Gantry type feeding and discharging truss robot

Abstract

The gantry type feeding and discharging truss robot comprises symmetrically-arranged portal frames and a truss arranged between the portal frames, Y-axis moving devices are arranged on the portal frames, X-axis moving devices and Z-axis moving devices are arranged on the truss, the X-axis moving devices are perpendicular to the Z-axis moving devices, the Z-axis moving devices can be connected with mechanical arms, and the mechanical arms can be connected with the Y-axis moving devices. The mechanical arm is used for clamping the assembly, displacement control over the mechanical arm in three directions is achieved through the X-axis moving device, the Y-axis moving device and the Z-axis moving device so as to replace manual work to complete automatic grabbing, feeding, discharging, clamping, workpiece assembling and the like of workpieces, and automatic operation is completed.

Description

Technical Field

[0001] The utility model relates to the technical field of truss robots, in particular to a gantry type loading and unloading truss robot. Background Art

[0002] The truss robot is an intelligent manipulator that is often used in conjunction with a lathe to pick and place workpieces.

[0003] Existing truss robots used for loading and unloading of heavy-loaded materials, such as loading and unloading of automobile parts axles, are difficult to meet the needs. They are prone to overturning and overload affecting the switching of the three axes when moving on the X-axis, Y-axis, Z-axis and the unloading end. Utility Model Content

[0004] In view of the above problems, the utility model aims to provide a gantry loading and unloading truss robot. To achieve this technical purpose, the solution of the utility model is: a gantry loading and unloading truss robot, including symmetrically arranged gantries and trusses arranged between the gantries, the gantry is provided with a Y-axis moving device, the trusses are provided with an X-axis moving device and a Z-axis moving device, the X-axis moving device is perpendicular to the Z-axis moving device, the Z-axis moving device includes a first sliding structure and a first driving structure that drives the first sliding structure, the first sliding structure includes a first fixed plate, one side of the first fixed plate is symmetrically provided with a slide bar and a guide wheel slidably connected to the slide bar, one side of one of the slide bars is provided with a toothed portion, and the other side of the slide bar is provided with a V-shaped portion, the toothed portion is connected to the driving structure, and the V-shaped portion is matched with the guide wheel.

[0005] The first driving structure includes a first driving member disposed below the truss, and an output end of the first driving member is rotatably connected to a gear, and the gear is meshedly connected to the toothed portion of the slide bar.

[0006] Preferably, the Y-axis moving device is used to drive the truss to move in the Y-axis direction relative to the gantry, and the Y-axis device includes a second sliding structure and a second driving structure that drives the second sliding structure, the second sliding structure includes a second fixed plate, and a sliding block groove and a second sliding sleeve are arranged below the second fixed plate, and the sliding block groove is connected to a plurality of directional bolts arranged on the gantry.

[0007] Preferably, the second sliding structure comprises a second driving member fixedly arranged on the side wall of the gantry, the output end of the second driving member is connected to a second guide rail, and the second guide rail is connected to a sliding sleeve.

[0008] Preferably, the X-axis moving device is used to drive the Z-axis moving device to move in the X-axis direction relative to the truss, and the X-axis moving device includes a third sliding structure and a second driving structure that drives the third sliding structure, and the third sliding structure includes a third fixed plate arranged on the side wall of the truss, and a third sliding sleeve and a third slider are arranged parallel to the back of the third fixed plate, and the third sliding sleeve and the third slider are connected to the third driving structure.

[0009] Preferably, the third driving structure includes a third driving member arranged on the truss and a third guide rail connected to the output end of the third driving member, a fourth guide rail is arranged parallel to the third guide rail, the fourth guide rail is located at a position close to the side wall of the truss, and the third guide rail and the fourth guide rail are respectively connected to the third sliding sleeve and the third sliding block.

[0010] Preferably, the first fixing plate is connected to the third fixing plate, and the gear is connected to the outer surface of the first fixing plate.

[0011] Preferably, a protective cover shell is provided outside the third sliding structure and the third driving structure, and the protective cover shell can be connected to a manipulator or a clamping member.

[0012] The beneficial effects of the utility model are:

[0013] 1. The Z-axis moving device can be connected to the robot to clamp components. Through the X-axis moving device, the Y-axis moving device and the Z-axis moving device, the robot can be controlled to move in three directions to replace manual work to automatically grasp, load, unload, clamp, etc., and complete automated operations.

[0014] 2. The toothed portion of the slide bar cooperates with the first driving structure, so that the slide bar is driven by the first driving device to move up and down, and the V-shaped portion of the slide bar is connected with the guide wheel to make the sliding more stable, reduce the force of the gear transmission, reduce the wear between the gear and the slide bar, and increase the service life of the gear. The structure is compact and has a high bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 It is a schematic diagram of the Z-axis moving device and the X-axis moving device of the structure of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the Z-axis moving device;

[0018] Figure 4 for Figure 1 Front view of

[0019] Figure 5 for Figure 4 A partial enlarged view of the

[0020] Figure 6 for Figure 1 A top view of

[0021] Figure 7 for Figure 6 A partial enlarged view of the

[0022] Figure 8 for Figure 1 A partial enlarged view of the

[0023] Fig. 9 for Figure 8 A partial enlarged view of the .

[0024] In the figure: 1, gantry 2, truss 3, first fixed plate 4, slide bar 41, toothed portion 42, V-shaped portion 5, guide wheel 6, first driving member 7, gear 8, second fixed plate 9, slider groove 10, second sliding sleeve 11, directional bolt 12, second driving member 13, second guide rail 14, third sliding sleeve 15, third slider 16, third driving member 17, third guide rail 18, fourth guide rail 19, protective cover shell 20, third fixed plate. DETAILED DESCRIPTION

[0025] The utility model is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 — Fig. 9 As shown, the specific embodiment described in the utility model is a gantry type loading and unloading truss robot, including a symmetrically arranged gantry 1 and a truss 2 arranged between the gantry 1, the gantry 1 is provided with a Y-axis moving device, the truss 2 is provided with an X-axis moving device and a Z-axis moving device, and the X-axis moving device is perpendicular to the Z-axis moving device.

[0027] like Figure 2-Figure 3 As shown, the Z-axis moving device includes a first sliding structure and a first driving structure that drives the first sliding structure. The first sliding structure includes a first fixed plate 3. One side of the first fixed plate 3 is symmetrically provided with a slide bar 4 and a guide wheel 5 that is slidably connected to the slide bar 4. The upper and lower ends of the two slide bars 4 are provided with limit blocks for limiting the up and down movement distance of the slide bars. One side of one of the slide bars 4 is provided with a toothed portion 41, and the other side of the slide bar 4 is provided with a V-shaped portion 42. The toothed portion 41 is connected to the driving structure, and the V-shaped portion 42 is matched and connected with the guide wheel 5.

[0028] The first driving structure includes a first driving member 6 fixedly arranged under the truss 2. The output end of the first driving member 6 passes through the first fixed plate 3 and the third fixed plate 20 and is extended to be connected to a gear 7 arranged on the outer surface of the first fixed plate 3. The output end of the first driving member 6 is rotatably connected to the gear 7, and the gear 7 meshes with the toothed portion 41 of the sliding bar 4.

[0029] like Figure 4-Figure 7 As shown, the Y-axis moving device is used to drive the truss 2 to move relative to the gantry 1 in the Y-axis direction. The Y-axis moving device includes a second sliding structure and a second driving structure that drives the second sliding structure. The second sliding structure includes a second fixed plate 8 arranged between the gantry 1 and the truss 2, and a slider groove 9 and a second sliding sleeve 10 are fixedly arranged below the second fixed plate 8. The slider groove 9 is slidably connected to a directional bolt 11 arranged on the upper end surface of the gantry 1; a plurality of directional bolts 11 are arranged along the length of the gantry 1, and the second driving structure includes a second driving member 12 fixedly arranged on the side wall of one of the gantries, and the output end of the second driving member 12 is drivingly connected to a second guide rail 13, and limiting bolts are arranged at both ends of the second guide rail 13. The second guide rail 13 is slidably connected to the second sliding sleeve 10.

[0030] like Figure 1 , Figure 8 , Fig. 9 As shown, the X-axis moving device is used to drive the Z-axis moving device to move in the X-axis direction relative to the truss 2. The X-axis moving device includes a third sliding structure and a third driving structure that drives the third sliding structure. The third sliding structure includes a third fixed plate 20 arranged on the side wall of the truss 2. The third sliding sleeve 14 and the third slider 15 are arranged in parallel on the back of the third fixed plate 20. The third sliding sleeve 14 and the third slider 15 are connected to the third driving structure; the third driving structure includes a third driving member 16 arranged on the truss 2 and a third guide rail 17 connected to the output end of the third driving member 16. A limiting baffle is arranged at one end of the third guide rail 17. A fourth guide rail 18 is arranged in parallel below the third guide rail 17. The fourth guide rail 18 is arranged on the side wall of the truss 2. The third guide rail 17 and the fourth guide rail 18 are slidably connected to the third sliding sleeve 14 and the third slider 15 respectively.

[0031] The first fixing plate 3 is connected to the third fixing plate 20 . The first fixing plate 3 and the third fixing plate 20 are provided with notches, the gear 7 protrudes from the notches, and the output end of the first driving member 6 passes through the notches and extends to the outer surfaces of the first fixing plate 3 and the third fixing plate 20 .

[0032] A protective cover shell 19 is disposed outside the third sliding structure and the third driving structure, and the protective cover shell 19 can be connected to a manipulator or a clamping member.

[0033] Working principle:

[0034] Based on the loading and unloading of automobile axles and the use with lathes, a clamp is installed on the Z-axis moving device to clamp the axle. In the three degrees of freedom, X, Y, and Z, moving devices are provided to control the spatial position adjustment of the clamp in multiple degrees of freedom. The driving part is controlled by an external control module to realize walking, and the loading and unloading of the axle is realized by coordinating the rotation and opening and closing of the clamp.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any minor modifications, equivalent substitutions and improvements made to the above embodiments based on the technical essence of the present invention should be included in the protection scope of the technical solution of the present invention.

Claims

1. A gantry loading and unloading truss robot, comprising symmetrically arranged gantries (1) and trusses (2) arranged between the gantries (1), the gantry (1) being provided with a Y-axis moving device, the trusses (2) being provided with an X-axis moving device and a Z-axis moving device, the X-axis moving device being perpendicular to the Z-axis moving device, and characterized in that: The Z-axis moving device includes a first sliding structure and a first driving structure for driving the first sliding structure, wherein the first sliding structure includes a first fixed plate (3), and one side of the first fixed plate (3) is symmetrically provided with a slide bar (4) and a guide wheel (5) slidably connected to the slide bar (4), wherein one side of the slide bar (4) is provided with a toothed portion (41), and the other side of the slide bar (4) is provided with a V-shaped portion (42), the toothed portion (41) is connected to the driving structure, and the V-shaped portion (42) is matched and connected to the guide wheel (5).

2. A gantry loading and unloading truss robot according to claim 1, characterized in that: The first driving structure comprises a first driving member (6) arranged below the truss (2), the output end of the first driving member (6) being rotatably connected to a gear (7), and the gear (7) being meshedly connected to the toothed portion (41) of the slide bar (4).

3. A gantry loading and unloading truss robot according to claim 1, characterized in that: The Y-axis moving device is used to drive the truss (2) to move relative to the gantry (1) in the Y-axis direction, the Y-axis moving device comprises a second sliding structure and a second driving structure for driving the second sliding structure, the second sliding structure comprises a second fixed plate (8), a sliding block groove (9) and a second sliding sleeve (10) are arranged below the second fixed plate (8), and the sliding block groove (9) is connected to a plurality of directional bolts (11) arranged on the gantry (1); The second sliding structure comprises a second driving member (12) fixedly arranged on the side wall of the gantry (1), the output end of the second driving member (12) is connected to a second guide rail (13), and the second guide rail (13) is connected to a second sliding sleeve (10).

4. A gantry type loading and unloading truss robot according to claim 2, characterized in that: The X-axis moving device is used to drive the Z-axis moving device to move relative to the truss (2) in the X-axis direction, the X-axis moving device comprises a third sliding structure and a third driving structure driving the third sliding structure, the third sliding structure comprises a third fixed plate (20) arranged on the side wall of the truss (2), a third sliding sleeve (14) and a third sliding block (15) are arranged in parallel on the back of the third fixed plate (20), and the third sliding sleeve (14) and the third sliding block (15) are connected to the third driving structure; The third driving structure comprises a third driving member (16) arranged on the truss (2) and a third guide rail (17) connected to the output end of the third driving member (16); a fourth guide rail (18) is arranged in parallel with the third guide rail (17); the fourth guide rail (18) is located at a position close to the side wall of the truss (2); the third guide rail (17) and the fourth guide rail (18) are respectively connected to the third sliding sleeve (14) and the third sliding block (15).

5. A gantry type loading and unloading truss robot according to claim 4, characterized in that: The first fixing plate (3) is connected to the third fixing plate (20), and the gear (7) is connected to the outer surface of the first fixing plate (3).

6. A gantry type loading and unloading truss robot according to claim 5, characterized in that: The first fixing plate (3) and the third fixing plate (20) are provided with notches, and the gear (7) protrudes out of the notches.

7. The gantry loading and unloading truss robot according to claim 4 is characterized in that A protective cover shell (19) is arranged outside the third sliding structure and the third driving structure. Furthermore, the protective cover shell (19) can be connected to a robot or a clamping member.

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