Truss manipulator with positioning function

Abstract

The utility model discloses a truss manipulator with a positioning function, which belongs to the technical field of truss manipulators and comprises a base, a truss body is movably mounted at the top of the base, an L-shaped plate is fixedly mounted on the inner side of the truss body, and a first laser displacement range finder is fixedly mounted on the front side of the L-shaped plate. A limiting seat is movably mounted at the top of the truss main body, a second laser displacement range finder is fixedly mounted at the bottom of the limiting seat, and output ends are arranged on one side and the bottom of the second laser displacement range finder; through the structural design of the base, the truss main body, the first laser displacement range finder, the limiting seat, the second laser displacement range finder, the lifting toothed plate and the reflecting plate, the function of implementing monitoring on three-axis movement is realized, so that the working position of the pneumatic manipulator can be accurately controlled, accurate movement adjustment in a control system is helped, and the working efficiency is improved. And the possibility that the position of the manipulator deviates due to abrasion of mechanical components is avoided.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, and more specifically, to a gantry robot with positioning function. Background Technology

[0002] A gantry robot is a fully automated industrial device based on a Cartesian X, Y, Z coordinate system. It performs functions such as workstation adjustment or workpiece trajectory movement. Due to its lightweight structure and good force distribution, the gantry robot has the advantages of high positioning accuracy, high load capacity, and simple structure. As a result, gantry robots are widely used in engineering machinery and various automated production sites, improving processing safety.

[0003] Most traditional gantry robots on the market rely on servo motors for driving. As working time increases, the servo motor drive components will wear out, which may cause positional deviations or error accumulation during the positioning of the gantry robot. Furthermore, there is a lack of real-time dynamic monitoring mechanism during the operation of the robot, which makes it impossible to accurately control its working position after the robot moves. In view of this, we propose a gantry robot with positioning function. Utility Model Content

[0004] 1. Technical problems to be solved

[0005] The purpose of this invention is to provide a gantry robot with positioning function to solve the problems mentioned in the background art.

[0006] 2. Technical Solution

[0007] A truss robot with positioning function includes a base, a truss body movably mounted on the top of the base, an L-plate fixedly mounted on the inner side of the truss body, a first laser displacement rangefinder fixedly mounted on the front of the L-plate, a limit seat movably mounted on the top of the truss body, a second laser displacement rangefinder fixedly mounted on the bottom of the limit seat, an output end provided on one side and the bottom of the second laser displacement rangefinder, a lifting toothed plate movably mounted inside the limit seat, a connecting plate fixedly mounted on the top and bottom of the lifting toothed plate, and a reflector fixedly mounted on one side of the connecting plate.

[0008] Preferably, a connecting seat is fixedly installed at the bottom of the connecting plate, a pneumatic manipulator is fixedly installed at the bottom of the connecting seat, and a light rod is fixedly installed on the inner side of the connecting plate.

[0009] Preferably, the two sides of the base top are provided with a sliding groove, one side of the sliding groove is fixedly provided with a first servo motor, one side of the first servo motor is provided with a first threaded rod, the tail end of the first threaded rod is fixedly provided with a driving gear, and the surface of the driving gear is toothedly connected with a transmission chain.

[0010] Preferably, a third threaded rod is movably arranged in the sliding groove, and the tail end of the third threaded rod is fixedly provided with a transmission gear which is toothedly connected with the transmission chain.

[0011] Preferably, a second servo motor is fixedly arranged at the top of one side of the truss body, one side of the second servo motor is provided with a second threaded rod, and the inside of the truss body is fixedly provided with a limiting rod.

[0012] Preferably, a third servo motor is fixedly arranged at one side of the top of the limiting seat, the tail end of the output end of the third servo motor is fixedly provided with a toothed disc which is toothedly connected with the lifting toothed plate.

[0013] 3. Beneficial effects

[0014] Compared with the prior art, the utility model has the advantages that;

[0015] 1. The utility model discloses a truss mechanical hand three-axis motion monitoring device which can realize real-time data acquisition during mechanical grabbing work, ensure that the position and movement state information of the truss mechanical hand can be obtained in time during the three-axis movement process, and facilitate accurate movement adjustment and feedback in the subsequent control system.

[0016] 2. The utility model discloses a truss mechanical hand three-axis motion monitoring device which can realize real-time data acquisition during mechanical grabbing work, ensure that the position and movement state information of the truss mechanical hand can be obtained in time during the three-axis movement process, and facilitate accurate movement adjustment and feedback in the subsequent control system. ACCURATE CONTROL OF THE WORKING POSITION OF THE PNEUMATIC MECHANICAL HAND IS REALIZED, PRECISE MOVEMENT ADJUSTMENT IN THE CONTROL SYSTEM IS FACILITATED, THE POSSIBILITY OF POSITION DEVIATION OF THE MECHANICAL HAND CAUSED BY WEAR of mechanical components is avoided, and the problem of limited positioning accuracy caused by the lack of a dynamic monitoring mechanism is solved.

[0017] Figure 1 It is a front view of the overall structure of the utility model;

[0018] Figure 2 It is a back view of the overall structure of the utility model;

[0019] Figure 3 It is a sectional view of the base structure of the utility model;

[0020] Figure 4The utility model discloses a truss main body structure partial section view schematic drawing.

[0021] Mark explanation in drawing:1, base; 2, truss main body; 3, L plate; 4, first laser displacement range finder; 5, limit seat; 6, second laser displacement range finder; 7, lifting toothed plate; 8, connecting plate; 9, reflecting plate; 10, connecting seat; 11, pneumatic manipulator; 12, light pole; 13, sliding slot; 14, first servo motor; 15, first threaded rod; 16, drive gear; 17, transmission chain; 18, third threaded rod; 19, transmission gear; 20, second servo motor; 21, second threaded rod; 22, limit rod; 23, third servo motor; 24, toothed disc. DETAILED DESCRIPTION

[0022] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model.

[0023] In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0024] In the description of the utility model, it is understood that, unless otherwise specifically provided and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood in a broad sense, for example, "connected" can be fixedly connected, can be detachably connected or integrally connected, can be mechanically connected, can be electrically connected, can be directly connected or indirectly connected through an intermediate medium, and can be connected inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0025] Please refer to Figures 1-4 The utility model provides a technical scheme:

[0026] The utility model provides a truss mechanical hand with positioning function, including base 1, the top movable mounting of base 1 has truss body 2, the inside fixed mounting of truss body 2 has L board 3, the front fixed mounting of L board 3 has first laser displacement range finder 4, the top movable mounting of truss body 2 has limit seat 5, the bottom fixed mounting of limit seat 5 has second laser displacement range finder 6, and one side and the bottom of second laser displacement range finder 6 are all provided with output, the inside movable mounting of limit seat 5 has lifting toothed plate 7, and the top and bottom of lifting toothed plate 7 are all fixedly installed with connecting plate 8, and the side fixed mounting of connecting plate 8 has reflector 9, through the mutual matching of base 1, truss body 2, first laser displacement range finder 4, limit seat 5, second laser displacement range finder 6, lifting toothed plate 7, reflector 9, three-axis motion implementation monitoring function is realized, thereby can accurately control the working position of pneumatic manipulator 11, thereby help control system carries out accurate motion adjustment, avoids the possibility that the position of manipulator appears deviation due to mechanical component wear.

[0027] Specifically, the bottom of the connecting plate 8 is fixedly installed with a connecting seat 10, the bottom of the connecting seat 10 is fixedly installed with a pneumatic manipulator 11, and the inner side of the connecting plate 8 is fixedly installed with a polished rod 12. The connecting seat 10 provides the installation position of the pneumatic manipulator 11, and also connects the pneumatic manipulator 11 and the lifting toothed plate 7, thereby achieving precise control of the height of the pneumatic manipulator 11.

[0028] Further, the two sides of the top of the base 1 are provided with a sliding groove 13, the side of the sliding groove 13 is fixedly installed with a first servo motor 14, the side of the first servo motor 14 is provided with a first threaded rod 15, the end of the first threaded rod 15 is fixedly installed with a drive gear 16, and the surface of the drive gear 16 is toothed connected with a transmission chain 17. The actual number of the first servo motor 14 is one, and the drive function is realized through the first servo motor 14, the first threaded rod 15, and the drive gear 16. The third threaded rod 18 can be driven to rotate by cooperating with the transmission chain 17, thereby achieving the purpose of moving the truss body 2 as a whole, and the pneumatic manipulator 11 can move forward or backward in the horizontal direction.

[0029] It is worth mentioning that the inside of the sliding groove 13 is movably installed with a third threaded rod 18, the end of the third threaded rod 18 is fixedly installed with a transmission gear 19, and the transmission gear 19 is toothed with the transmission chain 17. The actual number of the third threaded rod 18 is one, and the bottom of one side of the truss body 2 is limited through the third threaded rod 18, thereby ensuring that the two side legs of the truss body 2 move synchronously, and the stability of the truss body 2 during movement is ensured.

[0030] It is worth noting that the top of one side of the truss body 2 is fixedly installed with a second servo motor 20, one side of the second servo motor 20 is provided with a second threaded rod 21, and the inside of the truss body 2 is fixedly installed with a limiting rod 22; through the setting of the second servo motor 20, the second threaded rod 21 and the limiting rod 22, the function of driving the mechanical hand to move horizontally is realized, thereby the use range of the mechanical hand can be increased, and the mechanical hand can cover any position inside the base 1 in cooperation with the first servo motor 14.

[0031] In addition, one side of the top of the limiting seat 5 is fixedly installed with a third servo motor 23, the tail end of the output end of the third servo motor 23 is fixedly installed with a gear disc 24, and the gear disc 24 is in mesh with the lifting toothed plate 7; through the third servo motor 23 and the gear disc 24, the function of adjusting the height of the mechanical hand is realized in cooperation with the lifting toothed plate 7, thereby the pneumatic mechanical hand 11 can be quickly and accurately positioned to grab and convey workpieces, and the purpose of three-axis movement is achieved in cooperation with the first servo motor 14 and the second servo motor 20.

[0032] Working principle: when using the device, the first servo motor 14, the second servo motor 20 and the third servo motor 23 are programmed and controlled by PLC, the first threaded rod 15 is driven to rotate by the first servo motor 14, the transmission chain 17 is driven to rotate by the first threaded rod 15 in cooperation with the driving gear 16, the rotating force is transmitted to the transmission gear 19 by the transmission chain 17, and the third threaded rod 18 is driven to rotate by the transmission gear 19, at this time, the first threaded rod 15 and the third threaded rod 18 are synchronously rotated to drive the truss body 2 to move, during which, the distance between the truss body 2 and the inner wall of the base 1 is measured in real time by the first laser displacement gauge 4, the limiting seat 5 is moved by the second servo motor 20 in cooperation with the second threaded rod 21, during which, the limiting seat 5 is limited by the limiting rod 22, the distance between the truss body 2 and the inner wall is measured in real time by the output end of one side of the second laser displacement gauge 6, the gear disc 24 is driven to rotate by the output end of the third servo motor 23, the lifting toothed plate 7 is pushed by the gear disc 24, the pneumatic mechanical hand 11 is lifted by the lifting toothed plate 7, during which, the height of the pneumatic mechanical hand 11 is monitored in real time by the output end at the bottom of the second laser displacement gauge 6 in cooperation with the reflecting plate 9, and the working position of the pneumatic mechanical hand 11 is accurately controlled by the laser displacement gauge in real time.

[0033] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A gantry robot with positioning function, comprising a base (1), characterized in that: A truss body (2) is movably installed on the top of the base (1). An L-plate (3) is fixedly installed on the inner side of the truss body (2). A first laser displacement rangefinder (4) is fixedly installed on the front of the L-plate (3). A limiting seat (5) is movably installed on the top of the truss body (2). A second laser displacement rangefinder (6) is fixedly installed on the bottom of the limiting seat (5). An output end is provided on one side and at the bottom of the second laser displacement rangefinder (6). A lifting toothed plate (7) is movably installed inside the limiting seat (5). A connecting plate (8) is fixedly installed on the top and bottom of the lifting toothed plate (7). A reflector (9) is fixedly installed on one side of the connecting plate (8).

2. A gantry robot with positioning function according to claim 1, characterized in that: A connecting seat (10) is fixedly installed at the bottom of the connecting plate (8), a pneumatic manipulator (11) is fixedly installed at the bottom of the connecting seat (10), and a light rod (12) is fixedly installed on the inner side of the connecting plate (8).

3. A gantry robot with positioning function according to claim 1, characterized in that: The base (1) has a sliding groove (13) on both sides of the top. A first servo motor (14) is fixedly installed on one side of the sliding groove (13). A first threaded rod (15) is provided on one side of the first servo motor (14). A drive gear (16) is fixedly installed at the end of the first threaded rod (15). A transmission chain (17) is meshed on the surface of the drive gear (16).

4. A gantry robot with positioning function according to claim 3, characterized in that: A third threaded rod (18) is movably installed inside the slide (13), and a transmission gear (19) is fixedly installed at the end of the third threaded rod (18). The transmission gear (19) meshes with the transmission chain (17).

5. A gantry robot with positioning function according to claim 1, characterized in that: A second servo motor (20) is fixedly installed on the top of one side of the truss body (2), and a second threaded rod (21) is provided on one side of the second servo motor (20). A limit rod (22) is fixedly installed inside the truss body (2).

6. A gantry robot with positioning function according to claim 1, characterized in that: A third servo motor (23) is fixedly installed on one side of the top of the limiting seat (5), and a gear plate (24) is fixedly installed at the end of the output end of the third servo motor (23). The gear plate (24) meshes with the lifting gear plate (7).

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