Heavy-load truss manipulator

Abstract

The utility model relates to the technical field of manipulators, in particular to a heavy-load truss manipulator which comprises a first horizontal moving mechanism, a second horizontal moving mechanism, a vertical moving mechanism and a manipulator body. The first horizontal moving mechanism comprises a first sliding rail set, a first horizontal moving assembly and a second horizontal moving assembly which are matched with the first sliding rail set, and two bases for fixing the two assemblies respectively. The second horizontal moving mechanism comprises a second sliding rail set, a third horizontal moving assembly matched with the second sliding rail set and a base. The vertical moving mechanism comprises a vertical sliding rail, a fourth sliding rail set, a vertical moving assembly matched with the fourth sliding rail set and a fixing frame, the rack is matched with the gear connected with the output shaft of the motor, accurate power transmission and motion control are achieved, friction is reduced through the design of the positioning wheel set and the pulley set, the moving efficiency is improved, and the moving efficiency is improved. And the manipulator can stably work for a long time under the heavy load condition.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field especially relates to a heavy load truss manipulator. BACKGROUND

[0002] The manipulator is not reasonable in structural design, which leads to limited working load and cannot meet the heavy load demand. In the clamping structure aspect, it may not effectively adapt to different shapes of materials, especially prone to falling phenomenon when clamping plate body and other materials, which not only causes material damage, but also may lead to production interruption and economic loss. Moreover, the design of the moving mechanism of some manipulators is not accurate and stable, which affects the reliability of its operation and the convenience of operation. These problems promote the further research and improvement of the heavy load truss manipulator to improve its practicability and efficiency in industrial production.

[0003] Chinese patent publication No. CN215789857U discloses a heavy load type truss manipulator, which comprises a heavy load type support, a Y-axis beam, a Y-axis moving seat, a Y-axis linear slide rail, a Y-axis moving driving device, an X-axis beam, an X-axis moving seat, an X-axis linear slide rail, an X-axis moving driving device, a Z-axis, a Z-axis mounting seat, a Z-axis moving driving device, a manipulator mounting frame and a plate body clamping device. The heavy load type support comprises a column frame and a connecting beam. The plate body clamping device comprises a clamping driving cylinder, a clamping hook sliding seat and a clamping hook. It can be seen that the heavy load type truss manipulator has the following problems: the influence of excessive load in actual work on mechanical parts is not considered, and the friction is too large during transportation, which causes the manipulator to move slowly and position inaccurately. UTILITY MODEL CONTENTS

[0004] Therefore, the utility model provides a heavy load truss manipulator to overcome the problems that the influence of excessive load in actual work on mechanical parts is not considered in the prior art, and the friction is too large during transportation, which causes the manipulator to move slowly and position inaccurately.

[0005] To achieve the above purpose, the utility model provides a heavy load truss manipulator, which comprises:

[0006] The first horizontal moving mechanism comprises a first slide rail group arranged along the first direction of the horizontal plane, a first horizontal moving assembly and a second horizontal moving assembly matched with the first slide rail group, a first base fixed with the first horizontal moving assembly, and a second base fixed with the second horizontal moving assembly;

[0007] The first slide rail group comprises horizontal first slide rails and horizontal second slide rails arranged in parallel;

[0008] a second horizontal moving mechanism including a second slide rail group arranged in parallel along a second horizontal direction, a third horizontal moving assembly cooperating with the second slide rail group, and a base connected to the second horizontal moving assembly;

[0009] The second slide rail group includes a fixed frame, a horizontal third slide rail, and a horizontal fourth slide rail arranged in parallel.

[0010] a vertical moving mechanism including a fourth slide rail group arranged in a direction perpendicular to the horizontal first direction and the horizontal second direction, a vertical moving assembly cooperating with the fourth slide rail group, and a fixed frame connected to the vertical moving assembly.

[0011] The fourth slide rail group includes a vertical first slide rail and a vertical second slide rail.

[0012] a robot connected to the fixed frame to perform a grabbing action.

[0013] Further, the first horizontal moving assembly includes:

[0014] a first rack arranged outside the first slide rail and parallel to the first slide rail;

[0015] a first motor arranged outside the horizontal first slide rail and connected to the bottom of the first base, with the output shaft of the first motor parallel to the vertical moving mechanism;

[0016] a first gear arranged on one side of the output shaft of the first motor and cooperating with the first rack;

[0017] a first positioning wheel group including a first positioning wheel subgroup and a second positioning wheel subgroup arranged at the bottom of the horizontal first base and connected to the horizontal first slide rail;

[0018] a first pulley group including a first moving pulley and a second moving pulley arranged at the bottom of the first base and located between the first positioning wheel group, cooperating with the first gear to drive the horizontal first base to move along the horizontal first slide rail under the drive of the first motor.

[0019] Further, the first positioning wheel subgroup includes four positioning wheels evenly distributed on both sides of the first slide rail and located at one end of the bottom of the horizontal first base.

[0020] The second positioning wheel subgroup includes four positioning wheels evenly distributed on both sides of the first slide rail and located at the other end of the bottom of the horizontal first base away from the first positioning wheel subgroup.

[0021] Further, the first horizontal moving assembly is matched with the horizontal first slide rail, and the second horizontal moving assembly is matched with the horizontal second slide rail.

[0022] Further, the second slide rail group is fixed on the top of the fixed frame, and a horizontal plane second direction in which the second slide rail group is laid is perpendicular to a horizontal plane first direction.

[0023] Further, the third horizontal moving assembly comprises:

[0024] a third rack arranged inside the horizontal third slide rail and parallel to the third slide rail, and a fourth rack arranged inside the horizontal fourth slide rail and parallel to the fourth slide rail

[0025] a third motor arranged inside the horizontal third slide rail and connected to the base, and an output shaft of the third motor being parallel to the vertical moving mechanism;

[0026] a third gear arranged on one side of the output shaft of the third motor and matched with the third rack;

[0027] a third positioning wheel group comprising a fifth positioning wheel subgroup and a sixth positioning wheel subgroup, arranged on the bottom of the base, the fifth positioning wheel subgroup being matched with the horizontal third slide rail, and the sixth positioning wheel subgroup being matched with the horizontal fourth slide rail;

[0028] a third pulley group comprising a fifth moving pulley and a sixth moving pulley, arranged on the bottom of the base, to drive the base to move along the arrangement direction of the second slide rail group under the driving of the third motor.

[0029] Further, the fifth positioning wheel subgroup comprises four positioning wheels, which are averagely distributed on two sides of the third slide rail and respectively located at two ends of the side of the base above the third slide rail;

[0030] the sixth positioning wheel subgroup comprises four positioning wheels, which are averagely distributed on two sides of the fourth slide rail and respectively located at two ends of the side of the base above the fourth slide rail.

[0031] Further, the vertical moving assembly comprises:

[0032] a lead screw assembly arranged on the side of the fixed frame away from the third motor and parallel to the fixed frame, to drive the fixed frame to move the mechanical arm in a vertical direction parallel to the vertical first slide rail and the vertical second slide rail;

[0033] a fourth motor arranged on the top of the fixed frame and connected to the lead screw, and an output shaft of the fourth motor being parallel to the vertical moving mechanism and matched with the lead screw, to drive the fixed frame to move in the vertical direction under the driving of the fourth motor.

[0034] Further, the fixed frame moving hole, the fourth slide rail group moving hole group and the screw rod moving hole;

[0035] The fourth slide rail group moving hole group comprises a vertical first slide rail moving hole and a vertical second slide rail moving hole, and the vertical first slide rail moving hole and the vertical second slide rail moving hole are oppositely arranged on the two sides of the fixed frame moving hole.

[0036] Further, the vertical moving mechanism further comprises a wire slot arranged on the opposite side of the fixed frame from the screw rod.

[0037] Compared with the prior art, the beneficial effects of the utility model lie in that the horizontal moving mechanism of the mechanical hand adopts a double slide rail design, cooperates with the symmetrically arranged first and second horizontal moving assemblies, ensures the coordination and synchronization in two horizontal directions, and enhances the carrying capacity and stability. Secondly, the screw rod assembly in the vertical moving mechanism provides precise vertical positioning capacity, the threaded structure ensures smooth and continuous movement, reduces vibration, and improves uniform transmission of the load. In addition, the symmetric layout of the mechanical hand and the precise power transmission system simplify the transmission structure, reduce energy loss, and improve overall efficiency. Finally, by arranging the rack parallel to the slide rail on the outer side of the slide rail and cooperating with the gear connected with the motor output shaft, precise power transmission and motion control are realized, and the design of the positioning wheel group and the pulley group reduces friction and improves movement efficiency, so that the mechanical hand can work stably for a long time under heavy load conditions.

[0038] Further, by arranging the rack parallel to the slide rail on the outer side of the slide rail and cooperating with the first and second gears connected with the motor output shaft, precise power transmission and motion control are realized. In addition, the design of the first and second positioning wheel groups ensures stable operation of the moving assembly along the slide rail, and the arrangement of the first and second pulley groups reduces friction and improves movement efficiency. This symmetric arrangement not only enhances the carrying capacity of the mechanical hand, but also ensures the coordination and synchronization in two horizontal directions, so that the mechanical hand can smoothly and accurately move heavy loads, improving work efficiency and safety.

[0039] Further, by arranging the third rack and the fourth rack parallel to the inner sides of the horizontal third slide rail and the fourth slide rail, respectively, and the corresponding third motor and third gear, effective power transmission and precise motion control are ensured. The third positioning wheel group makes the contact between the base and the slide rail more stable, reduces friction and wear during movement, and the arrangement of the third pulley group further reduces friction, improves movement flexibility and speed.

[0040] Further, by evenly distributing the positioning wheels on both sides of the third and fourth sliding rails, and grouping the positioning wheels at both ends of the base, this symmetrical layout helps to distribute the load and reduce wear caused by uneven stress. The design of the moving pulley in the middle of the positioning wheel group makes the force transmission more uniform, reducing friction between the sliding rail and the moving assembly, thereby improving the moving efficiency. In addition, by setting holes and mounting pieces on the base plate to fix the positioning wheels and the moving pulley, this structure not only facilitates installation and maintenance, but also enhances the rigidity and durability of the overall structure, enabling the manipulator to work stably for a long time under heavy load conditions.

[0041] Further, the lead screw assembly can provide highly precise linear motion and good rigidity, ensuring precise positioning and stability of the manipulator in the vertical direction. The threaded structure of the lead screw enables smooth and continuous movement of the vertical movement mechanism, reducing vibration and improving uniform transmission of the load. In addition, the direct connection of the lead screw with the motor simplifies the transmission system, reduces energy loss, and improves efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The device schematic diagram of the heavy load truss manipulator of the embodiment of the present application is shown in the figure.

[0043] Figure 2 The schematic diagram of the first horizontal moving assembly of the embodiment of the present application is shown in the figure.

[0044] Figure 3 The schematic diagram of the second horizontal moving assembly of the embodiment of the present application is shown in the figure.

[0045] Figure 4 The schematic diagram of the third horizontal moving assembly of the embodiment of the present application is shown in the figure.

[0046] Figure 5 The side view of the vertical movement mechanism of the embodiment of the present application is shown in the figure.

[0047] Figure 6 The internal schematic diagram of the base of the embodiment of the present application is shown in the figure.

[0048] In the figure: 111, horizontal first slide rail; 112, horizontal second slide rail; 121, first base; 122, second base; 131, first rack; 132, second rack; 141, first gear; 142, second gear; 151, first positioning wheel group; 152, second positioning wheel group; 153, third positioning wheel group; 154, fourth positioning wheel group; 161, first moving pulley; 162, second moving pulley; 163, third moving pulley; 164, fourth moving pulley; 211, horizontal third slide rail; 212, horizontal fourth slide rail; 22, third rack; 23, fixed frame; 24, third gear; 251, fifth positioning wheel group; 252, sixth positioning wheel group; 261, fifth moving pulley; 262, sixth moving pulley; 27, base; 271, fixed frame moving hole; 274, screw moving hole; 272, vertical first slide rail moving hole; 273, vertical second slide rail moving hole; 28, third motor; 311, vertical first slide rail; 312, vertical second slide rail; 32, screw assembly; 33, fixed frame; 34, fourth motor. DETAILED DESCRIPTION

[0049] In order to make the purpose and advantages of the present application clearer, the present application will be further described below with examples; it should be understood that the specific examples described herein are only used to explain the present application, and do not limit the present application.

[0050] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0051] It should be noted that in the description of the present application, the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the direction or positional relationship of the terms based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0052] In addition, it should also be noted that in the description of the present application, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0053] Please refer toFigure 1 As shown in the structural diagram of the heavy-duty truss manipulator, the utility model provides a heavy-duty truss manipulator, which comprises

[0054] The first horizontal moving mechanism comprises a first slide rail group arranged along a first direction of a horizontal plane, a first horizontal moving assembly and a second horizontal moving assembly matched with the first slide rail group, a first base 121 for fixing the first horizontal moving assembly, and a second base 122 for fixing the second horizontal moving assembly;

[0055] The first slide rail group comprises horizontally arranged first and second slide rails 111 and 112.

[0056] The second horizontal moving mechanism comprises a second slide rail group arranged along a second direction of the horizontal plane, a third horizontal moving assembly matched with the second slide rail group, and a base 27 connected with the second horizontal moving assembly.

[0057] The second slide rail group comprises a fixed frame 23, a third slide rail 211 and a fourth slide rail 212 arranged in parallel.

[0058] The vertical moving mechanism comprises a fourth slide rail group arranged along a direction perpendicular to the horizontal plane, a vertical moving assembly matched with the fourth slide rail group, and a fixed frame 33 connected with the vertical moving assembly.

[0059] The fourth slide rail group comprises vertical first and second slide rails 311 and 312.

[0060] The manipulator is connected with the fixed frame 33 and is used to perform a grabbing action.

[0061] The horizontal moving mechanism of the manipulator adopts a double slide rail design, and is matched with the symmetrically arranged first and second horizontal moving assemblies to ensure the coordination and synchronization in two horizontal directions, enhance the carrying capacity and stability. Secondly, the lead screw assembly in the vertical moving mechanism provides precise vertical positioning capability, and the threaded structure ensures smooth and continuous movement, reduces vibration, and improves uniform transmission of the load. In addition, the symmetric layout of the manipulator and the precise power transmission system simplify the transmission structure, reduce energy loss, and improve overall efficiency. Finally, by arranging a rack parallel to the slide rail outside the slide rail and matching the rack with a gear connected with the motor output shaft, precise power transmission and motion control are realized, and the design of the positioning wheel set and the pulley set reduces friction and improves movement efficiency, so that the manipulator can work stably for a long time under heavy load conditions.

[0062] Please refer to Figure 2 and Figure 3As shown, Figure 2 It is a schematic view of the first horizontal moving assembly of the utility model embodiment;

[0063] Figure 3 It is a schematic view of the second horizontal moving assembly of the utility model embodiment; the first horizontal moving assembly comprises:

[0064] The first rack 131 is arranged on the outer side of the first slide rail and is parallel to the first slide rail;

[0065] The first motor is arranged on the outer side of the horizontal first slide rail 111 and is connected to the bottom of the first base 121; the output shaft of the first motor is parallel to the vertical moving mechanism;

[0066] The first gear 141 is arranged on the side of the output shaft of the first motor and is matched with the first rack 131;

[0067] The first positioning wheel group comprises a first positioning wheel subgroup 151 and a second positioning wheel subgroup 152 and is arranged on the bottom of the horizontal first base 121 and is connected to the horizontal first slide rail 111;

[0068] The first pulley group comprises a first moving pulley 161 and a second moving pulley 162 and is arranged on the bottom of the first base 121 and is located in the middle of the first positioning wheel group and is matched with the first gear 141 so as to drive the horizontal first base 121 to move along the horizontal first slide rail 111 under the drive of the first motor.

[0069] In the implementation, the second horizontal moving assembly comprises the same constituent parts as the first horizontal moving assembly; the second horizontal moving assembly comprises:

[0070] The second rack 132 is arranged on the outer side of the second slide rail and is parallel to the second slide rail;

[0071] The second motor is arranged on the outer side of the horizontal second slide rail 112 and is connected to the bottom of the second base 122; the output shaft of the second motor is parallel to the vertical moving mechanism;

[0072] The second gear 142 is arranged on the side of the output shaft of the second motor and is matched with the second rack 132;

[0073] The second positioning wheel group comprises a third positioning wheel subgroup 153 and a fourth positioning wheel subgroup 154 and is arranged on the bottom of the horizontal second base 122 and is connected to the horizontal second slide rail 112;

[0074] The second pulley set includes a third moving pulley 163 and a fourth moving pulley 164, which are arranged at the bottom of the second base 122 and located in the middle of the second positioning wheel set, and are matched with the second gear 142 to drive the horizontal second base 122 to move along the horizontal second slide rail 112 under the drive of the second motor.

[0075] In the embodiment, the rack is fixed on the horizontal slide rail through a plurality of oppositely arranged positioning bolts.

[0076] By arranging the rack parallel to the slide rail outside the slide rail and matching the first and second gears connected with the motor output shaft, precise power transmission and motion control are achieved. In addition, the design of the first and second positioning wheel sets ensures the stable operation of the moving assembly along the slide rail, and the arrangement of the first and second pulley sets reduces friction and improves moving efficiency. The symmetrical arrangement not only enhances the carrying capacity of the mechanical hand, but also ensures the coordination and synchronization in two horizontal directions, so that the mechanical hand can smoothly and accurately move heavy objects, improving work efficiency and safety.

[0077] Specifically, the first positioning wheel group 151 includes four positioning wheels, which are evenly distributed on both sides of the first slide rail and located at one end of the bottom of the horizontal first base 121.

[0078] The second positioning wheel group 152 includes four positioning wheels, which are evenly distributed on both sides of the first slide rail and located at the end of the bottom of the horizontal first base 121 away from the first positioning wheel group 151.

[0079] In the embodiment, the third positioning wheel group 153 is arranged in the same position as the first positioning wheel group 151 on both sides of the first slide rail and the first positioning wheel group 151 on the bottom of the horizontal first base 121, and the fourth positioning wheel group 154 is arranged in the same position as the second positioning wheel group 152 on both sides of the first slide rail and the second positioning wheel group 152 on the bottom of the horizontal first base 121.

[0080] The moving pulley is located in the middle of the positioning wheel group, and the bottom of both ends of the base is provided with four holes for installing the positioning wheel, and the positioning wheel is fixed on the base through a nut. The side surface of both ends of the base is provided with a moving pulley mounting hole for installing and fixing the moving pulley.

[0081] By positioning the wheels evenly on both sides of the first slide rail and setting the first and second groups of positioning wheels at the two ends of the bottom of the horizontal first base, uniform force and good contact of the mechanical arm during movement along the slide rail are ensured, thereby reducing deviation and vibration. In addition, the third and fourth groups of positioning wheels are arranged in the same position relationship as the first and second groups of positioning wheels, and the symmetrical layout further improves the stability of the mechanical arm. The moving pulley is located in the middle of the positioning wheel group, and the positioning wheels are fixed by the hole and nut, so that the structure is compact, easy to install, and convenient for maintenance and replacement.

[0082] Specifically, the first horizontal moving assembly cooperates with the horizontal first slide rail 111, and the second horizontal moving assembly cooperates with the horizontal second slide rail 112.

[0083] In implementation, the first horizontal moving assembly and the second horizontal moving assembly move synchronously, and the first motor and the second motor have the same rotating speed when working.

[0084] Specifically, the second slide rail group is fixed on the top of the fixed frame 23, and the horizontal plane second direction in which the second slide rail group is laid is perpendicular to the horizontal plane first direction.

[0085] In implementation, the second slide rail group is arranged on the fixed frame 23, and the second slide rail group is installed to the horizontal second direction by installing the rectangular metal frame to the top of the first base 121 and the top of the second base 122.

[0086] Please refer to Figure 4 The third horizontal moving assembly includes:

[0087] The third rack 22 is arranged inside the horizontal third slide rail 211 and parallel to the horizontal third slide rail, and the fourth rack is arranged inside the horizontal fourth slide rail 212 and parallel to the fourth slide rail;

[0088] The third motor 28 is arranged inside the horizontal third slide rail 211 and connected to the base 27, and the output shaft of the third motor 28 is parallel to the vertical moving mechanism;

[0089] The third gear 24 is arranged on one side of the output shaft of the third motor 28 and cooperates with the third rack 22;

[0090] The third positioning wheel group includes a fifth positioning wheel group 251 and a sixth positioning wheel group 252, and is arranged at the bottom of the base 27, the fifth positioning wheel group 251 is connected to the horizontal third slide rail 211, and the sixth positioning wheel group 252 is connected to the horizontal fourth slide rail 212;

[0091] A third pulley set, including a fifth moving pulley 261 and a fifth moving pulley 262, is arranged at the bottom of the base 27 to drive the base 27 to move along the second slide rail set under the drive of the third motor 28.

[0092] By arranging the parallel third rack and fourth rack inside the horizontal third slide rail and fourth slide rail respectively, and corresponding third motor and third gear, the effective transmission of power and precise control of movement are ensured. The third positioning wheel set makes the contact between the base and the slide rail more stable, reducing friction and wear during movement, and the arrangement of the third pulley set further reduces friction, improves the flexibility and speed of movement.

[0093] Specifically, the fifth positioning wheel group 251 includes 4 positioning wheels, which are evenly distributed on both sides of the third slide rail and located at both ends of the side of the base 27 above the third slide rail respectively.

[0094] The sixth positioning wheel group 252 includes 4 positioning wheels, which are evenly distributed on both sides of the fourth slide rail and located at both ends of the side of the base 27 above the fourth slide rail respectively.

[0095] In implementation, the seventh moving pulley and the eighth moving pulley are arranged in the middle of the sixth positioning wheel, and the arrangement mode is the same as that of the fifth moving pulley and the fifth moving pulley, which will not be repeated here.

[0096] The moving pulley is located in the middle of the positioning wheel group, and the two positioning wheels at one end are arranged closer to the outer edge of the base 27. The bottom plate of the base 27 is provided with 8 holes for installing the positioning wheels, and the positioning wheels are fixed on the base through nuts. The base is provided with 8 mounting pieces perpendicular to the plane of the base, and every two mounting pieces are oppositely arranged, and the moving pulley mounting hole is symmetrically arranged for installing and fixing the moving pulley.

[0097] By evenly distributing the positioning wheels on both sides of the third and fourth slide rails, and arranging the positioning wheel groups at both ends of the base respectively, this symmetrical layout helps to disperse the load and reduce wear caused by uneven stress. The design of the moving pulley located in the middle of the positioning wheel group makes the force transmission more uniform, reduces the friction between the slide rail and the moving assembly, and thus improves the moving efficiency. In addition, by arranging holes and mounting pieces on the base plate to fix the positioning wheels and the moving pulley, this structure not only facilitates installation and maintenance, but also enhances the rigidity and durability of the overall structure, so that the mechanical hand can work stably for a long time under heavy load conditions.

[0098] Please refer to Figure 5 The vertical moving assembly includes:

[0099] A lead screw assembly 32 is arranged on the side of the fixed frame 33 away from the third motor 28 and parallel to the fixed frame 33 to drive the fixed frame 33 to move the mechanical arm in the vertical direction parallel to the vertical first slide rail and the vertical second slide rail.

[0100] A fourth motor 34 is arranged on the top of the fixed frame 33 and connected to the lead screw, and the output shaft of the fourth motor 34 is parallel to the vertical movement mechanism and cooperates with the lead screw to drive the fixed frame 33 to move vertically under the drive of the fourth motor 34.

[0101] The lead screw assembly can provide highly precise linear motion and good rigidity, ensuring precise positioning and stability of the mechanical arm in the vertical direction. The threaded structure of the lead screw enables smooth and continuous movement of the vertical movement mechanism, reduces vibration, and improves uniform transmission of the load. In addition, the direct connection of the lead screw and the motor simplifies the transmission system, reduces energy loss, and improves efficiency.

[0102] Please refer to Figure 6 The base 27 is provided with a fixed frame 33 moving hole 271, a fourth slide rail group moving hole group, and a lead screw moving hole 274.

[0103] The fourth slide rail group moving hole group includes a vertical first slide rail 311 moving hole 272 and a vertical second slide rail 312 moving hole 273, and the vertical first slide rail 311 moving hole and the vertical second slide rail 312 moving hole are arranged on both sides of the fixed frame 33 moving hole.

[0104] In implementation, the two sides of the fixed frame 33 moving hole are respectively connected to the vertical first slide rail 311 moving hole and the vertical second slide rail 312 moving hole.

[0105] The edges of the vertical first slide rail 311 moving hole and the vertical second slide rail 312 moving hole are also provided with positioning grooves of the vertical first slide rail 311 and the vertical second slide rail 312, so that the two slide rails move in the vertical direction.

[0106] Specifically, the vertical movement mechanism further includes a wire slot arranged on the opposite side of the fixed frame 33 to the lead screw.

[0107] Working process:

[0108] When moving in the first horizontal direction, the first horizontal moving mechanism drives the first gear 141 through the first motor, and the first gear 141 is engaged with the first rack 131, so that the first horizontal moving assembly moves horizontally along the first horizontal slide rail 111 and the second horizontal slide rail; when moving in the second horizontal direction, the second horizontal moving mechanism drives the third gear 24 through the third motor 28, and the third gear 24 is engaged with the third rack 22 and the fourth rack, so that the third horizontal moving assembly moves horizontally along the third horizontal slide rail 211 and the fourth horizontal slide rail in the other direction; the vertical moving mechanism drives the screw assembly 32 through the fourth motor 34, so that the vertical moving assembly moves vertically along the first vertical slide rail and the second vertical slide rail, thereby realizing accurate positioning of the mechanical hand in the vertical direction.

[0109] Thus far, the technical scheme of the present application has been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art will readily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical schemes after these changes or replacements will all fall within the protection scope of the present application.

[0110] The above description is only the preferred embodiments of the present application and is not intended to limit the present application; for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A heavy duty gantry robot characterized by, The application relates to a horizontal and vertical moving mechanism. The first horizontal moving mechanism comprises a first slide rail group arranged along a first horizontal direction, a first horizontal moving assembly and a second horizontal moving assembly matched with the first slide rail group, a first base fixed with the first horizontal moving assembly, and a second base fixed with the second horizontal moving assembly. The first slide rail group comprises horizontal first and second slide rails arranged in parallel. The second horizontal moving mechanism comprises a second slide rail group arranged along a second horizontal direction in parallel, a third horizontal moving assembly matched with the second slide rail group, and a base connected with the second horizontal moving assembly. The second slide rail group comprises a fixed frame, horizontal third and fourth slide rails arranged in parallel. The vertical moving mechanism comprises a fourth slide rail group arranged along a direction perpendicular to the horizontal plane where the first and second horizontal directions are located, a vertical moving assembly matched with the fourth slide rail group, and a fixed frame connected with the vertical moving assembly. The fourth slide rail group comprises vertical first and second slide rails. The mechanical arm is connected with the fixed frame and used for performing a grabbing action.

2. The heavy duty gantry robot according to claim 1, wherein, The first horizontal moving assembly comprises: A first rack arranged outside the first slide rail in parallel with the first slide rail; A first motor arranged outside the horizontal first slide rail and connected with the bottom of the first base, wherein an output shaft of the first motor is parallel with the vertical moving mechanism; A first gear arranged on one side of the output shaft of the first motor and matched with the first rack; A first positioning wheel group comprising a first positioning wheel subgroup and a second positioning wheel subgroup arranged at the bottom of the horizontal first base and connected with the horizontal first slide rail; A first pulley group comprising a first moving pulley and a second moving pulley arranged at the bottom of the first base and located in the middle of the first positioning wheel group and matched with the first gear to drive the horizontal first base to move along the horizontal first slide rail under the drive of the first motor.

3. The heavy duty gantry robot according to claim 2, wherein, The first positioning wheel subgroup comprises four positioning wheels evenly distributed on both sides of the first slide rail and located at one end of the bottom of the horizontal first base. The second positioning wheel subgroup comprises four positioning wheels evenly distributed on both sides of the first slide rail and located at an end of the bottom of the horizontal first base far away from the first positioning wheel subgroup.

4. The heavy duty gantry robot according to claim 3, wherein, The first horizontal moving assembly is matched with the horizontal first slide rail, and the second horizontal moving assembly is matched with the horizontal second slide rail.

5. The heavy duty gantry robot according to claim 4, wherein, The second slide rail group is fixed at the top of the fixed frame, and the horizontal second direction where the second slide rail group is laid is perpendicular to the horizontal first direction.

6. The heavy duty gantry robot of claim 5, wherein, The third horizontal moving assembly comprises: A third rack arranged inside the horizontal third slide rail in parallel with the third slide rail, and a fourth rack arranged inside the horizontal fourth slide rail in parallel with the fourth slide rail; A third motor arranged inside the horizontal third slide rail and connected with the base, wherein an output shaft of the third motor is parallel with the vertical moving mechanism; A third gear arranged on one side of the output shaft of the third motor and matched with the third rack. A third positioning wheel group, which comprises a fifth positioning wheel subgroup and a sixth positioning wheel subgroup, is arranged at the bottom of the base, the fifth positioning wheel subgroup is connected with the horizontal third slide rail, and the sixth positioning wheel subgroup is connected with the horizontal fourth slide rail; A third pulley group, which comprises a fifth moving pulley and a sixth moving pulley, is arranged at the bottom of the base, and drives the base to move along the arrangement direction of the second slide rail group under the drive of the third motor.

7. The heavy duty gantry robot according to claim 6, wherein, The fifth positioning wheel subgroup comprises four positioning wheels, which are evenly distributed on both sides of the third slide rail and are respectively located at both ends of the side of the base above the third slide rail. The sixth positioning wheel subgroup comprises four positioning wheels, which are evenly distributed on both sides of the fourth slide rail and are respectively located at both ends of the side of the base above the fourth slide rail.

8. The heavy duty gantry robot according to claim 7, wherein, The vertical moving assembly comprises: A lead screw assembly is arranged at the side of the fixed frame away from the third motor and parallel to the fixed frame, so as to drive the fixed frame to move the mechanical arm in the vertical direction parallel to the vertical first slide rail and the vertical second slide rail; A fourth motor is arranged at the top of the fixed frame and connected with the lead screw, the output shaft of the fourth motor is parallel to the vertical moving mechanism and cooperates with the lead screw, so as to drive the fixed frame to move vertically under the drive of the fourth motor.

9. The heavy duty gantry robot according to claim 8, wherein, The base is provided with a fixed frame moving hole, a fourth slide rail group moving hole group and a lead screw moving hole. The fourth slide rail group moving hole group comprises a vertical first slide rail moving hole and a vertical second slide rail moving hole, and the vertical first slide rail moving hole and the vertical second slide rail moving hole are oppositely arranged at both sides of the fixed frame moving hole.

10. The heavy duty gantry robot of claim 9, wherein, The vertical moving mechanism further comprises a wire slot arranged at the side of the fixed frame opposite to the lead screw.

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