side plates (18) are arranged in an axially symmetrical manner. Limiting rods (19) are fixedly connected to the opposite sides of the two sliding side plates (18). The limiting rods (19) are slidably connected inside the support frame (17).

6. The linear guide gantry robot with an integrated lubrication system according to claim 5, characterized in that: The bottom of the sliding side plate (18) is fixedly connected to a robotic gripper (20), and a reinforcing rod (21) and a transmission guide rail (22) are fixedly connected to one side of the sliding side plate (18). The reinforcing rod (21) is fixedly connected to one side of the transmission guide rail (22), and a connecting limiting member (23) is slidably connected to the inner side of the transmission guide rail (22). The sliding column (25) is slidably connected to the inner side of the transmission guide rail (22).

7. The linear guide gantry robot with an integrated lubrication system according to claim 6, characterized in that: The inner side of the robotic gripper (20) is fixedly connected to a first clamping plate (26), and the bottom of the robotic gripper (20) is fixedly connected to a second clamping plate (27). A column groove (28) is provided on one side of both the first clamping plate (26) and the second clamping plate (27).

8. The linear guide gantry robot with an integrated lubrication system according to claim 7, characterized in that: A connecting side plate (29) is provided on one side of the second clamping plate (27). A connecting protrusion (30) is fixedly connected to the side of the connecting side plate (29) close to the second clamping plate (27). The connecting protrusion (30) is inserted into the inner side of the column groove (28). A double-end elastic frame (31) is fixedly connected to the side of the connecting side plate (29) away from the second clamping plate (27). A main clamping plate (32) is fixedly connected to one side of the double-end elastic frame (31). Side clamping plates (33) are fixedly connected to both ends of the double-end elastic frame (31).

9. The linear guide gantry robot with an integrated lubrication system according to claim 8, characterized in that: A side convex plate (34) is fixedly connected to one side of the second clamping plate (27), and a vacuum suction cup (35) is fixedly connected inside the side convex plate (34). A suction cup conduit (36) is connected to the top of the vacuum suction cup (35).

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