Gantry type truss robot

Abstract

The utility model relates to the technical field of truss robots, in particular to a gantry type truss robot which comprises a mounting plate and a driving structure for driving the mounting plate to move, and a positioning clamping groove and two connecting clamping grooves are formed in one side of the mounting plate. The clamping device has the advantages that through matched arrangement of the mounting plate, the first suction cup, the sliding groove, the sliding plate, the U-shaped mounting frame, the rotary mounting block, the second suction cup, the mounting base, the first electric push rod, the L-shaped mounting frame, the first hinge base, the second electric push rod and the second hinge base, when a workpiece with an inclined plane is met, the second suction cup can be adjusted to the proper position and angle; according to the gantry type truss robot, the second suction cup can be attached to the inclined face of the workpiece, the workpiece with the inclined face is jointly adsorbed through the first suction cup and the second suction cup, the contact area with the workpiece is enlarged, and therefore the gantry type truss robot can stably adsorb the workpiece, and the situation that the workpiece falls off is avoided; therefore, normal work piece adsorption and conveying are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of truss robots, in particular to a gantry truss robot. Background Technique

[0002] The truss robot, namely the truss manipulator, is a full-automatic industrial device based on the right-angle X, Y, Z[1] three-coordinate system, which can adjust the working position of the workpiece or realize functions such as the trajectory movement of the workpiece. Its control core is realized through an industrial controller (such as: PLC, motion control, single-chip microcomputer, etc.). By analyzing and processing various input (various sensors, buttons, etc.) signals through the controller, after making certain logical judgments, execution commands are issued to each output component (relay, motor driver, indicator light, etc.) to complete the combined movement between the X, Y, and Z axes, so as to realize a complete set of full-automatic operation processes. Usually, the truss robot is combined with a gantry to ensure the stability of the truss robot. The gantry truss robot is usually equipped with a fixture or a suction cup to form a picking and placing mechanism.

[0003] When the gantry truss robot is equipped with a suction cup to adsorb the workpiece, the angle of the suction cup is generally fixed, resulting in that the suction cup can only adsorb one horizontal plane of the workpiece during the adsorption process. When the shape of the workpiece is trapezoidal or other workpieces with inclined surfaces, adsorbing one side of the workpiece by the suction cup makes the contact area with the workpiece smaller, which easily leads to the situation of the workpiece falling during the adsorption process, thus affecting the normal adsorption and conveying of the workpiece. Therefore, a gantry truss robot is needed to solve the above problems. Content of the Utility Model

[0004] The purpose of the utility model aims to solve at least one of the technical defects.

[0005] Therefore, an object of the utility model is to provide a gantry truss robot to solve the problems mentioned in the background technique and overcome the deficiencies existing in the prior art.

[0006] To achieve the above object, an embodiment of one aspect of the present utility model provides a gantry truss robot, which includes a mounting plate and a driving structure for driving the mounting plate to move. A positioning card slot and two connection card slots are provided on one side of the mounting plate. A plurality of first suction cups are fixedly installed on the bottom side of the mounting plate. A chute is provided on the top side of the mounting plate, and a sliding plate is slidably connected to the inner wall of the chute. One end of the sliding plate is fixedly connected to a U-shaped mounting frame. A rotating mounting block is rotatably connected inside the U-shaped mounting frame. A second suction cup is fixedly installed on the bottom side of the rotating mounting block. Two mounting seats are fixedly connected to the top side of the mounting plate. Fixing structures are provided on both of the two mounting seats. A first electric push rod is fixedly installed on one side of each of the two mounting seats. The output ends of the two first electric push rods are both fixedly connected to an L-shaped mounting frame connected to the U-shaped mounting frame. A first hinge seat is fixedly connected to one side of each of the two L-shaped mounting frames. A second electric push rod is hinged on each of the two first hinge seats. The output ends of the two second electric push rods are both fixedly connected to a second hinge seat fixedly connected to the rotating mounting block.

[0007] Preferably, according to any of the above solutions, the driving structure includes a first linear module, a second linear module, a third linear module, a lifting seat, a motor, a U-shaped positioning frame, a connection card block, and a fixing jack. The second linear module is provided on the first linear module. The third linear module is provided on the second linear module. The lifting seat is provided on the third linear module. A motor is fixedly installed on the top side of the lifting seat. The output end of the motor is fixedly connected to a U-shaped positioning frame. Connection card blocks are fixedly connected to two symmetric side surfaces of the U-shaped positioning frame. Fixing jacks are provided on two symmetric side surfaces of the U-shaped positioning frame.

[0008] Preferably, according to any of the above solutions, the fixing structure includes a fixing spring, a fixing plug, and a guide rod. A fixing spring is fixedly connected to one side of the mounting seat. The end of the fixing spring away from the mounting seat is fixedly connected to a fixing plug with a T-shaped cross-section. A guide rod with a T-shaped cross-section is fixedly connected to the end of the fixing plug close to the mounting seat.

[0009] Preferably, according to any of the above solutions, the positioning card slot communicates with the connection card slot. The positioning card slot is adapted to the size of the U-shaped positioning frame. The connection card slot and the connection card block are both in the shape of a dovetail. The connection card slot is adapted to the size of the connection card block.

[0010] Preferably, according to any of the above solutions, the chute and the sliding plate are both in the shape of a T. The chute is adapted to the size of the sliding plate.

[0011] Preferably, according to any of the above solutions, a part of the guiding rod is located inside the fixing spring. The guiding rod penetrates through the mounting seat and is slidably connected to the mounting seat. The minimum diameter of the fixing plug is adapted to the size of the fixing socket.

[0012] Compared with the prior art, the advantages and beneficial effects of the present utility model are as follows:

[0013] 1. Through the cooperative setting of the mounting plate, the first suction cup, the sliding groove, the sliding plate, the U-shaped mounting frame, the rotating mounting block, the second suction cup, the mounting seat, the first electric push rod, the L-shaped mounting frame, the first hinge seat, the second electric push rod, and the second hinge seat, when encountering a workpiece with an inclined surface, the second suction cup can be adjusted to a suitable position and angle, so that the second suction cup can fit the inclined surface of the workpiece. The first suction cup and the second suction cup are used together to adsorb the workpiece with an inclined surface, expanding the contact area with the workpiece, so that the gantry truss robot can stably adsorb the workpiece, avoiding the situation of workpiece dropping, and thus ensuring the normal progress of adsorbing and conveying the workpiece.

[0014] 2. Through the cooperative setting of the positioning card slot, the connection card slot, the U-shaped positioning frame, the connection card block, the fixing socket, and the fixing structure, the operation of installing and disassembling the mounting plate is relatively simple, so that when the first suction cup or the second suction cup is damaged, it is convenient to remove the mounting plate and replace the first suction cup or the second suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the first perspective of the present utility model;

[0016] Figure 2 is a schematic structural diagram of the second perspective of the present utility model;

[0017] Figure 3 is a schematic structural diagram of the mounting plate and its connecting members of the present utility model;

[0018] Figure 4 is the present utility model Figure 3 is a schematic structural diagram without the U-shaped positioning frame assembled in the present utility model;

[0019] Figure 5 is a schematic structural diagram of the U-shaped positioning frame and its connecting members of the present utility model;

[0020] Figure 6 is a schematic structural diagram of the mounting plate of the present utility model.

[0021] In the figure: 1 - mounting plate, 2 - driving structure, 201 - first linear module, 202 - second linear module, 203 - third linear module, 204 - lifting seat, 205 - motor, 206 - U-shaped positioning bracket, 207 - connecting block, 208 - fixed jack, 3 - positioning slot, 4 - connecting slot, 5 - first suction cup, 6 - sliding groove, 7 - sliding plate, 8 - U-shaped mounting bracket, 9 - rotating mounting block, 10 - second suction cup, 11 - mounting seat, 12 - fixing structure, 1201 - fixing spring, 1202 - fixing plug, 1203 - guide rod, 13 - first electric push rod, 14 - L-shaped mounting bracket, 15 - first hinge seat, 16 - second electric push rod, 17 - second hinge seat. Detailed implementation manner

[0022] The following further describes the present utility model in conjunction with the accompanying drawings, but the protection scope of the present utility model is not limited to the following.

[0023] As Figures 1 to 6As shown in the figure, a gantry truss robot includes a mounting plate 1 and a driving structure 2 for driving the mounting plate 1 to move. The driving structure 2 enables the mounting plate 1 to move along the X-axis, Y-axis, and Z-axis. A positioning card slot 3 and two connecting card slots 4 are provided on one side of the mounting plate 1. A plurality of first suction cups 5 are fixedly installed on the bottom side of the mounting plate 1, and the plurality of first suction cups 5 are evenly distributed on one side of the mounting plate 1. A sliding groove 6 is provided on the top side of the mounting plate 1, and a sliding plate 7 is slidably connected to the inner wall of the sliding groove 6. One end of the sliding plate 7 is fixedly connected to a U-shaped mounting bracket 8. The U-shaped mounting bracket 8 can perform a linear motion through the sliding plate 7 and the sliding groove 6. A rotating mounting block 9 is rotatably connected inside the U-shaped mounting bracket 8, and a second suction cup 10 is fixedly installed on the bottom side of the rotating mounting block 9. Two mounting seats 11 are fixedly connected to the top side of the mounting plate 1, and a fixing structure 12 is provided on each of the two mounting seats 11. A first electric push rod 13 is fixedly installed on one side of each of the two mounting seats 11, and the output ends of the two first electric push rods 13 are fixedly connected to an L-shaped mounting bracket 14 connected to the U-shaped mounting bracket 8. A first hinge seat 15 is fixedly connected to one side of each of the two L-shaped mounting brackets 14, and a second electric push rod 16 is hinged on each of the two first hinge seats 15. The output ends of the two second electric push rods 16 are fixedly connected to a second hinge seat 17 fixedly connected to the rotating mounting block 9. When it is necessary to use this gantry truss robot to adsorb a workpiece with an inclined surface, first start the first electric push rod 13 to make the L-shaped mounting bracket 14 drive the U-shaped mounting bracket 8 to move. At this time, the sliding plate 7 moves out of the inside of the sliding groove 6. At this time, the rotating mounting block 9 drives the second suction cup 10 to move. Adjust the second suction cup 10 to a suitable position according to the actual situation during use. Then start the second electric push rod 16. Under the action of the first hinge seat 15 and the second hinge seat 17, the rotating mounting block 9 drives the second suction cup 10 to rotate, adjust the second suction cup 10 to a suitable angle, and make the second suction cup 10 perpendicular to the inclined surface of the workpiece. Then the upper surface of the workpiece can be adsorbed through the first suction cup 5, and the inclined surface of the workpiece can be adsorbed through the second suction cup 10, so as to stably drive the workpiece to move.

[0024] As an alternative technical solution of the present utility model, the driving structure 2 includes a first linear module 201, a second linear module 202, a third linear module 203, a lifting seat 204, a motor 205, a U-shaped positioning frame 206, a connecting block 207 and a fixing jack 208. A plurality of support frames are fixedly connected to the bottom end of the first linear module 201, which can support the first linear module 201. The second linear module 202 is arranged on the first linear module 201, and the third linear module 203 is arranged on the second linear module 202. The first linear module 201, the second linear module 202 and the third linear module 203 enable the mounting plate 1 to move on the X-axis, Y-axis and Z-axis. A lifting seat 204 is arranged on the third linear module 203. A motor 205 is fixedly installed on the top side of the lifting seat 204. The output end of the motor 205 is fixedly connected to a U-shaped positioning frame 206. Connecting blocks 207 are fixedly connected to both symmetric sides of the U-shaped positioning frame 206. Fixing jacks 208 are formed on both symmetric sides of the U-shaped positioning frame 206. The motor 205 enables the U-shaped positioning frame 206 and the connecting blocks 207 to drive the mounting plate 1 to rotate.

[0025] As an alternative technical solution of the present utility model, the fixing structure 12 includes a fixing spring 1201, a fixing plug 1202 and a guide rod 1203. A fixing spring 1201 is fixedly connected to one side of the mounting seat 11. The end of the fixing spring 1201 away from the mounting seat 11 is fixedly connected to a fixing plug 1202 with a cross-sectional shape of T. A guide rod 1203 with a cross-sectional shape of T is fixedly connected to the end of the fixing plug 1202 close to the mounting seat 11. When connecting the mounting plate 1 and the U-shaped positioning frame 206, first pull the guide rod 1203 to drive the fixing plug 1202 to move towards the fixing spring 1201 and compress the fixing spring 1201. Then, insert the connecting block 207 into the connecting slot 4 and insert the U-shaped positioning frame 206 into the positioning slot 3. At this time, the positions of the fixing plug 1202 and the fixing jack 208 correspond to each other. Then, slowly release the guide rod 1203, and under the reaction force of the fixing spring 1201, insert the fixing plug 1202 into the fixing jack 208 to complete the connection operation of the mounting plate 1 and the U-shaped positioning frame 206.

[0026] As an alternative technical solution of the present utility model, the positioning slot 3 communicates with the connecting slot 4. The size of the positioning slot 3 is adapted to that of the U-shaped positioning frame 206. The shapes of the connecting slot 4 and the connecting block 207 are both dovetail-shaped, and the size of the connecting slot 4 is adapted to that of the connecting block 207. The connection between the U-shaped positioning frame 206 and the mounting plate 1 is made more stable by the connecting block 207 and the connecting slot 4.

[0027] As an alternative technical solution of the utility model, the shapes of the sliding groove 6 and the sliding plate 7 are both T-shaped, and the sizes of the sliding groove 6 and the sliding plate 7 are adapted to each other.

[0028] As an alternative technical solution of the utility model, a part of the guide rod 1203 is located inside the fixed spring 1201. The guide rod 1203 penetrates through the mounting seat 11, and the guide rod 1203 is slidably connected to the mounting seat 11. The minimum diameter of the fixed plug 1202 is adapted to the size of the fixed jack 208, so that the fixed plug 1202 can move smoothly and be inserted into the fixed jack 208, and the guide rod 1203 can prevent the fixed spring 1201 from being bent during the process of generating elastic deformation.

[0029] A gantry truss robot has the following working principle:

[0030] Start the first electric push rod 13 to drive the U-shaped mounting frame 8 to move by the L-shaped mounting frame 14. At this time, the sliding plate 7 moves out of the sliding groove 6. Then rotate the mounting block 9 to drive the second suction cup 10 to move, and adjust the second suction cup 10 to a suitable position according to the actual situation during use. Then start the second electric push rod 16. Under the action of the first hinge seat 15 and the second hinge seat 17, the rotating mounting block 9 drives the second suction cup 10 to rotate, adjust the second suction cup 10 to a suitable angle, and make the second suction cup 10 perpendicular to the inclined surface of the workpiece. Then the upper surface of the workpiece can be adsorbed by the first suction cup 5, and the inclined surface of the workpiece can be adsorbed by the second suction cup 10. Then the workpiece can be driven to move by the driving structure 2.

[0031] In summary, for the gantry truss robot, through the cooperative setting of the mounting plate 1, the first suction cup 5, the sliding groove 6, the sliding plate 7, the U-shaped mounting frame 8, the rotating mounting block 9, the second suction cup 10, the mounting seat 11, the first electric push rod 13, the L-shaped mounting frame 14, the first hinge seat 15, the second electric push rod 16 and the second hinge seat 17, when encountering a workpiece with an inclined surface, the second suction cup 10 can be adjusted to a suitable position and angle, so that the second suction cup 10 can fit the inclined surface of the workpiece. The first suction cup 5 and the second suction cup 10 are used to jointly adsorb the workpiece with an inclined surface, expanding the contact area with the workpiece, so that the gantry truss robot can stably adsorb the workpiece, avoiding the situation of the workpiece falling, thus ensuring the normal adsorption and transportation of the workpiece. Through the cooperative setting of the positioning slot 3, the connection slot 4, the U-shaped positioning frame 206, the connection block 207, the fixed jack 208 and the fixing structure 12, the operation of installing and disassembling the mounting plate 1 is relatively simple, so that when the first suction cup 5 or the second suction cup 10 is damaged, it is convenient to remove the mounting plate 1 and replace the first suction cup 5 or the second suction cup 10.

Claims

1. A gantry truss robot, characterized in that: The invention comprises a mounting plate (1) and a driving structure (2) for driving the mounting plate (1) to move, wherein a positioning slot (3) and two connecting slots (4) are provided on one side of the mounting plate (1), a plurality of first suction cups (5) are fixedly installed on the bottom side of the mounting plate (1), a slide slot (6) is provided on the top side of the mounting plate (1), a slide plate (7) is slidably connected to the inner wall of the slide slot (6), one end of the slide plate (7) is fixedly connected to a U-shaped mounting frame (8), a rotating mounting block (9) is rotatably connected to the inside of the U-shaped mounting frame (8), a second suction cup (10) is fixedly installed on the bottom side of the rotating mounting block (9), and a first suction cup (10) is fixedly installed on the top side of the mounting plate (1). There are two mounting seats (11), each of which is provided with a fixing structure (12), a first electric push rod (13) fixedly mounted on one side of each of the mounting seats (11), an output end of each of the first electric push rods (13) fixedly connected to an L-shaped mounting frame (14) connected to a U-shaped mounting frame (8), a first hinged seat (15) fixedly connected to one side of each of the L-shaped mounting frames (14), a second electric push rod (16) hingedly mounted on each of the first hinged seats (15), and an output end of each of the second electric push rods (16) fixedly connected to a second hinged seat (17) fixedly connected to a rotating mounting block (9).

2. A gantry truss robot according to claim 1, characterized in that: The driving structure (2) comprises a first linear module (201), a second linear module (202), a third linear module (203), a lifting seat (204), a motor (205), a U-shaped positioning frame (206), a connecting block (207) and a fixed socket (208); the first linear module (201) is provided with the second linear module (202); the second linear module (202) is provided with the third linear module (203); the third linear module (203) is provided with the lifting seat (204); the top side of the lifting seat (204) is fixedly mounted with the motor (205); the output end of the motor (205) is fixedly connected with the U-shaped positioning frame (206); two symmetrical side surfaces of the U-shaped positioning frame (206) are fixedly connected with the connecting block (207); and two symmetrical side surfaces of the U-shaped positioning frame (206) are provided with a fixed socket (208).

3. A gantry truss robot according to claim 2, characterized in that: The fixing structure (12) comprises a fixing spring (1201), a fixing plug rod (1202) and a guide rod (1203); one side of the mounting seat (11) is fixedly connected to the fixing spring (1201); an end of the fixing spring (1201) away from the mounting seat (11) is fixedly connected to a fixing plug rod (1202) having a T-shaped cross-section; and an end of the fixing plug rod (1202) close to the mounting seat (11) is fixedly connected to a guide rod (1203) having a T-shaped cross-section.

4. A gantry truss robot according to claim 3, characterized in that: The positioning slot (3) is connected to the connecting slot (4); the positioning slot (3) is matched in size to the U-shaped positioning frame (206); the connecting slot (4) and the connecting block (207) are both dovetail-shaped; the connecting slot (4) is matched in size to the connecting block (207).

5. A gantry truss robot according to claim 4, characterized in that: The shapes of the slide groove (6) and the slide plate (7) are both T-shaped, and the sizes of the slide groove (6) and the slide plate (7) are adapted to each other.

6. A gantry truss robot according to claim 5, characterized in that: A portion of the guide rod (1203) is located inside the fixed spring (1201), the guide rod (1203) passes through the mounting seat (11), the guide rod (1203) is slidably connected to the mounting seat (11), and the minimum diameter of the fixed plug rod (1202) is adapted to the size of the fixed plug hole (208).

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