Moving device of truss robot

Abstract

A moving device of a truss robot comprises longitudinal moving track devices and a plurality of cross beam devices, the longitudinal moving track devices are installed on the left side and the right side of a rack, the cross beam devices are arranged on the rack at intervals in the longitudinal direction, and the left ends and the right ends of the cross beam devices are connected with the longitudinal moving devices. The longitudinal moving device is movably connected to the longitudinal moving rail device in the longitudinal direction, and a plurality of transverse moving devices used for installing mechanical arms are movably connected to the cross beam device in the transverse direction. According to the design, a plurality of transverse moving devices are arranged, a plurality of mechanical arms can be placed on the cross beam device, transverse movement of the mechanical arms can be achieved through the transverse moving devices, and during construction, the working space of each mechanical arm is independent, so that collaborative construction can be achieved; the longitudinal moving device can drive the cross beam device to move longitudinally, then the mechanical arm is driven to move longitudinally, and therefore multi-axis movement of the mechanical arm is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of construction, in particular to a moving device of a truss robot. Background Art

[0002] As a construction method that is conducive to rapid construction, prefabricated buildings can improve work efficiency and construction intelligence while ensuring the technical level and engineering quality of the construction industry. The steel structure frame is the foothold for various actuators during the construction process, and it is mainly built manually based on scaffolding and tower cranes. The truss robots used for construction have complex structures. Some truss robots cannot perform multi-axis simultaneous movement on the steel structure frame during use, and the movement speed is slow; at the same time, the construction frame can only meet the needs of a single or a small number of single-function robotic arm actuators to complete the work, which is not conducive to the collaborative construction of the robot system. Summary of the invention

[0003] The utility model aims to overcome the defects and problems of the inconvenient movement of the truss robot in the prior art, and to provide a moving device of the truss robot which is convenient to move.

[0004] To achieve the above purpose, the technical solution of the utility model is: a moving device of a truss robot, including a longitudinal moving track device and a plurality of beam devices, the longitudinal moving track device is installed on the left and right sides of a frame, and a plurality of beam devices are arranged on the frame at intervals along the longitudinal direction, and the left and right ends of the beam device are connected to a longitudinal moving device, the longitudinal moving device is movably connected to the longitudinal moving track device along the longitudinal direction, and a plurality of transverse moving devices for installing a robotic arm are movably connected to the beam device along the transverse direction.

[0005] The longitudinal moving track device comprises an upper track and a lower track, the upper track comprises an I-beam, a track support plate, a rack mounting plate, a track positioning block, short bolts, long bolts, a track connecting positioning block, and a longitudinal rack, the track support plate is longitudinally connected to the upper side of the frame through a fixing assembly, the wing plate of the I-beam is connected to the upper side of the track support plate, the rack mounting plate is vertically connected to the upper side of the track support plate, the track connecting positioning block is connected to the upper side of the track support plate and to the outer side of the wing plate of the I-beam, the longitudinal rack is connected to the outer side of the rack mounting plate, the lower track comprises a lower guide rail, the lower guide rail is connected to the lower side of the frame through a lower track fixing piece and is arranged parallel to the lower side of the upper track, the upper side of the longitudinal moving device is slidably connected to the longitudinal rack, and the lower side of the longitudinal moving device is slidably connected to the lower guide rail.

[0006] The fixing assembly includes a rail positioning block, a plurality of short bolts and a plurality of long bolts. The upper end surface of the rail support plate is provided with a plurality of waist-shaped holes. A short bolt and a long bolt are slidably connected in each waist-shaped hole. The nuts of the short bolts and the long bolts are both located on the upper side of the rail support plate. The lower ends of the short bolts and the long bolts pass through the waist-shaped holes and are threadedly connected to the upper side of the frame. The rail positioning block is connected to the lower side of the rail support plate and is arranged relative to the frame.

[0007] The longitudinal moving device includes a trolley and a lower trolley, the trolley includes a front side plate for mounting a cross beam, a load-bearing wheel mounting plate, a motor adjustment plate, a trolley reducer and a trolley driving motor, the front side plate for mounting a cross beam is longitudinally arranged on one side of the longitudinal rack, the load-bearing wheel mounting plate is connected to the upper side of the front side plate for mounting a cross beam, the connection between the load-bearing wheel mounting plate and the front side plate for mounting a cross beam is longitudinally arranged with a first load-bearing side plate, a second load-bearing side plate, a third load-bearing side plate, a fourth load-bearing side plate, a fifth load-bearing side plate and a sixth load-bearing side plate, the lower side of the load-bearing wheel mounting plate is connected with a first mounting seat and a second mounting seat, the first mounting seat is located between the first load-bearing side plate and the second load-bearing side plate, the second mounting seat is located between the fifth load-bearing side plate and the sixth load-bearing side plate, the first mounting seat , and the second mounting seat are both rotatably connected with a load-bearing flat wheel, the load-bearing flat wheel is rollingly connected to the upper side of the belly of the I-beam, a beam positioning plate and a beam mounting plate are arranged between the second load-bearing side plate and the third load-bearing side plate, a beam positioning plate and a beam mounting plate are arranged between the fourth load-bearing side plate and the fifth load-bearing side plate, the beam mounting plate is connected to the end of the beam device, the motor adjustment plate is located between the third load-bearing side plate and the fourth load-bearing side plate and is connected to one side of the beam installation front side plate through a fixing plate, the trolley reducer is installed on the motor adjustment plate and the output end is connected to a trolley gear after passing through the motor adjustment plate and the beam installation front side plate, the trolley gear is meshingly connected to the longitudinal rack, and the output shaft of the trolley drive motor is connected to the input end of the trolley reducer;

[0008] The lower pulley includes a pulley, a pulley connecting plate, and a pulley side plate. The pulley side plate is connected to the end of the crossbeam device, the top of the pulley is connected to the pulley side plate through the pulley connecting plate, a slide groove is opened in the lower guide rail along the length direction, the upper and lower sides of the pulley are rotatably connected with horizontal wheels, the bottom of the pulley is rotatably connected with vertical wheels, the horizontal wheels are rollingly connected to the upper and lower inner side walls of the slide groove, and the vertical wheels are rollingly connected to the inner bottom wall of the slide groove.

[0009] The end of the load-bearing wheel mounting plate, one side of the second load-bearing side plate, and one side of the fifth load-bearing side plate are all connected with connecting plates, and the outer side of the connecting plates is connected with a rubber anti-collision block.

[0010] The crossbeam device comprises two crossbeam first sections and a crossbeam middle section, and the two crossbeam first sections are symmetrically connected to the two ends of the crossbeam middle section;

[0011] The first section of the crossbeam includes a plurality of first crossbeam main pipes, which are arranged transversely. A crossbeam bolt sleeve is sleeved inside one end of the first crossbeam main pipe, a first bolt rod is sleeved inside the crossbeam bolt sleeve located on the upper side, and a second bolt rod is sleeved inside the crossbeam bolt sleeve located on the lower side. One end of the first bolt rod passes through the crossbeam installation front side plate and the crossbeam installation plate and is located on the upper side of the upper rail. Two first nuts are threadedly connected to the outer circumference of the first bolt rod, and the two first nuts are respectively abutted against one side of the crossbeam installation front side plate and the crossbeam installation plate. One end of the second bolt rod passes through the pulley side plate and is located on the upper side of the pulley. Two second nuts are threadedly connected to the outer circumference of the second bolt rod, and the two second nuts are respectively abutted against the left and right sides of the pulley side plate. A first support frame is connected between the first crossbeam main pipe located on the upper side and the first crossbeam main pipe located on the lower side, a first support pipe is connected between two adjacent first support frames, and a connecting sleeve is sleeved inside the other end of the first crossbeam main pipe.

[0012] The middle section of the beam includes a plurality of second beam main pipes, ends of the plurality of second beam main pipes are connected one-to-one with a plurality of connecting sleeves, a second support frame is connected between the second beam main pipe located on the upper side and the second beam main pipe located on the lower side, a second support tube is connected between two adjacent second support frames, a transverse rack mounting plate is connected to the outer side of the first support frame and the second support frame, a transverse rack is mounted on the outer side of the transverse rack mounting plate, the teeth of the transverse rack face downward, and the transverse moving device is slidably connected to the first beam main pipe and the second beam main pipe.

[0013] A leveling nut is also connected to the outer side of the transverse rack mounting plate, and a leveling bolt is connected to the inner thread of the leveling nut, and the bottom end of the leveling bolt is threadedly connected to the upper side of the transverse rack.

[0014] The lateral moving device includes a main body plate, a motor mounting plate, a trolley reducer and a trolley driving motor. The main body plate is arranged vertically, the motor mounting plate is mounted on one side of the main body plate, the trolley reducer is mounted on the motor mounting plate, the output end of the trolley reducer passes through the motor mounting plate and is connected to a trolley gear, the output shaft of the trolley driving motor is connected to the input end of the trolley reducer, a plurality of trolley frames are mounted on one side of the main body plate, two guide wheels are vertically rotatably connected in each of the trolley frames, an axis plate is connected between two adjacent trolley frames located on the same horizontal plane, two trolley load-bearing wheels are longitudinally rotatably connected on the axis plate, the two guide wheels and trolley load-bearing wheels on the upper side are both rollingly connected to the outer circumferential surfaces of the first cross beam main pipe and the second cross beam main pipe on the upper side, the two guide wheels and trolley load-bearing wheels on the lower side are both rollingly connected to the outer circumferential surfaces of the first cross beam main pipe and the second cross beam main pipe on the lower side, and guide wheel adjustment mechanisms are provided at both ends of one of the guide wheels in each of the trolley frames.

[0015] The trolley frame includes an upper wheel plate, a lower wheel plate and two rotating shafts, the upper wheel plate and the lower wheel plate are horizontally arranged and are both connected to one side of the main body plate, the two rotating shafts are both located between the upper wheel plate and the lower wheel plate, the guide wheel adjustment mechanism includes an adjusting plate and an adjusting fixing plate, the adjusting plate is L-shaped, the guide wheel is rotatably connected to the outer circumference of the rotating shaft, the ends of the rotating shaft pass through the upper wheel plate and the lower wheel plate respectively and are connected to the transverse part of the adjusting plate, the adjusting plate is located on the upper side of the upper wheel plate, the two adjusting fixing plates are vertically connected to the upper wheel plate and the lower wheel plate respectively, an adjusting bolt is threadedly connected at the center of the adjusting fixing plate, the bottom of the adjusting bolt is rotatably connected to the vertical part of the adjusting plate, the outer circumference of the adjusting bolt is threadedly connected to two adjusting nuts, and the two adjusting nuts respectively abut against the front and rear sides of the adjusting fixing plate.

[0016] The left and right sides of the main body plate are connected with anti-collision connecting plates, and the outer sides of the anti-collision connecting plates are connected with anti-collision blocks.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] 1. In the mobile device of a truss robot of the utility model, multiple mechanical arms can be placed on the crossbeam device by setting multiple cross-moving devices, and the cross-moving devices can realize the cross-movement of the mechanical arms. During construction, the working space of each mechanical arm is independent, so that collaborative construction can be realized. While the mechanical arms are moving horizontally, the longitudinal moving devices can drive the crossbeam device to move longitudinally, and then drive the mechanical arms to move longitudinally, thereby realizing the multi-axis movement of the mechanical arms. Therefore, the utility model is easy to move and can realize coordinated construction.

[0019] 2. In the mobile device of a truss robot of the utility model, the track connection positioning block is set in advance, so that the I-beam is accurately positioned during installation, and the longitudinal moving device moves on the upper track and the lower track at the same time. The double track is adopted to make the movement of the longitudinal moving device more stable; the fixed component adopts the track positioning block, which is convenient for the track support plate and the frame to be accurately positioned. At the same time, the short bolts and the long bolts can be moved on the waist-shaped holes. After moving into place, the short bolts and the long bolts are tightened to achieve the connection and fixation of the track support plate and the frame. Therefore, the utility model has a stable structure and high reliability.

[0020] 3. In the mobile device of a truss robot of the utility model, a trolley is set to slide on the upper track, and a lower trolley slides in the lower guide rail. The trolley driving motor drives the trolley gear to rotate, and the longitudinal movement of the trolley is realized through the gear rack transmission; the lower trolley adopts the design of horizontal wheels and vertical wheels, so that the horizontal wheels and the vertical wheels are in contact with the slide rail in the lower guide rail when rotating, so that the movement of the lower trolley is more stable; by setting rubber anti-collision blocks, when multiple trolleys move separately, it can avoid collisions caused by contact between trolleys. Therefore, the utility model has a stable structure and a long service life.

[0021] 4. In the mobile device of a truss robot of the utility model, the crossbeam is spliced ​​in three sections, and the first section and the middle section of the crossbeam are connected by a connecting sleeve, so that the overall length of the crossbeam can be adjusted conveniently. At the same time, the main sections of the crossbeam are connected by a support frame and a support pipe, so that the structure is more stable. By setting a leveling bolt and a leveling nut, since the leveling nut is fixed to the horizontal gear mounting plate, rotating the leveling bolt will drive the horizontal rack to move upward or downward, thereby leveling the horizontal rack. After the horizontal rack is leveled, it is convenient for the horizontal moving device to slide. Therefore, the working process of the utility model is stable and easy to use.

[0022] 5. In the mobile device of a truss robot of the utility model, the guide wheel and the trolley load-bearing wheel can rotate on the first crossbeam main pipe and the second crossbeam main pipe, so that the horizontal moving device can move more smoothly. By setting the adjusting bolt, the rotation of the adjusting bolt will drive the adjustment plate to move, and the adjusting plate is connected to the rotating shaft, so it will drive the rotating shaft and the guide wheel to move in the horizontal direction, so that the distance between the two guide wheels can be adjusted, so that the two guide wheels can be more closely fitted to the surface of the first crossbeam main pipe and the second crossbeam main pipe during the rotation process, preventing the guide wheels from sliding during the movement process. Therefore, the working process of the utility model is stable, easy to operate, and highly reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the truss robot of the utility model.

[0024] Figure 2It is a structural schematic diagram of the moving device of the truss robot in the utility model.

[0025] Figure 3 It is a structural schematic diagram of the longitudinal moving track device in the utility model.

[0026] Figure 4 It is a structural schematic diagram of the upper track in the utility model.

[0027] Figure 5 It is a structural schematic diagram of the fixing component in the utility model.

[0028] Figure 6 It is a structural schematic diagram of a large vehicle in the utility model.

[0029] Figure 7 It is a structural schematic diagram of the lower slide in the utility model.

[0030] Figure 8 It is a structural schematic diagram of the crossbeam device in the utility model.

[0031] Fig. 9 It is a schematic diagram of the expansion of the first section and the middle section of the cross beam in the utility model.

[0032] Fig.10 yes Fig. 9 A magnified schematic diagram of center A.

[0033] Fig.11 It is a structural schematic diagram of the crossbeam device and the lateral moving device in the utility model.

[0034] Fig.12 It is a structural schematic diagram of the lateral moving device in the utility model.

[0035] Fig.13 It is a partial cross-sectional schematic diagram of the small and medium-sized vehicle frame and the guide wheel adjustment mechanism of the utility model.

[0036] In the figure: frame 1, longitudinal moving track device 2, upper track 21, I-beam 211, track support plate 212, rack mounting plate 213, track connection positioning block 214, longitudinal rack 215, lower track 22, lower guide rail 221, lower track fixing member 222, fixing assembly 23, track positioning block 231, short bolt 232, long bolt 233, waist-shaped hole 234, fixing nut 235, longitudinal moving device 3, cart 31, front side plate 311 for beam installation, load-bearing wheel mounting plate 312, first load-bearing side plate 3 13. second load-bearing side plate 314, third load-bearing side plate 315, fourth load-bearing side plate 316, fifth load-bearing side plate 317, sixth load-bearing side plate 318, first mounting seat 319, second mounting seat 3110, load-bearing flat wheel 3111, beam positioning plate 3112, beam mounting plate 3113, motor adjustment plate 3114, fixing plate 3115, trolley reducer 3116, trolley gear 3117, trolley drive motor 3118, connecting plate 3119, rubber anti-collision block 3120, lower slide 32, pulley 32 1. Pulley connecting plate 322, pulley side plate 323, slide groove 324, horizontal wheel 325, vertical wheel 326, beam device 4, beam first section 41, first beam main pipe 411, beam bolt sleeve 412, first bolt rod 413, second bolt rod 414, first nut 415, second nut 416, first support frame 417, first support pipe 418, connecting sleeve 419, beam middle section 42, second beam main pipe 421, second support frame 422, second support pipe 423, transverse rack mounting plate 43 , transverse rack 44, leveling nut 45, leveling bolt 46, transverse moving device 5, main plate 51, motor mounting plate 52, trolley reducer 53, trolley drive motor 54, trolley gear 55, trolley frame 56, upper wheel plate 561, lower wheel plate 562, rotating shaft 563, guide wheel 57, guide wheel adjustment mechanism 58, adjustment plate 581, adjustment fixing plate 582, adjustment bolt 583, adjustment nut 584, shaft plate 59, trolley load-bearing wheel 510, anti-collision connecting plate 511, anti-collision block 512, robotic arm 6. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0038] Embodiment 1:

[0039] See also Figures 1 to 13A moving device of a truss robot includes a longitudinal moving track device 2 and a plurality of beam devices 4, wherein the longitudinal moving track device 2 is installed on the left and right sides of a frame 1, and the plurality of beam devices 4 are arranged on the frame 1 at intervals along the longitudinal direction, and the left and right ends of the beam device 4 are connected with a longitudinal moving device 3, and the longitudinal moving device 3 is movably connected to the longitudinal moving track device 2 along the longitudinal direction, and the beam device 4 is movably connected with a plurality of lateral moving devices 5 for installing a robot arm 6 along the lateral direction.

[0040] The longitudinal moving track device 2 includes an upper track 21 and a lower track 22, wherein the upper track 21 includes an I-beam 211, a track support plate 212, a rack mounting plate 213, a track positioning block 231, short bolts 232, long bolts 233, a track connection positioning block 214, and a longitudinal rack 215. The track support plate 212 is longitudinally connected to the upper side of the frame 1 through a fixing assembly 23, the wing plate of the I-beam 211 is connected to the upper side of the track support plate 212, the rack mounting plate 213 is vertically connected to the upper side of the track support plate 212, the track connection positioning block 214 is connected to the upper side of the track support plate 212 and is connected to the outer side of the wing plate of the I-beam 211, the longitudinal rack 215 is connected to the outer side of the rack mounting plate 213, and the lower track 22 includes a lower guide rail 221, and the lower guide rail 221 is connected to the upper side of the rack 213 through a lower rail The track 22 fixing piece is connected to the lower side of the frame 1 and is arranged parallel to the lower side of the upper track 21, the upper side of the longitudinal moving device 3 is slidably connected to the longitudinal rack 215, and the lower side of the longitudinal moving device 3 is slidably connected to the lower guide rail 221; the fixing assembly 23 includes a track positioning block 231, a plurality of short bolts 232 and a plurality of long bolts 233, and the upper end surface of the track support plate 212 is provided with a plurality of waist-shaped holes 234, and each of the waist-shaped holes 234 is slidably connected with a short bolt 232 and a long bolt 233, and the nuts of the short bolts 232 and the long bolts 233 are both located on the upper side of the track support plate 212, and the lower ends of the short bolts 232 and the long bolts 233 pass through the waist-shaped holes 234 and are threadedly connected to the upper side of the frame 1, and the track positioning block 231 is connected to the lower side of the track support plate 212 and is arranged relative to the frame 1.

[0041] In this embodiment, the frame 1 is a rectangular frame, and the crossbeam device 4 is arranged between the gaps inside the frame 1. The lower track 22 fixing piece can select a splint, and the shape of the splint is the same as that of the lower guide rail 221. At the same time, a U-shaped frame can be installed on the splint. The shape of the U-shaped frame is the same as the shape of the vertical steel pipe in the frame 1. When fixing, the splint is first clamped to the outside of the lower guide rail 221 and fixed by bolts. At the same time, the U-shaped frame is clamped on the outside of the vertical steel pipe of the frame 1 and connected to the splint by bolts; a plurality of positioning plates are arranged on the upper side of the frame 1, and the plurality of positioning plates are provided with positioning holes. The size and number of the positioning holes correspond to the size and number of the short bolts 232 and the long bolts 233. Gaps are arranged between the plurality of positioning plates, and the length of the gaps is consistent with the length of the track positioning block 231. After the short bolts 232 and the long bolts 233 pass through the positioning plates, they are tightened by fixing nuts 235.

[0042] Embodiment 2:

[0043] The basic content is the same as that of Example 1, except that:

[0044] See also Figure 6 and Figure 7The longitudinal moving device 3 includes a trolley 31 and a lower slide trolley 32. The trolley 31 includes a front side plate 311 for mounting a cross beam, a load-bearing wheel mounting plate 312, a motor adjustment plate 3114, a trolley reducer 3116 and a trolley drive motor 3118. The front side plate 311 for mounting a cross beam is longitudinally arranged on one side of the longitudinal rack 215. The load-bearing wheel mounting plate 312 is connected to the upper side of the front side plate 311 for mounting a cross beam. The connection between the load-bearing wheel mounting plate 312 and the front side plate 311 for mounting a cross beam is longitudinally arranged in sequence. The first load-bearing side plate 313, the second load-bearing side plate 314, the third load-bearing side plate 315, the fourth load-bearing side plate 316, the fifth load-bearing side plate 317, and the sixth load-bearing side plate 318, the lower side of the load-bearing wheel mounting plate 312 is connected with a first mounting seat 319 and a second mounting seat 3110, the first mounting seat 319 is located between the first load-bearing side plate 313 and the second load-bearing side plate 314, the second mounting seat 3110 is located between the fifth load-bearing side plate 317 and the sixth load-bearing side plate 318, the first mounting seat 319 and the second The mounting seats 3110 are all rotatably connected with load-bearing flat wheels 3111, and the load-bearing flat wheels 3111 are rollingly connected to the upper side of the belly of the I-beam 211. A crossbeam positioning plate 3112 and a crossbeam mounting plate 3113 are arranged between the second load-bearing side plate 314 and the third load-bearing side plate 315. A crossbeam positioning plate 3112 and a crossbeam mounting plate 3113 are arranged between the fourth load-bearing side plate 316 and the fifth load-bearing side plate 317. The crossbeam mounting plate 3113 is connected to the end of the crossbeam device 4. The motor adjustment plate 311 4 is located between the third load-bearing side plate 315 and the fourth load-bearing side plate 316 and is connected to one side of the crossbeam mounting front side plate 311 through a fixing plate 3115, the trolley reducer 3116 is installed on the motor adjustment plate 3114 and the output end passes through the motor adjustment plate 3114 and the crossbeam mounting front side plate 311 and is connected to a trolley gear 3117, the trolley gear 3117 is meshedly connected to the longitudinal rack 215, and the output shaft of the trolley drive motor 3118 is connected to the input end of the trolley reducer 3116;

[0045] The lower slide 32 includes a pulley 321, a pulley connecting plate 322, and a pulley side plate 323. The pulley side plate 323 is connected to the end of the beam device 4. The top of the pulley 321 is connected to the pulley side plate 323 through the pulley connecting plate 322. A slide groove 324 is opened in the lower guide rail 221 along the length direction. The upper and lower sides of the pulley 321 are rotatably connected with horizontal wheels 325. The bottom of the pulley 321 is rotatably connected with a vertical wheel 326. The horizontal wheel 325 is rollingly connected to the upper and lower inner side walls of the slide groove 324. The vertical wheel 326 is rollingly connected to the inner bottom wall of the slide groove 324. The end of the load-bearing wheel mounting plate 312, one side of the second load-bearing side plate 314, and one side of the fifth load-bearing side plate 317 are all connected with a connecting plate 3119. The outer side of the connecting plate 3119 is connected with a rubber anti-collision block 3120.

[0046] In this embodiment, reinforcing ribs are connected between the pulley connecting plate 322 and the pulley side plate 323, the pulley side plate 323 and the top of the slide groove 321 are connected and fixed by bolts, the motor adjustment plate 3114 is L-shaped, the vertical part and the front side plate 311 for beam installation are fixed by bolts, the horizontal part and the fixed plate 3115 are connected and fixed by bolts, the fixed plate 3115 and the front side plate 311 for beam installation are welded, before installing the trolley reducer 3116, first connect the motor adjustment plate 3114 with the fixed plate 3115, and adjust the height of the motor adjustment plate 3114 by tightening the bolts. After the height is determined, the bolts on the motor adjustment plate 3114 are screwed into the bolt holes corresponding to the front side plate 311 for beam installation.

[0047] Embodiment 3:

[0048] The basic content is the same as that of Example 1, except that:

[0049] See also Figures 8 to 10 The crossbeam device 4 includes two crossbeam first sections 41 and a crossbeam middle section 42, and the two crossbeam first sections 41 are symmetrically connected to the two ends of the crossbeam middle section 42;

[0050] The first crossbeam section 41 includes a plurality of first crossbeam main pipes 411, which are arranged transversely. A crossbeam bolt sleeve 412 is sleeved on the inner side of one end of the first crossbeam main pipe 411, a first bolt rod 413 is sleeved in the crossbeam bolt sleeve 412 located on the upper side, and a second bolt rod 414 is sleeved in the crossbeam bolt sleeve 412 located on the lower side. One end of the first bolt rod 413 passes through the crossbeam mounting front side plate 311 and the crossbeam mounting plate 3113 and is located on the upper side of the upper rail 21. The outer circumferential surface of the first bolt rod 413 is threadedly connected to two first nuts 415, and the two first nuts 415 are respectively abutted against The crossbeam is installed on one side of the front side plate 311 and the crossbeam installation plate 3113, one end of the second bolt rod 414 passes through the pulley side plate 323 and is located on the upper side of the pulley 321, the outer circumferential surface of the second bolt rod 414 is threadedly connected with two second nuts 416, and the two second nuts 416 are respectively abutted against the left and right sides of the pulley side plate 323, a first support frame 417 is connected between the first crossbeam main pipe 411 located on the upper side and the first crossbeam main pipe 411 located on the lower side, a first support pipe 418 is connected between two adjacent first support frames 417, and a connecting sleeve 419 is sleeved on the inner side of the other end of the first crossbeam main pipe 411;

[0051] The middle section 42 of the crossbeam includes a plurality of second crossbeam main pipes 421, and the ends of the plurality of second crossbeam main pipes 421 are connected one by one with a plurality of connecting sleeves 419. A second support frame 422 is connected between the second crossbeam main pipe 421 located on the upper side and the second crossbeam main pipe 421 located on the lower side, and a second support tube 423 is connected between two adjacent second support frames 422. A transverse rack mounting plate 43 is connected to the outer side of the first support frame 417 and the second support frame 422, and a transverse rack 44 is mounted on the outer side of the transverse rack mounting plate 43, with the teeth of the transverse rack 44 facing downward. The transverse moving device 5 is slidably connected to the first crossbeam main pipe 411 and the second crossbeam main pipe 421. A leveling nut 45 is also connected to the outer side of the transverse rack mounting plate 43, and a leveling bolt 46 is threadedly connected to the inner thread of the leveling nut 45, and the bottom end of the leveling bolt 46 is threadedly connected to the upper side of the transverse rack 44.

[0052] In this embodiment, the transverse rack 44 is made by splicing multiple rack sections. A slot is opened on the transverse rack 44, which is connected and fixed to the transverse rack mounting plate 43 by bolts. The first support tube 418 and the second support tube 423 are designed in a Z shape.

[0053] Embodiment 4:

[0054] The basic content is the same as that of Example 1, except that:

[0055] See also Figures 11 to 13 The lateral moving device 5 includes a main body plate 51, a motor mounting plate 52, a trolley reducer 53 and a trolley driving motor 54. The main body plate 51 is arranged vertically, the motor mounting plate 52 is mounted on one side of the main body plate 51, the trolley reducer 53 is mounted on the motor mounting plate 52, the output end of the trolley reducer 53 passes through the motor mounting plate 52 and is connected to a trolley gear 55, the output shaft of the trolley driving motor 54 is connected to the input end of the trolley reducer 53, and a plurality of trolley frames 56 are installed on one side of the main body plate 51, and each of the trolley frames 56 is connected to two guide wheels 5 for vertical rotation. 7. An axle plate 59 is connected between two adjacent trolley frames 56 located on the same horizontal plane. Two trolley load-bearing wheels 510 are connected to the axle plate 59 in a longitudinal rotational manner. The two guide wheels 57 and the trolley load-bearing wheels 510 located on the upper side are both rollingly connected to the outer circumference of the first cross beam main pipe 411 and the second cross beam main pipe 421 located on the upper side. The two guide wheels 57 and the trolley load-bearing wheels 510 located on the lower side are both rollingly connected to the outer circumference of the first cross beam main pipe 411 and the second cross beam main pipe 421 located on the lower side. Both ends of one of the guide wheels 57 in each of the trolley frames 56 are provided with a guide wheel adjustment mechanism 58. The trolley frame 56 includes an upper wheel plate 561, a lower wheel plate 562 and two rotating shafts 563. The upper wheel plate 561 and the lower wheel plate 562 are arranged horizontally and are both connected to one side of the main body plate 51. The two rotating shafts 563 are both located between the upper wheel plate 561 and the lower wheel plate 562. The guide wheel adjustment mechanism 58 includes an adjustment plate 581 and an adjustment fixing plate 582. The adjustment plate 581 is L-shaped. The guide wheel 57 is rotatably connected to the outer circumferential surface of the rotating shaft 563. The ends of the rotating shaft 563 pass through the upper wheel plate 561 and the lower wheel plate 562 respectively and are connected to the transverse portion of the adjustment plate 581. The adjustment plate 581 is L-shaped. 81 is located on the upper side of the upper wheel plate 561, and the two adjusting fixing plates 582 are respectively vertically connected to the upper wheel plate 561 and the lower wheel plate 562, and an adjusting bolt 583 is threadedly connected at the center of the adjusting fixing plate 582, and the bottom of the adjusting bolt 583 is rotatably connected to the vertical part of the adjusting plate 581, and two adjusting nuts 584 are threadedly connected to the outer peripheral surface of the adjusting bolt 583, and the two adjusting nuts 584 are respectively abutted against the front and rear sides of the adjusting fixing plate 582, and the left and right sides of the main body plate 51 are connected with anti-collision connecting plates 511, and the outer side of the anti-collision connecting plates 511 is connected with anti-collision blocks 512.

[0056] In this embodiment, bearings are installed between the rotating shaft 563 and the guide wheel 47, and the bearings are located on the upper and lower end surfaces of the guide wheel 47. A rotating rod is installed between the two shaft plates 59. The two ends of the rotating rod are fixed to the shaft plates 59 by nuts. The trolley load-bearing wheel 519 is mounted on the rotating rod and is rotatably connected to the rotating rod.

Claims

1. A mobile device for a truss robot, characterized in that: The invention comprises a longitudinal movable track device (2) and a plurality of crossbeam devices (4), wherein the longitudinal movable track device (2) is installed on the left and right sides of a frame (1), and the plurality of crossbeam devices (4) are arranged on the frame (1) at intervals along the longitudinal direction, and the left and right ends of the crossbeam device (4) are both connected to longitudinal movable devices (3), and the longitudinal movable devices (3) are movably connected to the longitudinal movable track device (2) along the longitudinal direction, and the crossbeam device (4) is movably connected to a plurality of crossbeam devices (5) for installing a mechanical arm (6) along the transverse direction.

2. The moving device of a truss robot according to claim 1, characterized in that: The longitudinal movable track device (2) comprises an upper track (21) and a lower track (22); the upper track (21) comprises an I-beam (211), a track support plate (212), a rack mounting plate (213), a track positioning block (231), a short bolt (232), a long bolt (233), a track connection positioning block (214), and a longitudinal rack (215); the track support plate (212) is longitudinally connected to the upper side of the frame (1) through a fixing assembly (23); the wing plate of the I-beam (211) is connected to the upper side of the track support plate (212); the rack mounting plate (213) is vertically connected to the track support plate (211) 2), the track connection positioning block (214) is connected to the upper side of the track support plate (212) and to the outer side of the wing plate of the I-beam (211), the longitudinal rack (215) is connected to the outer side of the rack mounting plate (213), the lower track (22) includes a lower guide rail (221), the lower guide rail (221) is connected to the lower side of the frame (1) through the lower track (22) fixing member and is arranged parallel to the lower side of the upper track (21), the upper side of the longitudinal moving device (3) is slidably connected to the longitudinal rack (215), and the lower side of the longitudinal moving device (3) is slidably connected to the lower guide rail (221).

3. The moving device of a truss robot according to claim 2, characterized in that: The fixing assembly (23) comprises a track positioning block (231), a plurality of short bolts (232) and a plurality of long bolts (233); the upper end surface of the track support plate (212) is provided with a plurality of waist-shaped holes (234); a short bolt (232) and a long bolt (233) are slidably connected in each waist-shaped hole (234); nuts of the short bolts (232) and the long bolts (233) are both located on the upper side of the track support plate (212); the lower ends of the short bolts (232) and the long bolts (233) pass through the waist-shaped holes (234) and are threadedly connected to the upper side of the frame (1); the track positioning block (231) is connected to the lower side of the track support plate (212) and is arranged relative to the frame (1).

4. The moving device of a truss robot according to claim 2, characterized in that: The longitudinal moving device (3) comprises a trolley (31) and a lower sliding trolley (32); the trolley (31) comprises a crossbeam mounting front side plate (311), a load-bearing wheel mounting plate (312), a motor adjustment plate (3114), a trolley reducer (3116) and a trolley driving motor (3118); the crossbeam mounting front side plate (311) is longitudinally arranged on one side of the longitudinal rack (215); the load-bearing wheel mounting plate (312) is connected to the upper side of the crossbeam mounting front side plate (311); the connection between the load-bearing wheel mounting plate (312) and the crossbeam mounting front side plate (311) is longitudinally arranged with a plurality of A first load-bearing side plate (313), a second load-bearing side plate (314), a third load-bearing side plate (315), a fourth load-bearing side plate (316), a fifth load-bearing side plate (317), and a sixth load-bearing side plate (318); a first mounting seat (319) and a second mounting seat (3110) are connected to the lower side of the load-bearing wheel mounting plate (312); the first mounting seat (319) is located between the first load-bearing side plate (313) and the second load-bearing side plate (314); the second mounting seat (3110) is located between the fifth load-bearing side plate (317) and the sixth load-bearing side plate (318); the first mounting seat (319) and the second mounting seat (3110) are both rotatably connected with a load-bearing flat wheel (3111), the load-bearing flat wheel (3111) is rollingly connected to the upper side of the belly of the I-beam (211), a crossbeam positioning plate (3112) and a crossbeam mounting plate (3113) are arranged between the second load-bearing side plate (314) and the third load-bearing side plate (315), a crossbeam positioning plate (3112) and a crossbeam mounting plate (3113) are arranged between the fourth load-bearing side plate (316) and the fifth load-bearing side plate (317), the crossbeam mounting plate (3113) is connected to the end of the crossbeam device (4), and the motor adjustment plate (3114) is connected to the upper side of the belly of the I-beam (211). 114) is located between the third load-bearing side plate (315) and the fourth load-bearing side plate (316) and is connected to one side of the crossbeam mounting front side plate (311) through a fixing plate (3115); the trolley reducer (3116) is installed on the motor adjustment plate (3114) and the output end passes through the motor adjustment plate (3114) and the crossbeam mounting front side plate (311) and is connected to a trolley gear (3117); the trolley gear (3117) is meshedly connected to the longitudinal rack (215); the output shaft of the trolley drive motor (3118) is connected to the input end of the trolley reducer (3116); The lower pulley (32) comprises a pulley (321), a pulley connecting plate (322), and a pulley side plate (323); the pulley side plate (323) is connected to the end of the crossbeam device (4); the top of the pulley (321) is connected to the pulley side plate (323) through the pulley connecting plate (322); a slide groove (324) is provided in the lower guide rail (221) along the length direction; the upper and lower sides of the pulley (321) are rotatably connected to horizontal wheels (325); the bottom of the pulley (321) is rotatably connected to a vertical wheel (326); the horizontal wheel (325) is rollingly connected to the upper and lower inner side walls of the slide groove (324); and the vertical wheel (326) is rollingly connected to the inner bottom wall of the slide groove (324).

5. The moving device of a truss robot according to claim 4, characterized in that: The end of the load-bearing wheel mounting plate (312), one side of the second load-bearing side plate (314), and one side of the fifth load-bearing side plate (317) are all connected to a connecting plate (3119), and the outer side of the connecting plate (3119) is connected to a rubber anti-collision block (3120).

6. The moving device of a truss robot according to claim 4, characterized in that: The crossbeam device (4) comprises two crossbeam first sections (41) and a crossbeam middle section (42), wherein the two crossbeam first sections (41) are symmetrically connected to two ends of the crossbeam middle section (42); The first section (41) of the cross beam comprises a plurality of first cross beam main pipes (411), and the plurality of first cross beam main pipes (411) are arranged transversely. A cross beam bolt sleeve (412) is sleeved on the inner side of one end of the first cross beam main pipe (411), a first bolt rod (413) is sleeved in the cross beam bolt sleeve (412) located on the upper side, and a second bolt rod (414) is sleeved in the cross beam bolt sleeve (412) located on the lower side. One end of the first bolt rod (413) passes through the cross beam installation front side plate (311) and the cross beam installation plate (3113) and is located on the upper side of the upper rail (21). Two first nuts (415) are threadedly connected to the outer circumference of the first bolt rod (413), and the two first nuts (415) are respectively abutted against The cross beam is installed on one side of the front side plate (311) and the cross beam installation plate (3113), one end of the second bolt rod (414) passes through the pulley side plate (323) and is located on the upper side of the pulley (321), the outer peripheral surface of the second bolt rod (414) is threadedly connected with two second nuts (416), and the two second nuts (416) are respectively abutted against the left and right sides of the pulley side plate (323), a first support frame (417) is connected between the first cross beam main pipe (411) located on the upper side and the first cross beam main pipe (411) located on the lower side, a first support pipe (418) is connected between two adjacent first support frames (417), and a connecting sleeve (419) is sleeved on the inner side of the other end of the first cross beam main pipe (411); The middle section (42) of the crossbeam comprises a plurality of second crossbeam main pipes (421), the ends of the plurality of second crossbeam main pipes (421) are connected to a plurality of connecting sleeves (419) in a one-to-one correspondence, a second support frame (422) is connected between the second crossbeam main pipe (421) located on the upper side and the second crossbeam main pipe (421) located on the lower side, a second support tube (423) is connected between two adjacent second support frames (422), a transverse rack mounting plate (43) is connected to the outer sides of the first support frame (417) and the second support frame (422), a transverse rack (44) is mounted on the outer side of the transverse rack mounting plate (43), the teeth of the transverse rack (44) are downwardly facing, and the transverse moving device (5) is slidably connected to the first crossbeam main pipe (411) and the second crossbeam main pipe (421).

7. The moving device of a truss robot according to claim 6, characterized in that: The outer side of the transverse rack mounting plate (43) is also connected to a leveling nut (45), the inner thread of the leveling nut (45) is connected to a leveling bolt (46), and the bottom end of the leveling bolt (46) is threadedly connected to the upper side of the transverse rack (44).

8. The moving device of a truss robot according to claim 6, characterized in that: The transverse moving device (5) comprises a main body plate (51), a motor mounting plate (52), a trolley reducer (53) and a trolley driving motor (54); the main body plate (51) is arranged vertically; the motor mounting plate (52) is mounted on one side of the main body plate (51); the trolley reducer (53) is mounted on the motor mounting plate (52); the output end of the trolley reducer (53) passes through the motor mounting plate (52) and is connected to a trolley gear (55); the output shaft of the trolley driving motor (54) is connected to the input end of the trolley reducer (53); a plurality of trolley frames (56) are mounted on one side of the main body plate (51); each of the trolley frames (56) is vertically rotatably connected to two guide wheels. Wheel (57), an axle plate (59) is connected between two adjacent trolley frames (56) located on the same horizontal plane, and two trolley load-bearing wheels (510) are connected to the axle plate (59) in a longitudinal rotational manner. The two guide wheels (57) and the trolley load-bearing wheels (510) located on the upper side are both rollingly connected to the outer peripheral surfaces of the first cross beam main pipe (411) and the second cross beam main pipe (421) located on the upper side, and the two guide wheels (57) and the trolley load-bearing wheels (510) located on the lower side are both rollingly connected to the outer peripheral surfaces of the first cross beam main pipe (411) and the second cross beam main pipe (421) located on the lower side, and a guide wheel adjustment mechanism (58) is provided at both ends of one of the guide wheels (57) in each of the trolley frames (56).

9. The moving device of a truss robot according to claim 8, characterized in that: The trolley frame (56) comprises an upper wheel plate (561), a lower wheel plate (562) and two rotating shafts (563). The upper wheel plate (561) and the lower wheel plate (562) are arranged horizontally and are both connected to one side of the main body plate (51). The two rotating shafts (563) are both located between the upper wheel plate (561) and the lower wheel plate (562). The guide wheel adjustment mechanism (58) comprises an adjustment plate (581) and an adjustment fixing plate (582). The adjustment plate (581) is L-shaped. The guide wheel (57) is rotatably connected to the outer peripheral surface of the rotating shaft (563). The ends of the rotating shaft (563) pass through the upper wheel plate (561) and the lower wheel plate (562) respectively. The rear plate (562) is connected to the horizontal part of the adjustment plate (581), the adjustment plate (581) is located on the upper side of the upper wheel plate (561), the two adjustment fixing plates (582) are respectively vertically connected to the upper wheel plate (561) and the lower wheel plate (562), the center of the adjustment fixing plate (582) is threadedly connected with an adjustment bolt (583), the bottom of the adjustment bolt (583) is rotatably connected to the vertical part of the adjustment plate (581), the outer peripheral surface of the adjustment bolt (583) is threadedly connected with two adjustment nuts (584), and the two adjustment nuts (584) are respectively abutted against the front and rear sides of the adjustment fixing plate (582).

10. The moving device of a truss robot according to claim 8, characterized in that: The left and right sides of the main body plate (51) are connected to anti-collision connecting plates (511), and the outer sides of the anti-collision connecting plates (511) are connected to anti-collision blocks (512).

Images