Truss robot with stable structure

Abstract

The utility model discloses a truss robot with a stable structure, which belongs to the technical field of truss robots and comprises an X-axis electric sliding rail, a Z-axis electric sliding rail, a Y-axis driving device, a Y-axis moving rod, a clamping jaw and a reinforcing sleeve shell. Through arrangement of the reinforcing sleeve shell, the contact area of the reinforcing sleeve shell and the X-axis electric sliding rails on the two sides is larger, then the X-axis electric sliding rails on the two sides can be prevented from being bent, the bearing force of the X-axis electric sliding rails on the two sides can be increased, and the reinforcing sleeve shell can move on the outer walls of the X-axis electric sliding rails on the two sides along with movement of the Z-axis electric sliding rails. And the bottom of the set square is slidably connected with the interior of the sliding rail, friction force of the bottom of the set square can be effectively reduced, and the service life of the set square is prolonged.

Description

Technical Field

[0001] The utility model belongs to the technical field of truss robots, and in particular relates to a truss robot with a stable structure. Background Art

[0002] A Cartesian robot is a multi-purpose manipulator that is automatically controlled, reprogrammable, and capable of multiple degrees of freedom, with the degrees of freedom of motion arranged in a rectangular relationship. Also known as a large Cartesian robot, gantry robot, or gantry robot, it primarily operates by performing linear motion along the X, Y, and Z axes. With the development of intelligent manufacturing, gantry robots have become an indispensable automation device in smart factory production.

[0003] Chinese utility model patent CN216883958U discloses a truss robot, comprising: an X-axis double crossbeam, a Y-axis double crossbeam and a Z-axis longitudinal beam assembly, wherein the Y-axis double crossbeam is slidably connected between the X-axis double crossbeams, and the Y-axis double crossbeam can move horizontally along the X-axis double crossbeams, and the Z-axis longitudinal beam assembly is slidably connected between the Y-axis double crossbeams, and the Z-axis longitudinal beam assembly can move horizontally along the Y-axis double crossbeams, or / and, the Z-axis longitudinal beam assembly can move up and down in the vertical direction, which can reduce the bending moment of the X-axis double crossbeams when the Y-axis double crossbeams move horizontally along the X-axis double crossbeams, and reduce the bending moment of the Y-axis double crossbeams when the Z-axis longitudinal beam assembly moves horizontally along the Y-axis double crossbeams, thereby greatly improving the load-bearing capacity of the X-axis double crossbeams and the Y-axis double crossbeams. In addition, in the truss robot with this structural arrangement, the force balance of the X-axis double crossbeams and the Y-axis double crossbeams is good, and thus the hoisting safety and stability of the entire truss robot are high.

[0004] Although the above-mentioned existing technology can improve stability by setting up double beams, when grabbing and clamping heavy objects and moving them to the center of the X-axis, the middle part of the X-axis double beams bears a large weight, which can easily cause the middle part of the X-axis double beams to bend downward, thereby damaging the robot. Utility Model Content

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract and title of the utility model to avoid obscuring the purpose of this section, the abstract and the title of the utility model, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0006] In order to solve the problem raised in the above background technology that when grabbing and clamping heavy objects and moving them to the center of the X-axis, the middle part of the X-axis double beam bears a large weight, which easily causes the middle part of the X-axis double beam to bend downward, thereby damaging the robot, the present utility model adopts the following technical solution.

[0007] A truss robot with a stable structure comprises X-axis electric slide rails arranged relatively to each other, support legs fixedly connected to the bottom sides of the X-axis electric slide rails on both sides, a Z-axis electric slide rail slidably connected between the X-axis electric slide rails on both sides, a Y-axis drive device slidably connected to the Z-axis electric slide rail, a Y-axis moving rod slidably connected to the Y-axis drive device, a clamping claw detachably connected to the end of the Y-axis moving rod, a reinforcement shell detachably connected to the outside of the Z-axis electric slide rail, the reinforcement shell being slidably connected to the outer walls of the X-axis electric slide rails on both sides, and sliding grooves being provided on the upper and lower sides of the reinforcement shell.

[0008] Preferably, the outer walls on both sides of the reinforcement shell are fixedly connected with triangular plates, the outer parts of the supporting legs on both sides are detachably connected with sliding rails, and the bottoms of the triangular plates on both sides are slidably connected with the inner parts of the sliding rails.

[0009] Preferably, outwardly inclined sliding plates are fixedly connected to both sides of the bottom of the triangular plate, and rollers are embedded and rotatably connected to the bottoms of the sliding plates on both sides, and the rollers contact the inner bottom of the sliding track.

[0010] Preferably, the bottom of the reinforcement sleeve at both ends is detachably connected to connecting transverse plates on both sides, and the bottom of the connecting transverse plate near the center of the reinforcement sleeve is fixedly connected to a second inclined plate, and the second inclined plate is detachably connected to the inner bottom of the triangular plate.

[0011] Preferably, the bottom of the connecting transverse plate is fixedly connected to a first inclined plate, and the first inclined plate is arranged obliquely and fixedly connected to the outer wall of the second inclined plate.

[0012] Preferably, two connecting transverse plates on the same side are fixedly connected to ends of the two connecting transverse plates close to the triangular plate, and the connecting plates are clamped on the outer wall of the triangular plate.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. The reinforcement sleeve can increase the contact area with the X-axis electric slide rails on both sides when the clamping claw grabs a heavy object and the Y-axis moving rod moves upward, thereby preventing the X-axis electric slide rails on both sides from being bent, thereby increasing the bearing capacity of the X-axis electric slide rails on both sides, and the reinforcement sleeve can move along the outer walls of the X-axis electric slide rails on both sides following the movement of the Z-axis electric slide rail.

[0015] 2. By setting the bottom of the triangle plate and the internal sliding connection of the sliding track, the friction at the bottom of the triangle plate can be effectively reduced, and the service life of the triangle plate can be increased. The gravity borne by the reinforcement sleeve can be applied to the sliding track through the triangle plate, and the load-bearing effect is better through the structure of the triangle plate. The triangle plate can move with the movement of the reinforcement sleeve, and no matter what position the Z-axis electric slide moves to, it can support the reinforcement sleeve and reduce the load-bearing force of the X-axis electric slides on both sides.

[0016] 3. The setting of the roller can adaptively rotate inside the sliding track when the triangle moves, thereby reducing the friction and further increasing the service life of the triangle.

[0017] 4. By setting up the connecting horizontal plate and the second inclined plate, the bearing force of the Z-axis electric slide rail can be transferred to the triangular plate through the second inclined plate when the clamping claw clamps heavy objects, thereby increasing the bearing force of the Z-axis electric slide rail.

[0018] 5. By setting the first inclined plate, the connecting horizontal plate, the first inclined plate and the second inclined plate form a triangular stable structure, which can further increase the supporting force, and the connecting horizontal plate, the first inclined plate and the second inclined plate can also move with the reinforcement sleeve, so that the clamping claws at different positions can have good supporting force when clamping heavy objects, thereby increasing the service life of the equipment.

[0019] 6. The connection plate provided can increase the contact area between the connecting horizontal plate, the first inclined plate and the second inclined plate and the triangular plate, so that the connecting horizontal plate, the first inclined plate and the second inclined plate have better supporting force. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of a truss robot with a stable structure in the present utility model;

[0021] Figure 2 This is a schematic diagram of the reinforced casing structure in the utility model;

[0022] Figure 3 This is a schematic diagram of the structure of the triangle plate in the utility model;

[0023] Figure 4 This is a schematic diagram of the structure of the second inclined plate in the present utility model;

[0024] Figure 5 This is a schematic diagram of the connecting plate structure in the utility model.

[0025] The corresponding relationship between the illustration labels and component names in the figure is as follows:

[0026] 100, X-axis electric slide; 101, Z-axis electric slide; 102, support leg; 103, clamping claw; 104, Y-axis moving rod;

[0027] 200, reinforcement shell; 201, sliding groove; 202, triangular plate; 203, sliding plate; 204, sliding track; 205, connecting cross plate; 206, first inclined plate; 207, second inclined plate; 208, connecting plate; 209, Y-axis drive device. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments. The present invention provides the following embodiments.

[0031] like Figure 1-3 As shown, it is a schematic diagram of the structure of a truss robot with a stable structure in a preferred embodiment of the present invention. The truss robot with a stable structure in this embodiment includes X-axis electric slides 100 arranged relatively to each other, support legs 102 are fixedly connected to the bottom sides of the X-axis electric slides 100 on both sides, a Z-axis electric slide 101 is slidably connected between the X-axis electric slides 100 on both sides, a Y-axis driving device 209 is slidably connected to the Z-axis electric slide 101, a Y-axis moving rod 104 is slidably connected to the Y-axis driving device 209, and a clamping claw 103 is detachably connected to the end of the Y-axis moving rod 104. In this embodiment, the Z-axis electric slide 101 moves between the X-axis electric slides 100 on both sides to realize X-axial movement, the Z-axial movement is realized by the movement of the Y-axis driving device 209 inside the Z-axis electric slide 101, and the Y-axial movement is realized by the up and down movement of the Y-axis moving rod 104 inside the Y-axis driving device 209.

[0032] like Figure 2As shown, it is a schematic diagram of the reinforcement shell structure in this embodiment. The outside of the Z-axis electric slide 101 is detachably connected to a reinforcement shell 200, and the reinforcement shell 200 is slidably connected to the outer walls of the X-axis electric slides 100 on both sides. Sliding grooves 201 are provided on the upper and lower sides of the reinforcement shell 200. In this embodiment, the reinforcement shell 200 can be used to grab heavy objects when the clamping claw 103 grabs heavy objects and the Y-axis moving rod 104 moves upward. The setting of the reinforcement shell 200 makes the contact area with the X-axis electric slides 100 on both sides larger, thereby preventing the X-axis electric slides 100 on both sides from being bent, thereby increasing the bearing capacity of the X-axis electric slides 100 on both sides, and the reinforcement shell 200 can move along the outer walls of the X-axis electric slides 100 on both sides following the movement of the Z-axis electric slide 101.

[0033] like Figure 3 As shown, it is a schematic diagram of the triangle plate structure in this embodiment, the outer walls of both sides of the reinforcement sleeve 200 are fixedly connected with triangle plates 202, and the outside of the supporting legs 102 on both sides are detachably connected with sliding rails 204, and the bottom of the triangle plates 202 on both sides is slidably connected to the inside of the sliding rails 204. In this embodiment, the bottom of the triangle plates 202 is slidably connected to the inside of the sliding rails 204, so that the gravity borne by the reinforcement sleeve 200 can be applied to the sliding rails 204 through the triangle plates 202, and the structure of the triangle plates 202 makes the load-bearing effect better, and the triangle plates 202 can move with the movement of the reinforcement sleeve 200, so no matter what position the Z-axis electric slide 101 moves to, it can support the reinforcement sleeve 200 and reduce the load-bearing force of the X-axis electric slides 100 on both sides.

[0034] like Figure 3 As shown, in order to further increase the service life of the triangle plate 202, in this embodiment, the two sides of the bottom of the triangle plate 202 are fixedly connected with outwardly inclined sliding plates 203, and the bottoms of the sliding plates 203 on both sides are embedded with rollers that are rotatably connected, and the rollers contact the inner bottom of the sliding track 204. In this embodiment, the setting of the rollers can adaptively rotate inside the sliding track 204 when the triangle plate 202 moves, thereby reducing the friction and further increasing the service life of the triangle plate 202.

[0035] like Figure 4As shown, it is a schematic diagram of the second inclined plate structure in this embodiment. The bottom sides of the reinforcement sleeve 200 at both ends are detachably connected with connecting cross plates 205, and the bottom of the connecting cross plate 205 near the center of the reinforcement sleeve 200 is fixedly connected with a second inclined plate 207. The second inclined plate 207 is detachably connected to the inner bottom of the triangular plate 202. In this embodiment, through the arrangement of the connecting cross plate 205 and the second inclined plate 207, the bearing force of the Z-axis electric slide 101 can be transferred to the triangular plate 202 through the second inclined plate 207 when the clamping claw 103 clamps heavy objects, thereby increasing the bearing force of the Z-axis electric slide 101.

[0036] like Figure 4 As shown, in order to increase the bearing capacity of the second inclined plate 207, in this embodiment, the bottom of the connecting horizontal plate 205 is fixedly connected with a first inclined plate 206, and the first inclined plate 206 is tilted and fixedly connected to the outer wall of the second inclined plate 207. In this embodiment, through the setting of the first inclined plate 206, the connecting horizontal plate 205, the first inclined plate 206 and the second inclined plate 207 form a triangular stable structure, which can further increase the supporting force, and the connecting horizontal plate 205, the first inclined plate 206 and the second inclined plate 207 can also move with the reinforcement sleeve 200, so that the clamping claws 103 at different positions can have good supporting force when clamping heavy objects, thereby increasing the service life of the equipment.

[0037] like Figure 5 As shown, it is a schematic diagram of the connecting plate structure in this embodiment. The two connecting horizontal plates 205 on the same side are fixedly connected with a connecting plate 208 near the end of the triangular plate 202. The connecting plate 208 is stuck on the outer wall of the triangular plate 202. In this embodiment, the contact area between the connecting horizontal plate 205, the first inclined plate 206 and the second inclined plate 207 and the triangular plate 202 can be increased through the connecting plate 208, so that the connecting horizontal plate 205, the first inclined plate 206 and the second inclined plate 207 have better supporting force.

[0038] The above content is a further detailed description of the present invention in combination with specific implementation methods. It cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, they can make several simple deductions or substitutions without departing from the concept of the present invention, which should be regarded as falling within the scope of protection determined by the claims submitted for the present invention.

Claims

1. A truss robot with a stable structure, comprising X-axis electric slide rails (100) arranged relatively to each other, support legs (102) fixedly connected to the bottom sides of the X-axis electric slide rails (100) on both sides, a Z-axis electric slide rail (101) slidably connected between the X-axis electric slide rails (100) on both sides, a Y-axis driving device (209) slidably connected to the Z-axis electric slide rail (101), a Y-axis moving rod (104) slidably connected to the Y-axis driving device (209), and a clamping claw (103) detachably connected to the end of the Y-axis moving rod (104), characterized in that: The Z-axis electric slide rail (101) is detachably connected to a reinforcement sleeve (200) on the outside. The reinforcement sleeve (200) is slidably connected to the outer walls of the X-axis electric slide rails (100) on both sides. Sliding grooves (201) are provided on the upper and lower sides of the reinforcement sleeve (200).

2. The structurally stable truss robot according to claim 1, characterized in that: The outer walls of both sides of the reinforcement shell (200) are fixedly connected with triangular plates (202), the outer sides of the supporting legs (102) are detachably connected with sliding rails (204), and the bottoms of the triangular plates (202) on both sides are slidably connected with the inner sides of the sliding rails (204).

3. The structurally stable truss robot according to claim 2, characterized in that: The bottom sides of the triangle plate (202) are fixedly connected with outwardly inclined sliding plates (203), and the bottoms of the sliding plates (203) on both sides are embedded with rollers that are rotatably connected, and the rollers contact the inner bottom of the sliding track (204).

4. The structurally stable truss robot according to claim 3, characterized in that: The bottom of the reinforcement sleeve (200) at both ends is detachably connected to a connecting transverse plate (205), the bottom of the connecting transverse plate (205) near the center of the reinforcement sleeve (200) is fixedly connected to a second inclined plate (207), and the second inclined plate (207) is detachably connected to the inner bottom of the triangular plate (202).

5. The structurally stable truss robot according to claim 4, characterized in that: The bottom of the connecting transverse plate (205) is fixedly connected to a first inclined plate (206), and the first inclined plate (206) is arranged obliquely and fixedly connected to the outer wall of the second inclined plate (207).

6. The structurally stable truss robot according to claim 5, characterized in that: The two connecting transverse plates (205) on the same side are fixedly connected to the ends of the triangular plate (202) and are close to the ends of the triangular plate (202). The connecting plates (208) are clamped on the outer wall of the triangular plate (202).

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