Double-end truss mechanical arm

Abstract

The utility model provides a double-head truss mechanical arm which aims at solving the problems that an existing mechanical arm is generally only provided with a single clamp, and when materials in space-limited devices such as a machine tool are grabbed, the larger the adjusting and overturning amplitude of the single clamp is, the larger the needed space is, and the ability of the mechanical arm to adjust the direction of the clamp is limited. According to the scheme, the clamping device comprises two clamping mechanisms and a plurality of supporting frames, the tops of the multiple supporting frames are fixedly provided with the same long beam, and the top of the long beam is provided with a Y-axis mechanism. A hydraulic cylinder drives an L-shaped plate to swing up and down with a second circular shaft as the axis through up-down movement of a piston rod, so that the orientation angle of the side sub-mechanism and the orientation angle of the bottom sub-mechanism are synchronously adjusted, and a limiting plate on the side sub-mechanism or the bottom sub-mechanism can be better attached to the grabbable part of a material; compared with a traditional single clamp, the clamp has the advantages that the turning amplitude required by the clamp is smaller, namely the space required to be adjusted is smaller.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a double-headed gantry robotic arm. Background Art

[0002] A double-headed gantry robotic arm is an industrial robot equipped with two independent robotic arms, usually mounted on a horizontal gantry. The robotic arms move along a track on the gantry, enabling them to cover a large working area. The two robotic arms can operate independently or cooperate to complete complex tasks such as assembly, handling, or processing. It is suitable for operations that require high precision and complex paths, such as precision assembly and picking and placing materials. The two arms on the gantry can move freely within a large working area, improving the processing capacity and flexibility. The two robotic arms can operate simultaneously, increasing the work efficiency and processing speed.

[0003] Existing robotic arms usually only have a single fixture. When grasping materials inside some space-limited devices such as machine tools, since different materials have different clamping positions, the robotic arm needs to adjust the orientation of the fixture. However, the larger the adjustment and flipping amplitude of the single fixture, the more space is required, resulting in limited ability of the robotic arm to adjust the fixture orientation. Therefore, we propose a double-headed gantry robotic arm to solve this problem. Summary of the Invention

[0004] To solve the above problems, the utility model proposes a double-headed gantry robotic arm to more precisely solve the above-mentioned problems.

[0005] The utility model is realized through the following technical solutions:

[0006] A double-headed gantry robotic arm proposed by the utility model includes two clamping mechanisms and multiple support frames. The top of multiple said support plates is fixedly installed with the same long beam. A Y-axis mechanism is arranged on the top of the long beam. The Y-axis mechanism includes two horizontally sliding skateboards. An X-axis mechanism is arranged on the top of the skateboard. The X-axis mechanism includes a fixed frame. A Z-axis mechanism is arranged on the front side of the fixed frame. The bottom of the Z-axis mechanism is fixedly installed with a mounting frame. A rotating motor is arranged on the mounting frame. The output end of the rotating motor is fixedly installed with a rotating plate;

[0007] A hydraulic cylinder and two side plates are fixedly installed at the bottom of the rotating plate. The clamping mechanism includes a side sub-mechanism and a bottom sub-mechanism arranged vertically. Both the side sub-mechanism and the bottom sub-mechanism include a table plate. The same L-shaped plate is fixedly installed between the two table plates. A rib plate is arranged on the L-shaped plate. Two round holes are opened on one side of the rib plate. The same first round shaft is fixedly installed between the two side plates. Two short plates are rotatably installed on the outer side of the piston rod of the hydraulic rod. The same second round shaft is fixedly installed between the two short plates. The first round shaft and the second round shaft are respectively rotatably installed in the corresponding round holes.

[0008] Furthermore, the Y-axis mechanism includes a first rack and two first slide rails. Both the first slide rail and the first rack are fixedly connected to the long beam. Sliders are fixedly installed at the four corners of the bottom of the slide plate. The sliders are slidably sleeved on the corresponding first slide rails. A first motor is fixedly installed at the top of the slide plate. A first gear is fixedly installed at the output end of the first motor. The first gear meshes with the first rack.

[0009] Furthermore, the X-axis mechanism includes a cross beam and side frame plates. Two second slide rails are fixedly installed at the bottom of the cross beam. Two first fixing blocks are slidably sleeved on the outer sides of the second slide rails. The bottoms of the first fixing blocks and the side frame plates are both fixedly connected to the top of the slide plate. A second motor is fixedly installed on one side of the side frame plate. A second gear is fixedly installed at the output end of the second motor. A second rack is fixedly installed at the top of the cross beam. The second gear meshes with the second rack. One side of the cross beam is fixedly connected to the fixing frame.

[0010] Furthermore, the Z-axis mechanism includes a vertical beam and a third motor. The third motor is fixedly installed on the fixing frame. An internal slot is opened at the rear side of the vertical beam. A third slide rail and a third rack are fixedly installed on one inner wall of the internal slot. A third gear is fixedly installed at the output end of the third motor. The third gear meshes with the third rack. Two second fixing blocks are fixedly installed on one side of the fixing frame. The second fixing blocks are slidably sleeved on the outer sides of the third slide rail.

[0011] Furthermore, a limiting frame is fixedly installed on one side of the table plate. Two double-acting cylinders are fixedly installed on one side of the table plate of the side sub-mechanism. Claw one is fixedly installed at both output ends of the double-acting cylinder.

[0012] Furthermore, two three-jaw clamps are fixedly installed on one side of the table plate of the bottom sub-mechanism. The three-jaw clamp includes three claw two.

[0013] Furthermore, two liquid spray pipes are fixedly installed between the two table plates. The orientations of the two liquid spray pipes are opposite.

[0014] Furthermore, a power supply box is arranged on the support frame. Two first cable carriers are arranged at the rear side of the cross beam. A second cable carrier is arranged at the top of the cross beam.

[0015] The beneficial effects of the present utility model are as follows:

[0016] The rotation motor drives the clamping mechanism to rotate, thereby adjusting the orientation of the side sub-mechanism, enabling the clamping mechanism to grasp materials in multiple directions including front, back, left, right, and below; secondly, the hydraulic cylinder drives the L-shaped plate to swing up and down around the second round shaft through the up and down movement of the piston rod, thereby synchronously adjusting the orientation angles of the side sub-mechanism and the bottom sub-mechanism, enabling the limiting plates on the side sub-mechanism or the bottom sub-mechanism to better fit the graspable parts of the materials and improving the stability of grasping; finally, with the vertically arranged side sub-mechanism and bottom sub-mechanism, compared with traditional single clamps, the flipping amplitude required for the clamp is smaller, that is, the adjustment space required is smaller. Description of the Drawings

[0017] Figure 1 It is a three-dimensional structural schematic diagram of a double-headed gantry robot arm proposed by the present utility model;

[0018] Figure 2 is Figure 1 a partial enlarged view of part A in

[0019] Figure 3 is Figure 1 a partial enlarged view of part B in

[0020] Figure 4 It is a three-dimensional structural schematic diagram of the Z-axis mechanism of a double-headed gantry robot arm proposed by the present utility model;

[0021] Figure 5 is Figure 4 a partial enlarged view of part C in

[0022] The reference numerals are as follows:

[0023] In the figure: 1, support frame; 11, power supply box; 12, first drag chain; 13, second drag chain; 2, long beam; 3, Y-axis mechanism; 31, slide plate; 32, first slide rail; 33, first rack; 34, slider; 35, first motor; 4, X-axis mechanism; 41, cross beam; 42, first fixing block; 43, second motor; 44, second rack; 45, fixing frame; 5, Z-axis mechanism; 51, vertical beam; 52, third slide rail; 53, third rack; 54, third motor; 6, clamping mechanism; 61, mounting frame; 62, hydraulic cylinder; 63, side plate; 64, first round shaft; 65, table plate; 66, L-shaped plate; 67, rib plate; 68, short plate; 69, limiting frame; 610, double-axis cylinder; 611, first jaw; 612, three-jaw clamp; 613, second jaw; 614, liquid spraying pipe; 615, rotation motor. Detailed Embodiments

[0024] To more clearly and completely illustrate the technical solution of the present utility model, the present utility model will be further described below with reference to the accompanying drawings.

[0025] Please refer to Figures 1-5 , a double-headed gantry robotic arm proposed by the present utility model includes two clamping mechanisms 6 and a plurality of support frames 1. The top of the plurality of support plates is fixedly installed with the same long beam 2. A Y-axis mechanism 3 is arranged on the top of the long beam 2. The Y-axis mechanism 3 includes two horizontally sliding skateboards 31. An X-axis mechanism 4 is arranged on the top of the skateboard 31. The X-axis mechanism 4 includes a fixed frame 45. A Z-axis mechanism 5 is arranged on the front side of the fixed frame 45. An installation frame 61 is fixedly installed at the bottom of the Z-axis mechanism 5. A rotary motor 615 is arranged on the installation frame 61. The output end of the rotary motor 615 is fixedly installed with a rotary plate.

[0026] During specific use, four machine tools are respectively placed on the left and right sides of the two outer support frames 1. The four machine tools are on the same horizontal line. The two clamping mechanisms 6 are respectively responsible for the loading and unloading operations of the two machine tools.

[0027] As Figure 1 , Figure 3 and Figure 4 shown, the Y-axis mechanism 3 includes a first rack 33 and two first slide rails 32. The first slide rails 32 and the first rack 33 are both fixedly connected to the long beam 2. Sliders 34 are fixedly installed at the four corners of the bottom of the skateboard 31. The sliders 34 are slidably sleeved on the corresponding first slide rails 32. A first motor 35 is fixedly installed on the top of the skateboard 31. The output end of the first motor 35 is fixedly installed with a first gear. The first gear meshes with the first rack 33.

[0028] The X-axis mechanism 4 includes a cross beam 41 and side frame plates. Two second slide rails are fixedly installed at the bottom of the cross beam 41. Two first fixing blocks 42 are slidably sleeved on the outer sides of the second slide rails. The bottoms of the first fixing blocks 42 and the side frame plates are both fixedly connected to the top of the skateboard 31. A second motor 43 is fixedly installed on one side of the side frame plate. The output end of the second motor 43 is fixedly installed with a second gear. A second rack 44 is fixedly installed on the top of the cross beam 41. The second gear meshes with the second rack 44. One side of the cross beam 41 is fixedly connected to the fixed frame 45.

[0029] The Z-axis mechanism 5 includes a vertical beam 51 and a third motor 54. The third motor 54 is fixedly installed on the fixed frame 45. An internal slot is formed at the rear side of the vertical beam 51. A third slide rail 52 and a third rack 53 are fixedly installed on one inner wall of the internal slot. The output end of the third motor 54 is fixedly installed with a third gear. The third gear meshes with the third rack 53. Two second fixing blocks are fixedly installed on one side of the fixed frame 45. The second fixing blocks are slidably sleeved on the outer sides of the third slide rail 52.

[0030] During specific use, the X-axis mechanism 4, Y-axis mechanism 3, and Z-axis mechanism 5 all achieve linear movement through the cooperation of a motor, gears, and a rack. The means are mature and existing. By the mutual cooperation of the X-axis mechanism 4, Y-axis mechanism 3, and Z-axis mechanism 5, the position of the clamping mechanism 6 is adjusted to make the clamping mechanism 6 approach the material on the machine tool.

[0031] As Figure 2 shown, a hydraulic cylinder 62 and two side plates 63 are fixedly installed at the bottom of the rotating plate. The clamping mechanism 6 includes a side sub-mechanism and a bottom sub-mechanism that are vertically arranged. Both the side sub-mechanism and the bottom sub-mechanism include a platen 65. The same L-shaped plate 66 is fixedly installed between the two platens 65. A rib plate 67 is arranged on the L-shaped plate 66. Two round holes are opened on one side of the rib plate 67. The same first round shaft 64 is fixedly installed between the two side plates 63. Two short plates 68 are rotatably installed on the outer side of the piston rod of the hydraulic rod. The same second round shaft is fixedly installed between the two short plates 68. The first round shaft 64 and the second round shaft are respectively rotatably installed in the corresponding round holes.

[0032] As Figure 5 shown, a limiting frame 69 is fixedly installed on one side of the platen 65. Two double-acting cylinders 610 are fixedly installed on one side of the platen 65 of the side sub-mechanism. Claw one 611 is fixedly installed at both output ends of the double-acting cylinder 610.

[0033] Two three-jaw chucks 612 are fixedly installed on one side of the platen 65 of the bottom sub-mechanism. The three-jaw chuck 612 includes three claw two 613.

[0034] During specific use, the rotating motor 615 drives the rotating plate to rotate, thereby adjusting the orientation of the side sub-mechanism so that the clamping mechanism 6 can grasp materials in multiple directions, including front, back, left, right, and below. The hydraulic cylinder 62 drives the L-shaped plate 66 to swing up and down around the second round shaft through the up and down movement of the piston rod and the cooperation of the short plate 68, the first round shaft 64, and the rib plate 67, thereby synchronously adjusting the orientation angles of the side sub-mechanism and the bottom sub-mechanism, so that the limiting plate on the side sub-mechanism or the bottom sub-mechanism can better fit the graspable part of the material. Part of the structure of the material is stuck into the holes on the limiting plate to assist in improving the stability of grasping the material. Finally, the double-acting cylinder 610 or the three-jaw chuck 612 is started to drive multiple claw one 611 or multiple claw two 613 to grasp the material.

[0035] As Figure 2 shown, two liquid spray pipes 614 are fixedly installed between the two platens 65. The orientations of the two liquid spray pipes 614 are opposite. The liquid spray pipes 614 are communicated with the liquid outlet mechanism, and the sprayed liquid is used to wash the inside of the machine tool, which can cooperate with the rotating motor 615 to expand the washing range.

[0036] As Figure 1 and Figure 3As shown in the figure, a power supply box 11 is provided on the support frame 1, two first cable carriers 12 are provided at the rear side of the cross beam 41, a second cable carrier 13 is provided at the top of the cross beam 41, the power supply box 11 supplies power to multiple motors through a circuit, and the wires are installed in the first cable carrier 12 or the second cable carrier 13.

[0037] Certainly, the present utility model can also have many other implementation manners. Based on this implementation manner, other implementation manners obtained by those of ordinary skill in the art without any creative work belong to the scope protected by the present utility model.

Claims

1. A double-headed gantry robot arm, characterized in that, It includes two clamping mechanisms and multiple support frames. A same long beam is fixedly installed at the top of the multiple support frames. A Y-axis mechanism is arranged at the top of the long beam. The Y-axis mechanism includes two horizontally sliding skateboards. An X-axis mechanism is arranged at the top of the skateboard. The X-axis mechanism includes a fixed frame. A Z-axis mechanism is arranged at the front side of the fixed frame. An installation frame is fixedly installed at the bottom of the Z-axis mechanism. A rotary motor is arranged on the installation frame. A rotary plate is fixedly installed at the output end of the rotary motor; A hydraulic cylinder and two side plates are fixedly installed at the bottom of the rotary plate. The clamping mechanism includes a side sub-mechanism and a bottom sub-mechanism arranged vertically. Both the side sub-mechanism and the bottom sub-mechanism include a platen. A same L-shaped plate is fixedly installed between the two platens. A rib plate is arranged on the L-shaped plate. Two round holes are opened on one side of the rib plate. A same first round shaft is fixedly installed between the two side plates. Two short plates are rotatably installed on the outer side of the piston rod of the hydraulic cylinder. A same second round shaft is fixedly installed between the two short plates. The first round shaft and the second round shaft are respectively rotatably installed in the corresponding round holes.

2. The double-headed gantry robot arm according to claim 1, characterized in that, The Y-axis mechanism includes a first rack and two first slide rails. The first slide rail and the first rack are both fixedly connected to the long beam. Sliders are fixedly installed at the four corners of the bottom of the skateboard. The slider is slidably sleeved on the corresponding first slide rail. A first motor is fixedly installed at the top of the skateboard. A first gear is fixedly installed at the output end of the first motor. The first gear meshes with the first rack.

3. A double-headed gantry robot arm according to claim 1, characterized in that, The X-axis mechanism includes a cross beam and side frame plates. Two second slide rails are fixedly installed at the bottom of the cross beam. Two first fixing blocks are slidably sleeved on the outer sides of the second slide rails. The bottom of the first fixing block and the side frame plate are both fixedly connected to the top of the skateboard. A second motor is fixedly installed on one side of the side frame plate. A second gear is fixedly installed at the output end of the second motor. A second rack is fixedly installed at the top of the cross beam. The second gear meshes with the second rack. One side of the cross beam is fixedly connected to the fixed frame.

4. A double-headed gantry robot arm according to claim 1, characterized in that, The Z-axis mechanism includes a vertical beam and a third motor. The third motor is fixedly installed on the fixed frame. An internal slot is opened at the rear side of the vertical beam. A third slide rail and a third rack are fixedly installed on one inner wall of the internal slot. A third gear is fixedly installed at the output end of the third motor. The third gear meshes with the third rack. Two second fixing blocks are fixedly installed on one side of the fixed frame. The second fixing block is slidably sleeved on the outer side of the third slide rail.

5. A double-headed gantry robot arm according to claim 1, characterized in that, A limiting frame is fixedly installed on one side of the platen. Two double-acting cylinders are fixedly installed on one side of the platen of the side sub-mechanism. Claw one is fixedly installed at both output ends of the double-acting cylinder.

6. The double-headed gantry robotic arm according to claim 1, characterized in that, Two three-jaw clamps are fixedly installed on one side of the platen of the bottom sub-mechanism. The three-jaw clamp includes three claw two.

7. A double-headed gantry robot arm according to claim 1, characterized in that, Two liquid spraying pipes are fixedly installed between the two platens. The orientations of the two liquid spraying pipes are opposite.

8. The dual-head gantry robot arm according to claim 3, characterized in that A power supply box is arranged on the support frame. Two first cable carriers are arranged at the rear side of the cross beam. Two second cable carriers are arranged at the top of the cross beam.

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