High-speed heavy-load double-gantry multi-axis composite truss robot
By designing lateral and forward-moving protection mechanisms in high-speed heavy-load double-gantry multi-axis composite truss robots, the impact force is absorbed by components such as shaft rods, protective plates and buffer dampers, the problem of scratches and collisions during the handling process is solved. Extend service life and improve operational efficiency.
Patent Information
- Application Number
- CN202323513350.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-21
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2033-12-21
AI Technical Summary
The existing high-speed heavy-load double-gantry multi-axis composite truss robot lacks effective protective mechanisms during loading and unloading, resulting in improper operation that may lead to scratches and collisions, reducing operating efficiency and affecting the service life of the robot.
Two types of protective mechanisms are designed, including the second protective mechanism during lateral movement and the first protective mechanism during forward movement. By providing components such as shafts, protective plates, movable frames, buffer dampers, etc., the impact force is absorbed and prevented from the robot body. Damaged.
It effectively prevents collision damage caused by collision when moving laterally and forwardly, extends service life and improves operating efficiency, ensuring that the robot operates in a stable state.
Smart Images
Figure CN222244800U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of handling robots, in particular to a high-speed and heavy-load double-gantry multi-axis composite truss robot. Background Art
[0002] The high-speed and heavy-load double-gantry multi-axis compound truss robot is an advanced industrial robot system with the characteristics of high efficiency, high precision and high load capacity. This robot system adopts a double-gantry structure, which can realize multi-axis linkage and compound motion, and is suitable for various heavy-load, high-speed and high-precision industrial application scenarios.
[0003] Chinese patent CN116117778B discloses a high-speed and heavy-load double-gantry multi-axis composite truss robot, comprising a base frame, two groups of beams and two groups of manipulator assemblies, wherein the columns are divided into upper and lower layers and provided with two groups of gantry tracks, and the manipulator assemblies all comprise an X-axis slide, an intermediate beam and a Z-axis vertical beam, and a suction cup assembly is installed at the lower end of the Z-axis vertical beam of the first manipulator assembly through a first rotary drive device, and its rotating shaft is in the horizontal direction, and when the first rotary platform drives the front slide plate to rotate and tilt, the first rotary drive device drives the suction cup assembly to rotate synchronously at the same angle in the opposite direction, so that the production line is more integrated and occupies a smaller area, the handling manipulator and the injection manipulator can work synchronously and cooperatively, the production efficiency is high, and the space limitation problem is effectively solved, the gantry truss structure has fewer overall columns, guaranteed rigidity and high stability, and the beam can move smoothly and quickly when deformed under heavy load without getting stuck.
[0004] Based on the above-mentioned existing technologies, the current high-speed and heavy-load double-gantry multi-axis composite truss robots still have the following problems: most of the protection mechanisms of the existing devices are installed on the double gantry trusses for protection, but there is no effective protection mechanism for the robots. During the loading and unloading process, the robots may scratch and collide with the materials due to improper operation, resulting in reduced operating efficiency of the device and affecting the service life of the robots. Utility Model Content
[0005] In view of the shortcomings of the prior art, the utility model provides a high-speed and heavy-load double-gantry multi-axis composite truss robot, which solves the problem that the existing high-speed and heavy-load double-gantry multi-axis composite truss robot has no effective protection mechanism for the robot, and during the loading and unloading process, the robot may scratch and collide with the materials due to improper operation, resulting in reduced operating efficiency of the device and affecting the service life of the robot.
[0006] To achieve the above objectives, the utility model is implemented through the following technical solutions: a high-speed and heavy-load double-gantry multi-axis composite truss robot, including a double-gantry composite truss, a robot body is arranged on the outside of the double-gantry composite truss, and a second protective mechanism is arranged on both sides of the robot body to prevent the robot body from being scratched or hit when it moves horizontally, and a first protective mechanism is arranged on the front side of the robot body to prevent the robot body from being scratched or hit when it moves forward, and the second protective mechanism includes two mounting plates fixedly installed on both sides of the robot body, and the upper and lower ends of the two mounting plates away from the robot body are fixedly installed with fixings, and the two mounting plates are fixedly installed on the side away from the robot body. Two fixed blocks are fixedly installed, and the opposite sides of the two fixed blocks are fixedly installed with shafts, and the second spring is movably installed on the outside of the shaft, and two movable blocks are movably installed on the outside of the shaft, and the slider is fixedly installed on the side of the two movable blocks close to the mounting plate, and the two mounting plates are provided with a sliding groove on the side away from the robot body. The ends of the two movable blocks away from the mounting plate are movably hinged with connecting rods, and one end of the connecting rod is movably hinged with a protective plate.
[0007] Preferably, both ends of the second spring are tightly attached to opposite sides of the two movable blocks.
[0008] Preferably, one side of the sliding block is slidably mounted inside the sliding groove.
[0009] Preferably, the first protective mechanism includes two connecting plates fixedly installed on the front side of the robot body, a fixed plate is fixedly installed on one end of the two connecting plates away from the robot body, a movable frame is movably installed on the outer side of the fixed plate, five first springs are fixedly installed on the side of the fixed plate away from the robot body, limiting grooves are provided on opposite sides of the two connecting plates, limiting blocks are fixedly installed on the rear sides of the upper and lower ends of the movable frame, and a buffer damper is fixedly installed on the rear side of the limiting groove.
[0010] Preferably, one end of each of the five first springs is fixedly mounted on the front side of the inner cavity of the movable frame.
[0011] Preferably, one side of the limit block is slidably mounted inside the limit groove, and the front end of the buffer damper is fixedly mounted on the rear side of the limit block.
[0012] Beneficial Effects
[0013] The utility model provides a high-speed and heavy-load double-gantry multi-axis composite truss robot. Compared with the prior art, it has the following beneficial effects:
[0014] (1) The high-speed, heavy-load double-gantry multi-axis composite truss robot can prevent the robot body from colliding with materials and causing damage when it moves laterally by setting the shaft rod and the protective plate. When the robot body moves laterally, the protective plate will play a protective role. When a collision occurs, the material will contact the protective plate and move the protective plate toward the robot body. At this time, the robot body will drive the connecting rod to move the movable block to the opposite side to squeeze the second spring. The elasticity of the second spring can absorb the impact to avoid damage to the robot body, thereby extending the service life of the robot body.
[0015] (2) The high-speed, heavy-load double-gantry multi-axis composite truss robot can protect the robot body from colliding with materials and causing damage when it moves forward by setting up a movable frame and a buffer damper. When the robot body moves forward, the movable frame will play a protective role. When a collision occurs, the material will contact the movable frame and move the movable frame backward, and at the same time, it will squeeze the first spring to absorb the impact through the first spring. Then, the movable frame will drive the limit block to move backward and absorb the impact force caused by the collision through the buffer damper, so as to ensure that the robot body operates in a stable working state, thereby improving working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a three-dimensional appearance schematic diagram of the utility model;
[0017] Figure 2 It is an enlarged schematic diagram of the appearance of Figure A of the present utility model;
[0018] Figure 3 It is a schematic diagram of the three-dimensional cross-sectional appearance of the first protection mechanism of the utility model;
[0019] Figure 4 It is a schematic diagram of the three-dimensional cross-sectional appearance of the second protection mechanism of the utility model;
[0020] Figure 5 For the utility model Figure 4 The enlarged appearance diagram at B in the middle.
[0021] In the figure: 1-double gantry composite truss, 2-robot body, 3-first protection mechanism, 31-movable frame, 32-fixed plate, 33-connecting plate, 34-first spring, 35-buffer damper, 36-limiting groove, 37-limiting block, 4-second protection mechanism, 41-mounting plate, 42-fixing part, 43-fixed block, 44-movable block, 45-axis rod, 46-second spring, 47-slide groove, 48-protection plate, 49-slider, 410-connecting rod. DETAILED DESCRIPTION
[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0023] The utility model provides two technical solutions:
[0024] Figure 1-Figure 3 The first embodiment is shown: a high-speed and heavy-load double-gantry multi-axis composite truss robot, including a double-gantry composite truss 1, a robot body 2 is arranged on the outside of the double-gantry composite truss 1, and both sides of the robot body 2 are provided with a second protective mechanism 4 to prevent the robot body 2 from being scratched or hit when moving horizontally, and the front side of the robot body 2 is provided with a first protective mechanism 3 to prevent the robot body 2 from being scratched or hit when moving forward, and the second protective mechanism 4 includes two mounting plates 41 fixedly installed on both sides of the robot body 2, and the upper and lower ends of the two mounting plates 41 away from the robot body 2 are fixedly installed with fixing parts 42, and the fixing parts 42 are installed at an angle away from the side of the mounting plates 41, and two fixing blocks 43 are fixedly installed on the side of the two mounting plates 41 away from the robot body 2, and the opposite sides of the two fixing blocks 43 are fixedly installed with shafts 45, and the outer sides of the shafts 45 are movable A second spring 46 is installed, and the movement trajectory of the two movable blocks 44 can be limited by the shaft 45. Two movable blocks 44 are movably installed on the outer side of the shaft 45. Slide blocks 49 are fixedly installed on the side of the two movable blocks 44 close to the mounting plate 41, and the cross-section of the two slide blocks 49 is convex. A slide groove 47 is provided on the side of the two mounting plates 41 away from the robot body 2. The ends of the two movable blocks 44 away from the mounting plate 41 are movably hinged with a connecting rod 410, and one end of the connecting rod 410 is movably hinged with a protective plate 48, and the connecting rod 410 is hinged at a forty-five degree angle on the side of the protective plate 48 close to the robot body 2, and the outer side of the protective plate 48 is arc-shaped. Both ends of the second spring 46 are tightly attached to the opposite sides of the two movable blocks 44, one side of the slider 49 is slidably installed inside the slide groove 47, and the slider 49 can prevent the movable blocks 44 from tilting through the slide groove 47.
[0025] The shaft rod 45 and the protective plate 48 are set to prevent the robot body 2 from colliding with materials and causing damage when it moves laterally. The protective plate 48 will play a protective role when the robot body 2 moves laterally. When a collision occurs, the material will contact the protective plate 48 and move the protective plate 48 toward the robot body 2. At this time, the robot body 2 will drive the connecting rod 410 to move the movable block 44 to the opposite side to squeeze the second spring 46. The elasticity of the second spring 46 can absorb the impact to avoid damage to the robot body 2, thereby extending the service life of the robot body 2.
[0026] Figure 2 and Figure 3-Figure 4 A second embodiment is shown, which mainly differs from the first embodiment in that: the first protection mechanism 3 includes two connecting plates 33 fixedly mounted on the front side of the robot body 2, a fixed plate 32 is fixedly mounted on one end of the two connecting plates 33 away from the robot body 2, a movable frame 31 is movably mounted on the outer side of the fixed plate 32, five first springs 34 are fixedly mounted on the side of the fixed plate 32 away from the robot body 2, and the five first springs 34 are linearly and evenly distributed on the side of the fixed plate 32 away from the robot body 2, and limiting grooves 36 are provided on the opposite sides of the two connecting plates 33, limiting blocks 37 are fixedly mounted on the rear sides of the upper and lower ends of the movable frame 31, and the cross-section of the limiting blocks 37 is convex, and a buffer damper 35 is fixedly mounted on the rear side of the limiting groove 36, one end of the five first springs 34 is fixedly mounted on the front side of the inner cavity of the movable frame 31, one side of the limiting block 37 is slidably mounted inside the limiting groove 36, and the limiting block 37 can limit the running trajectory of the movable frame 31 through the limiting groove 36, and the front end of the buffer damper 35 is fixedly mounted on the rear side of the limiting block 37.
[0027] The movable frame 31 and the buffer damper 35 are provided to protect the robot body 2 from being damaged by colliding with materials when it moves forward. The movable frame 31 will play a protective role when the robot body 2 moves forward. When a collision occurs, the material will contact the movable frame 31 to move the movable frame 31 backward, and at the same time, it will squeeze the first spring 34 to absorb the impact through the first spring 34. Then the movable frame 31 will drive the limit block 37 to move backward and absorb the impact force caused by the collision through the buffer damper 35, so as to ensure that the robot body 2 operates in a stable working state, thereby improving the working efficiency.
[0028] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used.
[0029] During use, the user controls the robot body 2 to carry materials through the double gantry composite truss 1. When the robot body 2 moves laterally, the protective plate 48 will play a protective role. When a collision occurs, the material will contact the protective plate 48 and make the protective plate 48 move toward the direction of the robot body 2. At this time, the robot body 2 will drive the connecting rod 410 to move the movable block 44 to the opposite side to squeeze the second spring 46, and the second spring 46 is used to absorb the impact through the elasticity of the second spring 46 to avoid damage to the robot body 2. When the robot body 2 moves forward, the movable frame 31 will play a protective role. When a collision occurs, the material will contact the movable frame 31 to move the movable frame 31 backward, and at the same time squeeze the first spring 34 to absorb the impact through the first spring 34. Then the movable frame 31 will drive the limit block 37 to move backward and absorb the impact force caused by the collision through the buffer damper 35.
[0030] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include"-"comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process-method-article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process-method-article or device.
[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A high-speed and heavy-load double-gantry multi-axis composite truss robot, comprising a double-gantry composite truss (1), characterized in that: A robot body (2) is arranged on the outer side of the double gantry composite truss (1); a first protection mechanism (3) is arranged on the front side of the robot body (2) to prevent the robot body (2) from being scratched or hit when moving forward; and second protection mechanisms (4) are arranged on both sides of the robot body (2) to prevent the robot body (2) from being scratched or hit when moving horizontally; The second protection mechanism (4) comprises two mounting plates (41) fixedly mounted on both sides of the robot body (2); the upper and lower ends of the two mounting plates (41) away from the robot body (2) are fixedly mounted with fixing parts (42); the two mounting plates (41) are fixedly mounted on the side away from the robot body (2); the two mounting plates (41) are fixedly mounted with two fixing blocks (43) on the opposite sides of the two fixing blocks (43); the outer side of the two mounting plates (45) is movably mounted with a second spring (46); the outer side of the two mounting plates (45) is movably mounted with two movable blocks (44); the two movable blocks (44) are fixedly mounted with a slider (49) on the side close to the mounting plates (41); the two mounting plates (41) are provided with a sliding groove (47) on the side away from the robot body (2); the ends of the two movable blocks (44) away from the mounting plates (41) are movably hinged with a connecting rod (410); and one end of the connecting rod (410) is movably hinged with a protection plate (48).
2. The high-speed and heavy-load double-gantry multi-axis composite truss robot according to claim 1, characterized in that: Both ends of the second spring (46) are tightly attached to opposite sides of the two movable blocks (44).
3. The high-speed and heavy-load double-gantry multi-axis composite truss robot according to claim 1, characterized in that: One side of the sliding block (49) is slidably mounted inside the sliding groove (47).
4. The high-speed and heavy-load double-gantry multi-axis composite truss robot according to claim 1, characterized in that: The first protection mechanism (3) comprises two connecting plates (33) fixedly mounted on the front side of the robot body (2); a fixed plate (32) is fixedly mounted on one end of the two connecting plates (33) away from the robot body (2); a movable frame (31) is movably mounted on the outer side of the fixed plate (32); five first springs (34) are fixedly mounted on the side of the fixed plate (32) away from the robot body (2); limiting grooves (36) are provided on opposite sides of the two connecting plates (33); limiting blocks (37) are fixedly mounted on the rear sides of the upper and lower ends of the movable frame (31); and a buffer damper (35) is fixedly mounted on the rear side of the limiting groove (36).
5. The high-speed and heavy-load double-gantry multi-axis composite truss robot according to claim 4, characterized in that: One end of each of the five first springs (34) is fixedly mounted on the front side of the inner cavity of the movable frame (31).
6. The high-speed and heavy-load double-gantry multi-axis composite truss robot according to claim 4, characterized in that: One side of the limit block (37) is slidably mounted inside the limit groove (36), and the front end of the buffer damper (35) is fixedly mounted on the rear side of the limit block (37).