High-stability longitudinal shaft lifting mechanism of truss robot

Abstract

The utility model discloses a high-stability longitudinal shaft lifting mechanism of a truss robot, which comprises a robot body and a lifting sucker, and a support driving device matched with the robot body is arranged at the top of the lifting sucker. Clamping stabilizing devices used in cooperation with the supporting driving devices are arranged on the left side and the right side of the robot body correspondingly. According to the truss robot, the supporting driving device and the clamping stabilizing device are used in cooperation, and the problems that when an existing truss robot is used, when goods are lifted through a longitudinal axis lifting mechanism and a lifting suction cup at the bottom of the truss robot, most of the lifting suction cups do not have the function of stabilizing the lifting suction cups and the goods at the bottom of the lifting suction cups, and the lifting efficiency is poor are solved. Generally, when a longitudinal shaft lifting mechanism of the truss robot lifts, a transverse shaft moving mechanism synchronously moves, and if the transverse shaft moving mechanism moves too fast, a lifting suction cup and goods at the bottom of the lifting suction cup may shake, so that the goods fall or the placement position is inaccurate.

Description

Technical Field

[0001] The utility model belongs to the technical field of truss robots, and particularly relates to a high-stability vertical axis lifting mechanism of a truss robot. Background Art

[0002] A truss robot, an efficient and precise automation device, is widely used in the manufacturing industry. With its unique structure and movement mode, it realizes the rapid handling and precise positioning of materials, greatly improving production efficiency. It is mainly used for processes such as handling, loading and unloading, welding, and assembly on the production line. The truss robot is based on a right-angle X, Y, Z three-coordinate system and performs precise position control and trajectory movement through a control system to achieve high-efficiency automated operations. The problems existing in the prior art are as follows: When the existing truss robot is in use, its vertical axis lifting mechanism and the lifting suction cup at the bottom mostly do not have the function of stabilizing the lifting suction cup itself and the goods at the bottom of the lifting suction cup while lifting the goods. Usually, while the vertical axis lifting mechanism of the truss robot is lifting, the horizontal axis moving mechanism is also moving synchronously. If the moving speed of the horizontal axis moving mechanism is too fast, the lifting suction cup itself and the goods at the bottom of the lifting suction cup may shake, resulting in the goods falling or being placed inaccurately. Content of the Utility Model

[0003] Aiming at the problems existing in the prior art, the utility model provides a high-stability vertical axis lifting mechanism of a truss robot, which has the advantage of stabilizing the lifting suction cup itself and the goods, and solves the problem that when the existing truss robot is in use, its vertical axis lifting mechanism and the lifting suction cup at the bottom mostly do not have the function of stabilizing the lifting suction cup itself and the goods at the bottom of the lifting suction cup while lifting the goods. Usually, while the vertical axis lifting mechanism of the truss robot is lifting, the horizontal axis moving mechanism is also moving synchronously. If the moving speed of the horizontal axis moving mechanism is too fast, the lifting suction cup itself and the goods at the bottom of the lifting suction cup may shake, resulting in the goods falling or being placed inaccurately.

[0004] The utility model is realized as follows: A high-stability vertical axis lifting mechanism of a truss robot includes a robot body and a lifting suction cup. The lifting suction cup is fixedly connected to the bottom of the robot body. A support driving device for cooperating with the robot body is arranged at the top of the lifting suction cup. Clamping and stabilizing devices for cooperating with the support driving device are arranged on both the left and right sides of the robot body. A support plate for cooperating with the support driving device is arranged at the front side of the robot body. Support blocks for cooperating with the clamping and stabilizing devices are arranged at the four corners of the top of the lifting suction cup. Two limiting columns are arranged on both the left and right sides of the lifting suction cup, and a limiting plate is arranged on the side of the limiting column away from the lifting suction cup.

[0005] Preferably, the rear side of the support plate is fixedly connected to the robot body, the bottom of the support block is fixedly connected to the lifting suction cup, and the left and right sides of the limiting column are respectively fixedly connected to the limiting plate and the lifting suction cup.

[0006] Preferably, the support driving device includes a positive and negative motor, the output end of the positive and negative motor is fixedly connected to a control screw rod, a lifting plate is sleeved on the surface of the control screw rod, and limiting members are arranged on both sides of the front and rear sides of the lifting plate.

[0007] Preferably, the clamping and stabilizing device includes a stabilizing bracket, stroke holes are formed in the right sides of the front and rear sides of the stabilizing bracket, transmission gears are arranged on the front and rear sides of the left side of the stabilizing bracket, transmission racks are arranged at the bottoms of the two transmission gears, a stabilizing plate is arranged on the left side of the transmission rack, and a protective soft pad is arranged on the right side of the stabilizing plate.

[0008] Preferably, support members are arranged at the four corners of the top of the lifting plate, the bottoms of the support members penetrate through the lifting plate and extend to the outside of the lifting plate to be fixedly connected to the lifting suction cup.

[0009] Preferably, the bottom of the positive and negative motor is fixedly connected to the support plate, the bottom of the control screw rod penetrates through the support plate and extends to the outside of the support plate to be rotatably connected to the lifting suction cup through a rotating shaft, the lifting plate is in threaded connection with the control screw rod, the lifting plate is sleeved on the surface of the robot body, one side of the limiting member close to the lifting plate is fixedly connected to the lifting plate, the other side of the limiting member away from the lifting plate penetrates through the stroke hole and extends to the outside of the stroke hole, and the curved surface of the limiting member is in contact with the inner wall of the stroke hole.

[0010] Preferably, one side of the transmission gear close to the inner side of the stabilizing bracket is fixedly connected to the inner side of the stabilizing bracket, one side of the stabilizing bracket close to the inner side of the support block is rotatably connected to the support block through a rotating shaft, the transmission rack is meshed with the transmission gear, one side of the transmission rack close to the stabilizing plate is fixedly connected to the stabilizing plate, the stabilizing plate is sleeved on the surface of the limiting column, and one side of the protective soft pad close to the stabilizing plate is fixedly connected to the stabilizing plate.

[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0012] 1. By using the support drive device and the clamping and stabilizing device in combination, the utility model solves the problem that when the existing truss robot is in use, while its vertical axis lifting mechanism and the lifting suction cup at the bottom lift the goods, most of them do not have the function of stabilizing the lifting suction cup itself and the goods at the bottom of the lifting suction cup. Usually, when the vertical axis lifting mechanism of the truss robot is lifting, the horizontal axis moving mechanism is also moving synchronously. If the horizontal axis moving mechanism moves too fast, the lifting suction cup itself and the goods at the bottom of the lifting suction cup may shake, resulting in the goods falling or being placed inaccurately.

[0013] 2. By arranging the support plate, the forward and reverse motor can be supported. By arranging the support block, the stabilizing bracket can be supported and limited. By arranging the limit post and the limit plate, the stabilizing plate can be supported and limited.

[0014] 3. By arranging the support drive device, it can support and drive the clamping and stabilizing device, facilitating the user to use the clamping and stabilizing device.

[0015] 4. By arranging the clamping and stabilizing device, it can stabilize the lifting suction cup and the goods, facilitating the user to use the lifting suction cup and the goods.

[0016] 5. By arranging the support member, it can support and limit the lifting plate, facilitating the user to use the lifting plate.

[0017] 6. By arranging the forward and reverse motor, it can drive the control screw to rotate. By arranging the control screw, it can drive the lifting plate to lift and can also fix the lifting plate. By arranging the lifting plate, it can drive the limiting member to lift. By arranging the limiting member, it can drive the stabilizing bracket to rotate and can also support and limit the stabilizing bracket.

[0018] 7. By arranging the stabilizing bracket and the travel hole, it can support and stabilize the lifting suction cup and can also drive the transmission gear to rotate synchronously. By arranging the transmission gear, it can drive the transmission rack to move. By arranging the transmission rack, it can drive the stabilizing plate and the protective soft pad to move. By arranging the stabilizing plate and the protective soft pad, it can stabilize the goods and prevent shaking during the handling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the overall three-dimensional structure schematic diagram provided by the embodiment of the utility model;

[0020] Figure 2 is the three-dimensional structure schematic diagram of the limit post and the limit plate provided by the embodiment of the utility model;

[0021] Figure 3 It is a schematic three-dimensional structure diagram of a transmission gear and a support block provided by an embodiment of the present invention;

[0022] Figure 4 It is a schematic three-dimensional structure diagram of a support driving device provided by an embodiment of the present invention.

[0023] In the figure: 1, robot body; 2, lifting suction cup; 3, support driving device; 4, clamping and stabilizing device; 5, support plate; 6, support block; 7, limit post; 8, limit plate; 9, support member; 301, forward and reverse motor; 302, control screw; 303, lifting plate; 304, limiting member; 401, stabilizing bracket; 402, travel hole; 403, transmission gear; 404, transmission rack; 405, stabilizing plate; 406, protective soft pad. Specific embodiments

[0024] In order to further understand the content, features and effects of the present invention, the following embodiments are exemplified and described in detail in conjunction with the accompanying drawings.

[0025] The structure of the present invention will be described in detail below with reference to the accompanying drawings.

[0026] As Figures 1 to 4 shown, a high-stability longitudinal axis lifting mechanism of a truss robot provided by an embodiment of the present invention includes a robot body 1 and a lifting suction cup 2. The lifting suction cup 2 is fixedly connected to the bottom of the robot body 1. A support driving device 3 cooperating with the robot body 1 is arranged on the top of the lifting suction cup 2. Clamping and stabilizing devices 4 cooperating with the support driving device 3 are arranged on the left and right sides of the robot body 1. A support plate 5 cooperating with the support driving device 3 is arranged on the front side of the robot body 1. Support blocks 6 cooperating with the clamping and stabilizing devices 4 are arranged at the four corners of the top of the lifting suction cup 2. Two limit posts 7 are arranged on the left and right sides of the lifting suction cup 2. A limit plate 8 is arranged on the side of the limit post 7 away from the lifting suction cup 2.

[0027] Referring to Figure 2 , the rear side of the support plate 5 is fixedly connected to the robot body 1. The bottom of the support block 6 is fixedly connected to the lifting suction cup 2. The left and right sides of the limit post 7 are respectively fixedly connected to the limit plate 8 and the lifting suction cup 2.

[0028] Adopting the above scheme: by arranging the support plate 5, the forward and reverse motor 301 can be supported. By arranging the support block 6, the stabilizing bracket 401 can be supported and limited. By arranging the limit post 7 and the limit plate 8, the stabilizing plate 405 can be supported and limited.

[0029] Referring to Figure 4, the support driving device 3 includes a forward and reverse motor 301. A control screw 302 is fixedly connected to the output end of the forward and reverse motor 301. A lifting plate 303 is sleeved on the surface of the control screw 302. Limiting members 304 are provided on both sides of the front and rear sides of the lifting plate 303.

[0030] With the above solution: By setting the support driving device 3, it can support and drive the clamping and stabilizing device 4, facilitating the user to use the clamping and stabilizing device 4.

[0031] Reference Figure 4 , the clamping and stabilizing device 4 includes a stabilizing bracket 401. Travel holes 402 are provided on the right sides of the front and rear sides of the stabilizing bracket 401. Transmission gears 403 are provided on the front and rear sides of the left side of the stabilizing bracket 401. Transmission racks 404 are provided at the bottoms of the two transmission gears 403. A stabilizing plate 405 is provided on the left side of the transmission rack 404. A protective soft pad 406 is provided on the right side of the stabilizing plate 405.

[0032] With the above solution: By setting the clamping and stabilizing device 4, it can stabilize the lifting suction cup 2 and the goods, facilitating the user to use the lifting suction cup 2 and the goods.

[0033] Reference Figure 2 and Figure 3 , support members 9 are provided at the four corners of the top of the lifting plate 303. The bottoms of the support members 9 penetrate through the lifting plate 303 and extend to the outside of the lifting plate 303 to be fixedly connected to the lifting suction cup 2.

[0034] With the above solution: By setting the support members 9, it can support and limit the lifting plate 303, facilitating the user to use the lifting plate 303.

[0035] Reference Figure 2 and Figure 4 , the bottom of the forward and reverse motor 301 is fixedly connected to the support plate 5. The bottom of the control screw 302 penetrates through the support plate 5 and extends to the outside of the support plate 5 to be rotatably connected to the lifting suction cup 2 through a rotating shaft. The lifting plate 303 is threadedly connected to the control screw 302. The lifting plate 303 is sleeved on the surface of the robot body 1. The side of the limiting member 304 close to the lifting plate 303 is fixedly connected to the lifting plate 303. The side of the limiting member 304 away from the lifting plate 303 passes through the travel hole 402 and extends to the outside of the travel hole 402. The curved surface of the limiting member 304 contacts the inner wall of the travel hole 402.

[0036] Adopting the above solution: By setting the forward and reverse motor 301, the control screw 302 can be driven to rotate. By setting the control screw 302, the lifting plate 303 can be driven to lift, and at the same time, the lifting plate 303 can be fixed. By setting the lifting plate 303, the limiting member 304 can be driven to lift. By setting the limiting member 304, the stable support 401 can be driven to rotate, and the stable support 401 can also be supported and limited.

[0037] Reference Figure 2 and Figure 4 , on one side of the transmission gear 403 close to the inner side of the stable support 401, it is fixedly connected to the inner side of the stable support 401. On one side of the stable support 401 close to the inner side of the support block 6, it is rotatably connected to the support block 6 through a rotating shaft. The transmission rack 404 meshes with the transmission gear 403. On one side of the transmission rack 404 close to the stable plate 405, it is fixedly connected to the stable plate 405. The stable plate 405 is sleeved on the surface of the limiting column 7. On one side of the protective soft pad 406 close to the stable plate 405, it is fixedly connected to the stable plate 405.

[0038] Adopting the above solution: By setting the stable support 401 and the travel hole 402, the lifting suction cup 2 can be supported stably, and the transmission gear 403 can also be driven to rotate synchronously. By setting the transmission gear 403, the transmission rack 404 can be driven to move. By setting the transmission rack 404, the stable plate 405 and the protective soft pad 406 can be driven to move. By setting the stable plate 405 and the protective soft pad 406, the goods can be stabilized to prevent shaking during the handling process.

[0039] The working principle of the present utility model:

[0040] During use, when the lifting suction cup 2 sucks the goods, the forward and reverse motor 301 is started to drive the control screw 302 to rotate. The control screw 302 drives the lifting plate 303 to rise on the surface of the support member 9. The lifting plate 303 drives the limiting member 304 to move in the inner cavity of the travel hole 402, and pushes the stable support 401 to rotate around the support block 6 as the center. The stable support 401 drives the transmission gear 403 to rotate synchronously. The transmission gear 403 drives the transmission rack 404 to move. The transmission rack 404 drives the stable plate 405 to move on the surface of the limiting column 7. The stable plate 405 drives the protective soft pad 406 to move, so that the two stable plates 405 and the protective soft pad 406 approach each other. When the protective soft pad 406 contacts the goods, the forward and reverse motor 301 is stopped. At this time, the stable support 401 and the lifting suction cup 2 form a triangle, making the lifting suction cup 2 more stable. At the same time, the stable plate 405 and the protective soft pad 406 stabilize the goods to prevent movement or shaking during the handling process, and the stabilization is completed.

[0041] In summary, for the high-stability longitudinal axis lifting mechanism of the truss robot, by setting the combined use of the support driving device 3 and the clamping and stabilizing device 4, it solves the problem that when the existing truss robot is in use, while its longitudinal axis lifting mechanism and the lifting suction cup at the bottom lift the goods, most of them do not have the function of stabilizing the lifting suction cup itself and the goods at the bottom of the lifting suction cup. Usually, when the longitudinal axis lifting mechanism of the truss robot is lifting, the transverse axis moving mechanism is also moving synchronously. If the moving speed of the transverse axis moving mechanism is too fast, the lifting suction cup itself and the goods at the bottom of the lifting suction cup may shake, resulting in the goods falling or the placement position being inaccurate.

[0042] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0043] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-stability longitudinal axis lifting mechanism for a truss robot, comprising a robot body (1) and a lifting suction cup (2), the lifting suction cup (2) being fixedly connected to the bottom of the robot body (1), characterized in that: A support driving device (3) for cooperating with the robot body (1) is provided at the top of the lifting suction cup (2). Clamping and stabilizing devices (4) for cooperating with the support driving device (3) are provided on both the left and right sides of the robot body (1). A support plate (5) for cooperating with the support driving device (3) is provided at the front side of the robot body (1). Support blocks (6) for cooperating with the clamping and stabilizing devices (4) are provided at the four corners of the top of the lifting suction cup (2). Two limiting columns (7) are provided on both the left and right sides of the lifting suction cup (2). A limiting plate (8) is provided on the side of the limiting column (7) away from the lifting suction cup (2).

2. The high-stability longitudinal axis lifting mechanism of a truss robot according to claim 1, characterized in that: The rear side of the support plate (5) is fixedly connected to the robot body (1). The bottom of the support block (6) is fixedly connected to the lifting suction cup (2). The left and right sides of the limiting column (7) are respectively fixedly connected to the limiting plate (8) and the lifting suction cup (2).

3. The high-stability longitudinal axis lifting mechanism of a truss robot according to claim 1, characterized in that: The support driving device (3) includes a forward and reverse motor (301). The output end of the forward and reverse motor (301) is fixedly connected to a control screw rod (302). A lifting plate (303) is sleeved on the surface of the control screw rod (302). Limiting members (304) are provided on both the front and rear sides of the lifting plate (303).

4. The high-stability longitudinal axis lifting mechanism of a truss robot according to claim 1, characterized in that: The clamping and stabilizing device (4) on the left side includes a stabilizing bracket (401). Stroke holes (402) are formed on the right sides of the front and rear sides of the stabilizing bracket (401). Transmission gears (403) are provided on both the front and rear sides of the left side of the stabilizing bracket (401). Transmission racks (404) are provided at the bottoms of the two transmission gears (403). A stabilizing plate (405) is provided on the left side of the transmission rack (404). A protective soft pad (406) is provided on the right side of the stabilizing plate (405).

5. The high-stability longitudinal axis lifting mechanism of a truss robot according to claim 3, characterized in that: Support members (9) are provided at the four corners of the top of the lifting plate (303). The bottom of the support member (9) penetrates through the lifting plate (303) and extends to the outside of the lifting plate (303) to be fixedly connected to the lifting suction cup (2).

6. The high-stability longitudinal axis lifting mechanism of a truss robot according to claim 3, characterized in that: The bottom of the forward and reverse motor (301) is fixedly connected to the support plate (5). The bottom of the control screw rod (302) penetrates through the support plate (5) and extends to the outside of the support plate (5) to be rotatably connected to the lifting suction cup (2) through a rotating shaft. The lifting plate (303) is threadedly connected to the control screw rod (302). The lifting plate (303) is sleeved on the surface of the robot body (1). The side of the limiting member (304) close to the lifting plate (303) is fixedly connected to the lifting plate (303). The side of the limiting member (304) away from the lifting plate (303) penetrates through the stroke hole (402) and extends to the outside of the stroke hole (402). The curved surface of the limiting member (304) is in contact with the inner wall of the stroke hole (402).

7. The high-stability longitudinal axis lifting mechanism of a truss robot according to claim 4, characterized in that: One side of the transmission gear (403) close to the inner side of the stabilizing bracket (401) is fixedly connected to the inner side of the stabilizing bracket (401). One side of the stabilizing bracket (401) close to the inner side of the support block (6) is rotatably connected to the support block (6) through a rotating shaft. The transmission rack (404) is engaged with the transmission gear (403). One side of the transmission rack (404) close to the stabilizing plate (405) is fixedly connected to the stabilizing plate (405). The stabilizing plate (405) is sleeved on the surface of the limiting column (7). One side of the protective soft pad (406) close to the stabilizing plate (405) is fixedly connected to the stabilizing plate (405).

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