Double-shaft heavy-load carrying truss robot

Abstract

The utility model discloses a double-shaft heavy-load carrying truss robot. The double-shaft heavy-load carrying truss robot comprises a first X-axis beam, a first X-axis moving mechanism, a first stand column, a first Y-axis beam, a second Y-axis beam, a module boxing clamp, a second X-axis moving mechanism, a second X-axis beam and a second stand column. The first X-axis moving mechanism and the second X-axis moving mechanism are started, so that the two sides of the first Y-axis beam and the two sides of the second Y-axis beam are driven by power, and the requirement for stable movement in the X-axis direction under heavy loads is met; compared with an existing sliding block guide rail, the X-axis roller boxes arranged in the first X-axis moving mechanism and the second X-axis moving mechanism have the advantages that the loading capacity is higher, the strength requirement of large loads can be met, in addition, resistance is small, and then the X-axis roller boxes can be suitable for the high-strength and high-efficiency working environment; the two Y-axis motors are arranged, so that the Y-axis sliding plates on the two sides can be simultaneously driven to synchronously move in the Y-axis direction, and the requirement for stable movement in the Y-axis direction under heavy load is met.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a double-axis heavy-load handling truss robot. Background Art

[0002] Truss robots are suitable for handling, sorting, palletizing, loading and unloading, and are also widely used in mechanical processing, aerospace, automobiles, machine tool workpiece loading and unloading, and are an indispensable part of industrial automation. However, the existing truss robots have relatively poor load capacity and are difficult to adapt to high-intensity and high-efficiency working environments. Utility Model Content

[0003] The purpose of the utility model is to provide a dual-axis heavy-load handling truss robot in order to solve the above problems, which solves the problem that the existing truss robot has poor load capacity and is difficult to adapt to high-intensity and high-efficiency working environments.

[0004] In order to solve the above problems, the utility model provides a technical solution: a dual-axis heavy-load handling truss robot, comprising an X-axis beam 1, an X-axis moving mechanism 1, a column 1, a Y-axis beam 1, a Y-axis beam 2, a module entry fixture, an X-axis moving mechanism 2, an X-axis beam 2 and a column 2; the X-axis beam 1 is fixedly connected to the column 1 on both sides of the bottom, and the X-axis moving mechanism 1 is arranged on the top of the X-axis beam 1; the X-axis beam 2 is fixedly connected to the column 2 on both sides of the bottom, and the X-axis moving mechanism 2 is arranged on the top of the X-axis beam 2; one side of the bottom of the Y-axis beam 1 and the Y-axis beam 2 is fixedly connected to the upper moving component of the X-axis moving mechanism 1, and the other side of the bottom of the Y-axis beam 1 and the Y-axis beam 2 is fixedly connected to the upper moving component of the X-axis moving mechanism 2, and the module entry fixture is arranged on the top of the Y-axis beam 1 and the Y-axis beam 2. Preferably, the structure of the X-axis moving mechanism 2 is consistent with that of the X-axis moving mechanism 1, and the specific structure of the X-axis moving mechanism 1 includes an X-axis carrier, an X-axis roller box, an X-axis line rail, an X-axis rack, an X-axis motor and an X-axis gear; there are two X-axis line rails, and the two X-axis line rails are respectively fixedly connected to the inner and outer side surfaces of the X-axis beam 1, and the two X-axis line rails are movably connected with the X-axis roller boxes; the top of the X-axis roller box is fixedly connected with the X-axis carrier, and the X-axis carrier is fixedly connected to one side of the bottom of the Y-axis beam 1 and the Y-axis beam 2; the X-axis rack is fixedly connected to the X-axis beam 1; the X-axis motor is fixedly connected to one side of the upper X-axis carrier, and the X-axis gear is fixedly connected to the lower output shaft of the X-axis motor, and the X-axis gear is connected to the X-axis rack.

[0005] Preferably, the specific structure of the X-axis roller box includes a box body, an upper roller, a scraper plate, a lower roller, a side roller and a guide groove; a guide groove is opened on the inner side of the box body, and a scraper plate is fixedly connected to the opening on one side of the guide groove; the upper roller is movably connected above one side of the guide groove; the lower roller is movably connected below one side of the guide groove; the side roller is movably connected behind the other side of the guide groove.

[0006] Preferably, the X-axis motor is a servo motor.

[0007] Preferably, the specific structure of the module box-entry fixture includes a Y-axis line rail, a Y-axis rack, a Y-axis slider, a Y-axis skateboard, a Y-axis motor, an electric telescopic rod, a Z-axis line rail, a Z-axis frame, a Z-axis slider, a connecting frame, a connecting block, a connecting plate and a Y-axis gear; there are four Y-axis line rails, and the four Y-axis line rails are respectively fixedly connected to the upper and lower surfaces of the Y-axis beam one and the Y-axis beam two, and a plurality of Y-axis sliders are movably connected to the four Y-axis line rails; there are two Y-axis skateboards, and the two Y-axis skateboards are respectively located on the side surfaces of the Y-axis beam one and the Y-axis beam two, and the inner side surfaces of the two Y-axis skateboards are respectively fixedly connected to the corresponding side surfaces of the Y-axis slider, and the outer side surfaces of the two Y-axis skateboards are fixedly connected to the Z-axis sliders on both sides; there are two Y-axis racks, and the two Y-axis racks are respectively fixedly connected to the upper and lower surfaces of the Y-axis beam one and the Y-axis beam two. One and the side of the Y-axis beam two; there are two Y-axis motors, and the two Y-axis motors are respectively fixedly connected to one side of the outer side of the Y-axis skateboard, and the inner output shafts of the two Y-axis motors are fixedly connected with Y-axis gears, and the Y-axis gears are respectively connected to the corresponding Y-axis racks; there are two Z-axis frames, and the two Z-axis frames are respectively located on the outer sides of the corresponding Y-axis skateboards, and the two Z-axis frames are fixedly connected on both sides of the inner sides, and the Z-axis rails are respectively movably connected to the corresponding Z-axis sliders, and the bottoms of the two Z-axis frames are respectively fixedly connected to both sides of the connecting frame; the two sides of the connecting plate are respectively connected to the corresponding bottom of the Y-axis skateboard, and the center of the connecting plate is fixedly connected with an electric telescopic rod, and the telescopic rod end on the lower side of the electric telescopic rod is fixedly connected to the center of the upper side of the connecting frame through a connecting block.

[0008] Preferably, the Y-axis motor is a servo motor.

[0009] Preferably, a roller is provided inside the Z-axis slider.

[0010] Preferably, limit blocks are provided on both sides of the Y-axis rail.

[0011] The beneficial effects of the utility model are as follows: (1) The utility model has a reasonable and simple structure, low production cost and convenient installation. Here, the X-axis moving mechanism 1 and the X-axis moving mechanism 2 are started, so that both sides of the Y-axis beam 1 and the Y-axis beam 2 can be driven by power, thereby meeting the need for smooth movement of the X-axis under heavy load.

[0012] (2) Compared with the conventional slider guide, the X-axis roller box provided in the X-axis moving mechanism 1 and the X-axis moving mechanism 2 of the utility model has the advantages of a stronger load capacity and can meet the strength requirements of large loads. In addition, the resistance is relatively small, and thus it can be used in a high-intensity and high-efficiency working environment.

[0013] (3) The two Y-axis motors provided in the present invention can simultaneously drive the Y-axis slides on both sides to perform Y-axis movement synchronously, thus meeting the need for smooth Y-axis movement under heavy load. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model.

[0015] Figure 2 for Figure 1 Top view of the .

[0016] Figure 3 It is a structural schematic diagram of the X-axis moving mechanism 1.

[0017] Figure 4 for Figure 3 Side view of.

[0018] Figure 5 It is a structural diagram of the X-axis roller box.

[0019] Figure 6 This is a schematic diagram of the structure of the module box clamp.

[0020] Figure 7 for Figure 6 Side view of.

[0021] 1-X-axis beam 1; 2-X-axis moving mechanism 1; 3-column 1; 4-Y-axis beam 1; 5-Y-axis beam 2; 6-module box clamp; 7-X-axis moving mechanism 2; 8-X-axis beam 2; 9-column 2; 21-X-axis carrier plate; 22-X-axis roller box; 23-X-axis rail; 24-X-axis rack; 25-X-axis motor; 26-X-axis gear; 221-box; 222-upper roller; 223-scraper; 224-lower roller; 225-side roller; 226 -guide groove; 61-Y axis rail; 62-Y axis rack; 63-Y axis slider; 64-Y axis slide plate; 65-Y axis motor; 66-electric telescopic rod; 67-Z axis rail; 68-Z axis frame; 69-Z axis slider; 610-connecting frame; 611-connecting block; 612-connecting plate; 613-Y axis gear. DETAILED DESCRIPTION

[0022] like Figure 1 and Figure 2As shown, this specific embodiment adopts the following technical scheme: a dual-axis heavy-load handling truss robot, including an X-axis beam 1, an X-axis moving mechanism 2, a column 3, a Y-axis beam 4, a Y-axis beam 5, a module box-entry fixture 6, an X-axis moving mechanism 7, an X-axis beam 8 and a column 9; the two sides of the bottom of the X-axis beam 1 are fixedly connected with columns 3, and the X-axis moving mechanism 2 is arranged on the top of the X-axis beam 1; the two sides of the bottom of the X-axis beam 8 are fixedly connected with columns 9, and the X-axis moving mechanism 7 is arranged on the top of the X-axis beam 8; one side of the bottom of the Y-axis beam 4 and the Y-axis beam 5 is fixedly connected to the upper moving part of the X-axis moving mechanism 2, and the other side of the bottom of the Y-axis beam 4 and the Y-axis beam 5 is fixedly connected to the upper moving part of the X-axis moving mechanism 7, and the module box-entry fixture 6 is arranged on the top of the Y-axis beam 4 and the Y-axis beam 5.

[0023] like Figure 3 and Figure 4 As shown, the structure of the X-axis moving mechanism 27 is consistent with that of the X-axis moving mechanism 12. The specific structure of the X-axis moving mechanism 12 includes an X-axis carrier 21, an X-axis roller box 22, an X-axis line rail 23, an X-axis rack 24, an X-axis motor 25 and an X-axis gear 26; there are two X-axis line rails 23, and the two X-axis line rails 23 are respectively fixedly connected to the inner and outer side surfaces of the X-axis beam 1, and the two X-axis line rails 23 are movably connected with the X-axis roller boxes 22; the top of the X-axis roller box 22 is fixedly connected with the X-axis carrier 21, and the X-axis carrier 21 is fixedly connected to one side of the bottom of the Y-axis beam 14 and the Y-axis beam 25; the X-axis rack 24 is fixedly connected to the X-axis beam 1; the X-axis motor 25 is fixedly connected to one side of the upper side of the X-axis carrier 21, and the X-axis gear 26 is fixedly connected to the lower output shaft of the X-axis motor 25, and the X-axis gear 26 is connected to the X-axis rack 24.

[0024] like Figure 5 As shown, the specific structure of the X-axis roller box 22 includes a box body 221, an upper roller 222, a scraper plate 223, a lower roller 224, a side roller 225 and a guide groove 226; a guide groove 226 is opened on the inner side of the box body 221, and a scraper plate 223 is fixedly connected to an opening on one side of the guide groove 226; the upper roller 222 is movably connected above one side of the guide groove 226; the lower roller 224 is movably connected below one side of the guide groove 226; the side roller 225 is movably connected behind the other side of the guide groove 226.

[0025] The X-axis motor 25 is a servo motor, so it is convenient to control the X-axis motor 25 through existing automation technology.

[0026] like Figure 6 and Figure 7As shown, the specific structure of the module box-entering fixture 6 includes a Y-axis rail 61, a Y-axis rack 62, a Y-axis slider 63, a Y-axis slide plate 64, a Y-axis motor 65, an electric telescopic rod 66, a Z-axis rail 67, a Z-axis frame 68, a Z-axis slider 69, a connecting frame 610, a connecting block 611, a connecting plate 612 and a Y-axis gear 613; there are four Y-axis rails 61, and the four Y-axis rails 61 are respectively fixedly connected to the upper and lower surfaces of the Y-axis beam 1 4 and the Y-axis beam 2 5, The four Y-axis rails 61 are movably connected with a plurality of Y-axis sliders 63; there are two Y-axis sliders 64, which are respectively located on the sides of the Y-axis beam 1 4 and the Y-axis beam 2 5, and the inner sides of the two Y-axis sliders 64 are respectively fixedly connected to the corresponding sides of the Y-axis sliders 63, and the outer sides of the two Y-axis sliders 64 are both fixedly connected with Z-axis sliders 69; there are two Y-axis racks 62, which are respectively fixedly connected to the Y-axis The side of beam 1 4 and Y-axis beam 2 5; there are two Y-axis motors 65, and the two Y-axis motors 65 are respectively fixedly connected to one side of the outer side of the Y-axis skateboard 64, and the inner output shafts of the two Y-axis motors 65 are fixedly connected with Y-axis gears 613, and the Y-axis gears 613 are respectively connected to the corresponding Y-axis racks 62; there are two Z-axis frames 68, and the two Z-axis frames 68 are respectively located on the outer sides of the corresponding Y-axis skateboards 64, and the inner sides of the two Z-axis frames 68 are fixedly connected with Z-axis rails 67, and the Z-axis rails 67 are respectively movably connected to the corresponding Z-axis sliders 69, and the bottoms of the two Z-axis frames 68 are respectively fixedly connected to the upper sides of the connecting frame 610; the two sides of the connecting plate 612 are respectively connected to the bottom of the corresponding Y-axis skateboard 64, and the upper center of the connecting plate 612 is fixedly connected with an electric telescopic rod 66, and the lower telescopic rod end of the electric telescopic rod 66 is fixedly connected to the upper center of the connecting frame 610 through a connecting block 611.

[0027] The Y-axis motor 65 is a servo motor, so that the Y-axis motor 65 can be easily controlled by existing automation technology; a roller is provided inside the Z-axis slider 69; and limit blocks are provided on both sides of the Y-axis line rail 61.

[0028] The use status of the utility model is as follows: the utility model has a reasonable and simple structure, low production cost and convenient installation. When in use, first select the required fixture tooling according to different working conditions, and then install the fixture tooling at the bottom of the connecting frame 610, and then start the X-axis moving mechanism 1 2 and the X-axis moving mechanism 2 7, so that both sides of the Y-axis beam 1 4 and the Y-axis beam 2 5 can be driven by power, thereby meeting the need for smooth movement of the X-axis under heavy load. In addition, the X-axis roller box 22 arranged in the X-axis moving mechanism 1 2 and the X-axis moving mechanism 2 7 has the advantage of a roller box with a stronger load capacity compared with the previous slider guide rail, which can meet the strength requirements of large loads, and the resistance is also relatively small, so it can be suitable for a high-intensity and high-efficiency working environment, and the two Y-axis motors 65 are arranged, so that the Y-axis slides 64 on both sides can be driven to perform Y-axial movement synchronously, thus meeting the need for smooth movement of the Y-axis under heavy load, and starting the electric telescopic rod 66 can drive the connecting frame 610 and the fixture tooling to move down as a whole into the box to grab the product.

[0029] The control method in the present invention is to start manually or control by existing automation technology. The wiring diagram of the power element and the provision of power supply belong to the common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0030] In the description of the utility model, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0031] In the utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0032] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. Technical personnel in this industry should understand that the utility model is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which shall fall within the scope of the utility model to be protected. The scope of protection of the utility model shall be defined by the attached claims and their equivalents.

Claims

1. A dual-axis heavy-load handling truss robot, characterized in that: It includes an X-axis beam (1), an X-axis moving mechanism (2), a column (3), a Y-axis beam (4), a Y-axis beam (5), a module box clamp (6), an X-axis moving mechanism (7), an X-axis beam (8) and a column (9); Both sides of the bottom of the X-axis beam (1) are fixedly connected to columns (3), and an X-axis moving mechanism (2) is provided on the X-axis beam (1); Two columns (9) are fixedly connected to both sides of the bottom of the second X-axis beam (8), and a second X-axis moving mechanism (7) is arranged on the second X-axis beam (8); One side of the bottom of the Y-axis beam 1 (4) and the Y-axis beam 2 (5) is fixedly connected to the upper moving part of the X-axis moving mechanism 1 (2), and the other side of the bottom of the Y-axis beam 1 (4) and the Y-axis beam 2 (5) is fixedly connected to the upper moving part of the X-axis moving mechanism 2 (7). A module box clamp (6) is provided on the top of the Y-axis beam 1 (4) and the Y-axis beam 2 (5).

2. The dual-axis heavy-load handling truss robot according to claim 1, characterized in that: The structure of the X-axis moving mechanism 2 (7) is consistent with that of the X-axis moving mechanism 1 (2), and the specific structure of the X-axis moving mechanism 1 (2) includes an X-axis carrier plate (21), an X-axis roller box (22), an X-axis axis rail (23), an X-axis rack (24), an X-axis motor (25) and an X-axis gear (26); There are two X-axis rails (23), and the two X-axis rails (23) are respectively fixedly connected to the inner and outer side surfaces of the X-axis beam 1 (1), and the two X-axis rails (23) are movably connected to the X-axis roller boxes (22); The top of the X-axis roller box (22) is fixedly connected to an X-axis carrier plate (21), and the X-axis carrier plate (21) is fixedly connected to one side of the bottom of the Y-axis beam 1 (4) and the Y-axis beam 2 (5); The X-axis rack (24) is fixedly connected to the X-axis beam 1 (1); The X-axis motor (25) is fixedly connected to one side of the upper side of the X-axis carrier plate (21); an X-axis gear (26) is fixedly connected to the output shaft at the lower side of the X-axis motor (25); and the X-axis gear (26) is connected to the X-axis rack (24).

3. The dual-axis heavy-load handling truss robot according to claim 2, characterized in that: The specific structure of the X-axis roller box (22) includes a box body (221), an upper roller (222), a scraper (223), a lower roller (224), a side roller (225) and a guide groove (226); A guide groove (226) is provided on the inner side of the box body (221), and a scraper blade (223) is fixedly connected to an opening on one side of the guide groove (226); The upper roller (222) is movably connected above one side of the guide groove (226); The lower roller (224) is movably connected below one side of the guide groove (226); The side roller (225) is movably connected behind the other side of the guide groove (226).

4. The dual-axis heavy-load handling truss robot according to claim 2, characterized in that: The X-axis motor (25) is a servo motor.

5. The dual-axis heavy-load handling truss robot according to claim 1, characterized in that: The specific structure of the module box-entering fixture (6) includes a Y-axis line rail (61), a Y-axis rack (62), a Y-axis slider (63), a Y-axis slide plate (64), a Y-axis motor (65), an electric telescopic rod (66), a Z-axis line rail (67), a Z-axis frame (68), a Z-axis slider (69), a connecting frame (610), a connecting block (611), a connecting plate (612) and a Y-axis gear (613); There are four Y-axis rails (61), and the four Y-axis rails (61) are respectively fixedly connected to the upper and lower surfaces of the Y-axis beam 1 (4) and the Y-axis beam 2 (5), and a plurality of Y-axis sliders (63) are movably connected to the four Y-axis rails (61); There are two Y-axis slide plates (64), the two Y-axis slide plates (64) are respectively located on the side surfaces of the Y-axis beam 1 (4) and the Y-axis beam 2 (5), the inner side surfaces of the two Y-axis slide plates (64) are respectively fixedly connected to the side surfaces of the corresponding Y-axis sliders (63), and the outer side surfaces of the two Y-axis slide plates (64) are both fixedly connected to the Z-axis sliders (69); There are two Y-axis racks (62), and the two Y-axis racks (62) are respectively fixedly connected to the side surfaces of the first Y-axis beam (4) and the second Y-axis beam (5); There are two Y-axis motors (65), and the two Y-axis motors (65) are respectively fixedly connected to one side of the outer side of the Y-axis slide plate (64); the inner output shafts of the two Y-axis motors (65) are both fixedly connected to a Y-axis gear (613), and the Y-axis gear (613) is respectively connected to the corresponding Y-axis rack (62); There are two Z-axis frames (68), the two Z-axis frames (68) are respectively located outside the corresponding Y-axis slide plate (64), the inner sides of the two Z-axis frames (68) are fixedly connected with Z-axis axis rails (67), and the Z-axis axis rails (67) are respectively movably connected to the corresponding Z-axis slide block (69), and the bottoms of the two Z-axis frames (68) are respectively fixedly connected to the upper sides of the connecting frame (610); The two sides of the connecting plate (612) are respectively connected to the bottom of the corresponding Y-axis slide plate (64); an electric telescopic rod (66) is fixedly connected to the center of the upper side of the connecting plate (612); and the lower telescopic rod end of the electric telescopic rod (66) is fixedly connected to the center of the upper side of the connecting frame (610) via a connecting block (611).

6. The dual-axis heavy-load handling truss robot according to claim 5, characterized in that: The Y-axis motor (65) is a servo motor.

7. The dual-axis heavy-load handling truss robot according to claim 5, characterized in that: A roller is provided inside the Z-axis slider (69).

8. The dual-axis heavy-load handling truss robot according to claim 5, characterized in that: Limit blocks are provided on both sides of the Y-axis rail (61).

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