Gantry type truss manipulator

Abstract

The utility model discloses a gantry type truss manipulator which comprises a gantry type truss and a vertical moving device, a mounting frame is fixedly connected to the gantry type truss, and two chain boxes with tracks inside are symmetrically arranged on the mounting frame; the vertical moving device comprises a vertical telescopic assembly and a reinforcing assembly. The upper end and the lower end of the vertical telescopic assembly are fixedly connected with the mounting frame and the clamping platform correspondingly. The reinforcing assembly comprises two rigid chains and two chain wheels which are symmetrically and rotationally connected to the mounting frame, the two chain wheels are the same in size, the rotating speeds of the two chain wheels are the same, the rotating speed directions are opposite, the lower ends of one sections of the two rigid chains are fixedly connected with the clamping platform, and one sections of the two rigid chains vertically extend upwards and then are wound on the two chain wheels correspondingly; and the other sections of the two rigid chains are respectively connected in the two rails in a sliding manner. According to the vertical moving device, the stability and the bearing capacity of the vertical moving device can be improved through the vertical telescopic assembly and the reinforcing assembly with the rigid chain.

Description

Technical Field

[0001] The utility model belongs to the technical field of truss manipulators, in particular to a gantry type truss manipulator. Background Art

[0002] At present, truss robots are widely used in manufacturing, logistics warehousing and chemical industries. They are usually used for loading and unloading workpieces and handling and stacking of goods. They can effectively improve logistics efficiency and ensure standardization and efficiency of production.

[0003] However, when the existing truss manipulator is used for a long time or bears a large load, its vertical moving device may become loose, deformed or damaged, which will not only affect the positioning accuracy and movement smoothness of the truss manipulator, but may also cause equipment failure, thereby affecting the normal production. Utility Model Content

[0004] In order to overcome the defects of the prior art, the utility model provides a gantry-type truss manipulator, which can improve the stability and bearing capacity of the vertical moving device.

[0005] The purpose of this utility model is achieved through the following technical solutions:

[0006] A gantry truss manipulator comprises a gantry truss, a mounting frame fixedly connected to the gantry truss, and two chain boxes with tracks arranged therein symmetrically on the mounting frame;

[0007] The vertical moving device includes a vertical telescopic component and a reinforcement component, and the upper end and the lower end of the vertical telescopic component are fixedly connected to the mounting frame and the clamping platform respectively;

[0008] The reinforcement component includes two rigid chains and two symmetrically rotatably connected sprockets on the mounting frame. The two sprockets have the same size, the same rotation speed and opposite rotation speed directions. The lower ends of one section of the two rigid chains are fixedly connected to the clamping platform. One section of the two rigid chains extends vertically upward and is respectively wrapped around the two sprockets. The other sections of the two rigid chains are respectively slidably connected to the two tracks.

[0009] The beneficial effects of adopting the above technical solution are: in the reinforced component, the two sprockets rotate synchronously in opposite directions to synchronously drive the clamping platform to rise and fall through two rigid chains, and the rigid chains can improve the stability and load-bearing capacity of the lifting; at the same time, the vertical telescopic component can provide a guide for the lifting of the clamping platform to further improve the stability of the lifting; in summary, this gantry truss manipulator can improve the stability and load-bearing capacity of the vertical moving device.

[0010] Furthermore, the gantry truss includes two symmetrically arranged gantries and a truss located between the two gantries. Two longitudinal moving devices are respectively provided on the two gantries, one end of the two longitudinal moving devices is fixedly connected to the two ends of the truss respectively, and a transverse moving device is provided on the truss, one end of the transverse moving device is fixedly connected to the mounting frame.

[0011] The beneficial effects of adopting the above technical solution are as follows: the truss can be moved longitudinally between the two gantries using the longitudinal moving devices at both ends of the truss, and the two gantries can provide stable support for the truss through the two longitudinal moving devices respectively; the mounting frame can be moved laterally on the truss using the transverse moving device; that is, through the longitudinal moving device and the transverse moving device, the longitudinal and transverse movement of the clamping platform can ultimately be achieved.

[0012] Furthermore, the longitudinal moving device includes a plurality of first linear slides, a first rack, a first gear meshing with the first rack, and a first rotation drive mechanism whose output end is transmission-connected to the first gear. The plurality of first linear slides and the first rack are arranged longitudinally, the guide rail end and the slider end of the first linear slide are respectively fixedly connected to the gantry and the truss, the first rack is fixedly connected to the gantry, the first gear is rotationally connected to the truss, and the fixed end of the first rotation drive mechanism is fixedly connected to the truss.

[0013] The beneficial effects of adopting the above technical solution are: the first linear guide rail provides guidance for the longitudinal movement of the truss on the gantry; the first rotation drive mechanism can drive the first gear to rotate, and since the first gear is engaged with the first rack, the first rotation drive mechanism can drive the truss to move longitudinally on the gantry when it is running.

[0014] Furthermore, the two longitudinal moving devices only include a first rotation driving mechanism, and an output end of the first rotation driving mechanism is transmission-connected to the two first gears.

[0015] The beneficial effect of adopting the above technical solution is that a first rotation drive mechanism can synchronously drive the two first gears to rotate, thereby facilitating synchronous longitudinal movement of the two ends of the truss.

[0016] Furthermore, the lateral movement device includes two second linear slides, a second rack, a second gear meshing with the second rack, and a second rotation drive mechanism with an output end connected to the second gear. The two second linear slides and the second rack are both arranged laterally, and the guide rail ends and slider ends of the two second linear slides are respectively fixedly connected to the two sides of the truss and the mounting frame, the second rack is fixedly connected to the truss, the second gear is rotatably connected to the mounting frame, and the fixed end of the second rotation drive mechanism is fixedly connected to the mounting frame.

[0017] The beneficial effects of adopting the above technical solution are: the second linear slide rail provides guidance for the mounting frame to move laterally on the truss; the second rotation drive mechanism can drive the second gear to rotate, and since the second gear is engaged with the second rack, the second rotation drive mechanism can drive the mounting frame to move laterally on the truss when it is running.

[0018] Furthermore, a third rotation drive mechanism is fixedly connected to the mounting frame, and two horizontal transmission rods located at the same height and parallel to each other are rotatably connected to the mounting frame. The output end of the third rotation drive mechanism is transmission-connected to a horizontal transmission rod; two sprockets are coaxially fixedly connected to the two horizontal transmission rods, and two mutually meshing first transmission gears are coaxially fixedly connected to the two horizontal transmission rods, and the two first transmission gears have the same size.

[0019] The beneficial effect of adopting the above technical solution is: when the third rotation drive mechanism rotates, a horizontal transmission rod rotates, and since the first transmission gears on the two horizontal transmission rods are engaged with each other and have the same size, the two horizontal transmission rods rotate synchronously in opposite directions, and accordingly, the two sprockets also rotate synchronously in opposite directions; therefore, this arrangement can ensure that the two sprockets rotate synchronously in opposite directions.

[0020] Furthermore, a displacement detection sensor for detecting the vertical displacement of the lower end of the vertical telescopic assembly or the clamping platform is fixedly connected to the upper end of the vertical telescopic assembly.

[0021] The beneficial effect of adopting the above technical solution is: such an arrangement can ensure the precise movement of the vertical moving device.

[0022] Furthermore, the vertical telescopic component is a telescopic sleeve.

[0023] Furthermore, the vertical telescopic assembly is a parallel combination of two unpowered scissor lift mechanisms, the upper ends of the two unpowered scissor lift mechanisms are respectively fixedly connected to both sides of the mounting frame, and the lower ends of the two unpowered scissor lift mechanisms are respectively fixed to both sides of the clamping platform.

[0024] Furthermore, the clamping platform includes a mounting plate and a clamping robot connected to the mounting plate for vertical rotation, and the lower end of the vertical telescopic assembly and the lower end of the rigid chain are fixedly connected to the mounting plate; a fourth rotation drive mechanism is fixedly connected to the mounting plate, and the clamping robot is coaxially fixedly connected to a second transmission gear that is transmission-connected to the output end of the fourth rotation drive mechanism.

[0025] The beneficial effect of adopting the above technical solution is that the fourth rotation drive mechanism rotates, which can drive the second transmission gear to rotate, thereby driving the clamping robot to rotate vertically.

[0026] The beneficial effects of the present invention are:

[0027] In the reinforced component, the two sprockets rotate synchronously in opposite directions to synchronously drive the clamping platform to rise and fall through two rigid chains, and the rigid chains can improve the stability and load-bearing capacity of the lifting; at the same time, the vertical telescopic component can provide a guide for the lifting of the clamping platform to further improve the stability of the lifting; in summary, this gantry truss manipulator can improve the stability and load-bearing capacity of the vertical moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0029] Figure 1 Shows a schematic structural diagram of the first embodiment of the utility model;

[0030] Figure 2 Shows Figure 1 A partial enlarged view of point A in the middle;

[0031] Figure 3 Shows Figure 1 A partial enlarged view of point B in the middle;

[0032] Figure 4 Shows the installation diagram of the vertical moving device in the utility model;

[0033] Figure 5 Shows Figure 4 Axonometric drawing of

[0034] Figure 6 Shows Figure 5 A partial enlarged view of point C in the middle;

[0035] Figure 7 Shows a schematic structural diagram of a second embodiment of the present utility model;

[0036] In the drawings, like reference numerals are used for like parts, but the drawings are not necessarily true to scale.

[0037] Reference numerals:

[0038] 1. Gantry; 2. Longitudinal moving device; 201. First rotation drive mechanism; 202. First linear slide rail; 203. First rack; 3. Truss; 4. Transverse moving device; 401. Second rotation drive mechanism; 402. Second gear; 403. Second rack; 404. Second linear slide rail; 5. Mounting frame; 6. Reinforcement assembly; 601. Third rotation drive mechanism; 602. Horizontal transmission rod; 603. First transmission gear; 604. Sprocket; 605. Rigid chain; 606. Chain box; 607. Track; 7. Vertical telescopic assembly; 8. Clamping platform; 801. Mounting plate; 802. Fourth rotation drive mechanism; 803. Second transmission gear; 804. Clamping manipulator. DETAILED DESCRIPTION

[0039] The present invention will be further described below with reference to the accompanying drawings.

[0040] Example 1

[0041] The utility model provides a gantry type truss manipulator, such as Figure 1 As shown, it includes a gantry truss, a mounting frame 5 is fixedly connected to the gantry truss, and two chain boxes 606 with tracks 607 are symmetrically arranged on the mounting frame 5;

[0042] The vertical moving device includes a vertical telescopic assembly 7 and a reinforcement assembly 6. The upper and lower ends of the vertical telescopic assembly 7 are fixedly connected to the mounting frame 5 and the clamping platform 8, respectively. The vertical telescopic assembly 7 is a telescopic sleeve. The upper end of the vertical telescopic assembly 7 can be fixedly connected to a displacement detection sensor to detect the vertical displacement of the lower end of the vertical telescopic assembly 7 or the clamping platform 8 to ensure accurate movement of the vertical moving device.

[0043] The reinforcement component 6 includes two rigid chains 605 and two symmetrically rotatably connected sprockets 604 on the mounting frame 5. The two sprockets 604 have the same size, the same rotational speed and opposite rotational speed directions. The lower ends of one section of the two rigid chains 605 are fixedly connected to the clamping platform 8. One section of the two rigid chains 605 extends vertically upward and is respectively wound around the two sprockets 604. The other sections of the two rigid chains 605 are respectively slidably connected to the two tracks 607.

[0044] It can be understood that in the reinforcement component 6, the two sprockets 604 rotate synchronously in opposite directions to synchronously drive the clamping platform 8 to rise and fall through the two rigid chains 605, and the rigid chains 605 can improve the stability and load-bearing capacity of the lifting; at the same time, the vertical telescopic component 7 can provide a guiding role for the lifting of the clamping platform 8 to further improve the stability of the lifting; in summary, this gantry truss manipulator can improve the stability and load-bearing capacity of the vertical moving device.

[0045] Specifically, the gantry truss includes two symmetrically arranged gantries 1 and a truss 3 located between the two gantries 1. Two longitudinal moving devices 2 are respectively provided on the two gantries 1, and one end of the two longitudinal moving devices 2 is fixedly connected to the two ends of the truss 3 respectively. A transverse moving device 4 is provided on the truss 3, and one end of the transverse moving device 4 is fixedly connected to the mounting frame 5.

[0046] It can be understood that the truss 3 can be moved longitudinally between the two gantries 1 using the longitudinal moving devices 2 at both ends, and the two gantries 1 can provide stable support to the truss 3 through the two longitudinal moving devices 2 respectively; the mounting frame 5 can be moved laterally on the truss 3 using the transverse moving device 4; that is, through the longitudinal moving device 2 and the transverse moving device 4, the longitudinal and transverse movement of the clamping platform 8 can ultimately be achieved.

[0047] Specifically, if Figure 1-3 As shown, the longitudinal moving device 2 includes a plurality of first linear slides 202, a first rack 203, a first gear meshing with the first rack 203, and a first rotation drive mechanism 201 whose output end is transmission-connected to the first gear. The plurality of first linear slides 202 and the first rack 203 are all arranged longitudinally, the guide rail end and the slider end of the first linear slide 202 are respectively fixedly connected to the gantry 1 and the truss 3, the first rack 203 is fixedly connected to the gantry 1, the first gear is rotationally connected to the truss 3, and the fixed end of the first rotation drive mechanism 201 is fixedly connected to the truss 3.

[0048] It can be understood that the first linear guide provides a guide for the longitudinal movement of the truss 3 on the gantry 1; the first rotation drive mechanism 201 can drive the first gear to rotate, and since the first gear is engaged with the first rack 203, the first rotation drive mechanism 201 can drive the truss 3 to move longitudinally on the gantry 1 when it is running.

[0049] Specifically, the two longitudinal moving devices 2 only include a first rotation driving mechanism 201 , and an output end of the first rotation driving mechanism 201 is transmission-connected to the two first gears.

[0050] It is understandable that a first rotation driving mechanism 201 can synchronously drive the two first gears to rotate, thereby facilitating synchronous longitudinal movement of the two ends of the truss 3 .

[0051] It should be noted that the first rotation drive mechanism 201 can be a reduction motor fixedly connected longitudinally to the middle of the truss 3. The truss 3 also has two connecting rods connected for horizontal rotation. The first rotation drive mechanism 201 is connected to one end of the two connecting rods through a bevel gear transmission mechanism, and the other ends of the two connecting rods are respectively connected to the two first gears through a bevel gear transmission mechanism.

[0052] Specifically, if Figure 1 and Figure 4As shown, the lateral moving device 4 includes two second linear slide rails 404, a second rack 403, a second gear 402 meshing with the second rack 403, and a second rotation drive mechanism 401 whose output end is transmission-connected to the second gear 402. The two second linear slide rails 404 and the second rack 403 are both arranged horizontally, and the guide rail ends and slider ends of the two second linear slide rails 404 are respectively fixedly connected to both sides of the truss 3 and the mounting frame 5, the second rack 403 is fixedly connected to the truss 3, the second gear 402 is rotationally connected to the mounting frame 5, and the fixed end of the second rotation drive mechanism 401 is fixedly connected to the mounting frame 5.

[0053] It can be understood that the second linear slide rail 404 provides a guide for the mounting frame 5 to move laterally on the truss 3; the second rotation drive mechanism 401 can drive the second gear 402 to rotate, and since the second gear 402 is engaged with the second rack 403, the second rotation drive mechanism 401 can drive the mounting frame 5 to move laterally on the truss 3 when it is running.

[0054] It should be noted that the second rotation driving mechanism 401 may be a reduction motor, and the first rotation driving mechanism 201 and the second rotation driving mechanism 401 are respectively located on both sides of the truss 3 .

[0055] Specifically, if Figure 1 、 Figure 5 and Figure 6 As shown, a third rotation drive mechanism 601 is fixedly connected to the mounting frame 5, and the third rotation drive mechanism 601 can be a reduction motor. Two horizontal transmission rods 602 located at the same height and parallel to each other are rotatably connected to the mounting frame 5. Both ends of the horizontal transmission rod 602 are stably supported by the mounting frame 5. The output end of the third rotation drive mechanism 601 is transmission-connected to a horizontal transmission rod 602; two sprockets 604 are coaxially fixedly connected to the two horizontal transmission rods 602, and two mutually meshing first transmission gears 603 are coaxially fixedly connected to the two horizontal transmission rods 602, and the two first transmission gears 603 have the same size.

[0056] It can be understood that when the third rotation drive mechanism 601 rotates, a horizontal transmission rod 602 rotates, and since the first transmission gears 603 on the two horizontal transmission rods 602 are engaged with each other and have the same size, the two horizontal transmission rods 602 rotate synchronously in opposite directions, and accordingly, the two sprockets 604 also rotate synchronously in opposite directions; therefore, this arrangement can ensure that the two sprockets 604 rotate synchronously in opposite directions.

[0057] Specifically, the cross-sectional size of the track 607 is the same as that of the rigid chain 605 , so that the section of the rigid chain 605 that passes around the sprocket 604 can slide stably in the track 607 .

[0058] Specifically, if Figure 1 and Figure 4As shown, the clamping platform 8 includes a mounting plate 801 and a clamping robot 804 connected to the mounting plate 801 for vertical rotation, the lower end of the vertical telescopic assembly 7 and the lower end of the rigid chain 605 are fixedly connected to the mounting plate 801; a fourth rotation drive mechanism 802 is fixedly connected to the mounting plate 801, and a second transmission gear 803 is coaxially fixedly connected to the clamping robot 804 and is transmission-connected to the output end of the fourth rotation drive mechanism 802.

[0059] It can be understood that the fourth rotation drive mechanism 802 rotates, which can drive the second transmission gear 803 to rotate, thereby driving the clamping robot 804 to rotate vertically.

[0060] It should be noted that the fourth rotation drive mechanism 802 can be a motor, and a reduction gear set is also rotatably connected to the mounting plate 801. The fourth rotation drive mechanism 802 is transmission-connected to the second transmission gear 803 via the reduction gear set.

[0061] It should also be noted that the clamping robot 804 can be equipped with a cylinder, a clamping claw or a fork clamp.

[0062] Example 2

[0063] like Figure 7 As shown, the difference between this embodiment and embodiment 1 is that the vertical telescopic assembly 7 in this embodiment is two non-powered scissor lift mechanisms combined in parallel, which are used to improve the stability of the vertical telescopic assembly 7 and increase the telescopic range while maintaining a small contraction size. The upper ends of the two non-powered scissor lift mechanisms are respectively fixedly connected to the two sides of the mounting frame 5, and the lower ends of the two non-powered scissor lift mechanisms are respectively fixed to the two sides of the clamping platform 8.

[0064] In summary, the present invention realizes the longitudinal, lateral and vertical movement adjustment of the clamping robot 804, and also realizes the vertical rotation adjustment of the clamping robot 804, which is conducive to replacing manual work to complete the automatic grasping, loading, unloading, clamping and other tasks of the workpiece.

[0065] In the description of the present invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0066] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A gantry truss manipulator, characterized in that: It comprises a gantry truss, a mounting frame (5) is fixedly connected to the gantry truss, and two chain boxes (606) with tracks (607) therein are symmetrically arranged on the mounting frame (5); It comprises a vertical moving device, the vertical moving device comprising a vertical telescopic component (7) and a reinforcing component (6), the upper end and the lower end of the vertical telescopic component (7) being fixedly connected to the mounting frame (5) and the clamping platform (8) respectively; The reinforcing assembly (6) includes two rigid chains (605) and two symmetrically rotatably connected sprockets (604) on the mounting frame (5), the two sprockets (604) have the same size, the rotation speeds of the two sprockets (604) are the same and the rotation speeds are opposite, the lower ends of one section of the two rigid chains (605) are fixedly connected to the clamping platform (8), one section of the two rigid chains (605) extends vertically upward and is respectively wound around the two sprockets (604), and the other sections of the two rigid chains (605) are respectively slidably connected in the two tracks (607).

2. A gantry truss manipulator according to claim 1, characterized in that: The gantry truss comprises two symmetrically arranged gantries (1) and a truss (3) located between the two gantries (1); two longitudinal moving devices (2) are respectively provided on the two gantries (1); one end of the two longitudinal moving devices (2) is respectively fixedly connected to the two ends of the truss (3); a transverse moving device (4) is provided on the truss (3); one end of the transverse moving device (4) is fixedly connected to the mounting frame (5).

3. The gantry truss manipulator according to claim 2, characterized in that: The longitudinal moving device (2) comprises a plurality of first linear slide rails (202), a first rack (203), a first gear meshed with the first rack (203), and a first rotation drive mechanism (201) whose output end is transmission-connected to the first gear. The plurality of first linear slide rails (202) and the first rack (203) are all arranged longitudinally, the guide rail end and the slider end of the first linear slide rail (202) are respectively fixedly connected to the gantry (1) and the truss (3), the first rack (203) is fixedly connected to the gantry (1), the first gear is rotationally connected to the truss (3), and the fixed end of the first rotation drive mechanism (201) is fixedly connected to the truss (3).

4. The gantry truss manipulator according to claim 3, characterized in that: The two longitudinal moving devices (2) only include one first rotation driving mechanism (201), and the output end of one first rotation driving mechanism (201) is transmission-connected to the two first gears.

5. The gantry truss manipulator according to claim 2, characterized in that: The lateral movement device (4) comprises two second linear slide rails (404), a second rack (403), a second gear (402) meshing with the second rack (403), and a second rotation drive mechanism (401) whose output end is transmission-connected to the second gear (402). The two second linear slide rails (404) and the second rack (403) are both arranged in the transverse direction. The guide rail ends and the slider ends of the two second linear slide rails (404) are respectively fixedly connected to the two sides of the truss (3) and the mounting frame (5). The second rack (403) is fixedly connected to the truss (3), the second gear (402) is rotationally connected to the mounting frame (5), and the fixed end of the second rotation drive mechanism (401) is fixedly connected to the mounting frame (5).

6. A gantry truss manipulator according to claim 1 or 2, characterized in that: A third rotation drive mechanism (601) is fixedly connected to the mounting frame (5), and two horizontal transmission rods (602) located at the same height and parallel to each other are rotatably connected to the mounting frame (5). The output end of the third rotation drive mechanism (601) is transmission-connected to one of the horizontal transmission rods (602); the two sprockets (604) are coaxially fixedly connected to the two horizontal transmission rods (602), and the two first transmission gears (603) that mesh with each other are coaxially fixedly connected to the two horizontal transmission rods (602), and the two first transmission gears (603) have the same size.

7. A gantry truss manipulator according to claim 1 or 2, characterized in that: The upper end of the vertical telescopic assembly (7) is fixedly connected to a displacement detection sensor for detecting the vertical displacement of the lower end of the vertical telescopic assembly (7) or the clamping platform (8).

8. A gantry truss manipulator according to claim 1 or 2, characterized in that: The vertical telescopic component (7) is a telescopic sleeve.

9. A gantry truss manipulator according to claim 1 or 2, characterized in that: The vertical telescopic assembly (7) is a parallel combination of two unpowered scissor lift mechanisms, the upper ends of the two unpowered scissor lift mechanisms are respectively fixedly connected to the two sides of the mounting frame (5), and the lower ends of the two unpowered scissor lift mechanisms are respectively fixed to the two sides of the clamping platform (8).

10. A gantry truss manipulator according to claim 1 or 2, characterized in that: The clamping platform (8) includes a mounting plate (801) and a clamping manipulator (804) connected to the mounting plate (801) for vertical rotation, the lower end of the vertical telescopic assembly (7) and the lower end of the rigid chain (605) are both fixedly connected to the mounting plate (801); a fourth rotation drive mechanism (802) is fixedly connected to the mounting plate (801), and a second transmission gear (803) is coaxially fixedly connected to the clamping manipulator (804) and is transmission-connected to the output end of the fourth rotation drive mechanism (802).

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