Truss manipulator

By using V-shaped slide rails and pulleys in conjunction with lubrication and adjustment components, the limitation problem of the gantry robot in the left and right sides and height direction of the frame is solved, achieving accurate orientation and stability, reducing processing costs and improving assembly efficiency.

CN223749628UActive Publication Date: 2026-01-02FUJIAN SKYSTONE INTELLIGENT EQUIPMENT CO LTD
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Patent Information

Application Number
CN202520144628.2
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2025-01-22
Publication Date
2026-01-02
Estimated Expiration
2035-01-22

AI Technical Summary

Technical Problem

The existing gantry robot's guide design on the left and right sides of the frame cannot effectively limit movement, which increases the design difficulty and manufacturing cost, requiring an additional height limiting structure.

Method used

The system employs a combination of V-shaped slide rails and V-shaped pulleys, along with rectangular slide rails and flat pulleys, to limit the movement of the moving components on the left and right sides and in the height direction of the frame. The stability and ease of use of the moving components are improved through lubrication and adjustment components.

Benefits of technology

This achieves accurate orientation and stability of the moving components on the rack, reduces processing costs, improves assembly efficiency and economy, and ensures the safe load-bearing capacity of the moving components.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model relates to a truss manipulator which comprises a machine frame, a moving assembly and a clamping jaw, the clamping jaw is connected with the moving assembly, and the moving assembly is movably arranged on the machine frame. Two first sliding rails and two second sliding rails are symmetrically arranged on the rack, and the first sliding rails and the second sliding rails are arranged in parallel; the first sliding rail is arranged on the upper side of the rack. The second sliding rail is arranged on the side face of the rack. The second sliding rail is a V-shaped sliding rail; the moving assembly is provided with a first pulley and a second pulley corresponding to the first sliding rail and the second sliding rail respectively, and the second pulley is a V-shaped pulley. The first sliding rail and the second sliding rail are matched with the first pulley and the second pulley, so that movement guiding of the moving assembly on the rack is achieved. Through the arrangement of the two first sliding rails and the two second sliding rails, the moving assembly can be limited in the left-right direction at the same time during arrangement, in addition, through the arrangement of the side faces of the second sliding rails and the V-shaped structures of the second sliding rails, the moving assembly can conduct moving limiting in the height direction of the rack, and accurate displacement of the moving assembly is further ensured.
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Description

TECHNICAL FIELD

[0001] The utility model relates to the field of machining, especially to a truss manipulator. BACKGROUND

[0002] The truss manipulator is used for carrying and transferring workpieces. A common truss manipulator includes a rack, a moving mechanism and a gripper. The moving mechanism moves on the rack and cooperates with the gripper to realize the carrying of workpieces. In order to ensure the accurate movement of the moving mechanism, a guide rail is usually arranged on the rack to cooperate with the guide wheel of the moving mechanism to limit and guide the moving direction of the moving mechanism. The conventional guide rail is arranged on the upper side of the rack along the length direction of the rack, and the pulley of the moving mechanism is pressed on the guide rail. Although this design can limit the movement of the moving mechanism in the left-right direction of the rack, it cannot limit the movement of the moving mechanism in the height direction of the rack, and an additional height limiting structure needs to be designed, which increases the design difficulty and processing cost of the device. SUMMARY

[0003] The utility model solves the technical problem of providing a truss manipulator which can limit the movement of the moving assembly in the left-right direction and the height direction of the rack through the slide rails.

[0004] In order to solve the above technical problem, the utility model adopts the following technical scheme: a truss manipulator includes a rack, a moving assembly and a gripper. The gripper is connected with the moving assembly, and the moving assembly is movably arranged on the rack. Two first slide rails and two second slide rails are symmetrically arranged on the rack. The first slide rails and the second slide rails are arranged in parallel. The first slide rails are arranged on the upper side of the rack, and the second slide rails are arranged on the side surface of the rack. The second slide rails are V-shaped slide rails. The moving assembly is provided with a first pulley and a second pulley corresponding to the first slide rails and the second slide rails respectively. The second pulley is a V-shaped pulley.

[0005] Further, the first slide rails are V-shaped slide rails, and the first pulleys corresponding to the V-shaped slide rails are V-shaped pulleys.

[0006] Further, one of the first slide rails is a V-shaped slide rail, and the first pulley corresponding to the V-shaped slide rail is a V-shaped pulley. The other first slide rail has a rectangular cross section in the length direction, and the first pulley corresponding to the first slide rail is in abutment with the upper end of the first slide rail.

[0007] Further, a lubricating assembly is arranged on the moving assembly. The lubricating assembly includes a first felt matched with the first slide rail and a second felt matched with the second slide rail.

[0008] Further, the moving assembly includes a moving gear. A moving rack parallel to the first slide rail is arranged on the rack, and the moving gear is engaged with the moving rack.

[0009] Further, the moving assembly comprises a lubricating gear, which is arranged on one side of the moving gear and matched with the moving rack.

[0010] Further, the moving assembly is provided with an adjusting assembly, and the second pulley is movably arranged on the adjusting assembly.

[0011] Further, the adjusting assembly comprises a moving support, which is movable in the height direction of the first slide rail, and the second pulley is arranged on the moving support.

[0012] Further, the adjusting assembly further comprises a moving seat, which is arranged on the moving support and movable towards the side of the first slide rail, and the second pulley is arranged on the moving seat.

[0013] Further, the moving assembly comprises a vertical moving assembly, which is arranged to move along the height direction of the rack; the vertical moving assembly comprises a fixed shell and a moving piece, the moving piece is arranged to move in the fixed shell, and the clamping jaw is connected with the moving piece; the fixed shell is provided with a first limiting block, the moving piece is provided with a second limiting block, and the first limiting block and the second limiting block are opposite in the height direction of the rack.

[0014] The utility model discloses the beneficial effect lies in: through the cooperation of first slide rail, second slide rail and first pulley, second pulley, realize the moving direction of moving assembly on the rack, through the setting of two first slide rail and second slide rail, make moving assembly can be positioned in left and right direction simultaneously when arranging, in addition, utilize the side setting of second slide rail and its V-shaped structure, can make moving assembly move and position in the height direction of the rack, further ensure the accurate displacement of moving assembly. ACCURACY

[0015] Figure 1 It is the structure schematic drawing of truss manipulator of the embodiment of the utility model;

[0016] Figure 2 It is the structure schematic drawing of the rack of truss manipulator of the embodiment of the utility model;

[0017] Figure 3 It is Figure 2 The enlarged view of A;

[0018] Figure 4 It is the structure schematic drawing of the moving assembly and clamping jaw cooperation of truss manipulator of the embodiment of the utility model;

[0019] Figure 5 It is the structure schematic drawing of the moving assembly of truss manipulator of the embodiment of the utility model;

[0020] Figure 6 Figure 2 is a side view of the moving assembly of the truss manipulator according to the embodiment of the present application;

[0021] Figure 7 Figure 3 is a structural schematic view of the vertical moving assembly of the truss manipulator and the clamping jaw according to the embodiment of the present application;

[0022] Figure 8 Figure 4 is a structural schematic view of the first limiting block and the second limiting block in the vertical moving assembly of the truss manipulator according to the embodiment of the present application;

[0023] Label explanation:

[0024] Rack; 11, first slide rail; 12, second slide rail; 13, moving rack; moving assembly; 21, first pulley; 22, second pulley; 23, moving gear; 24, lubricating gear; 25, first felt; 26, second felt; 27, moving support; 28, moving seat; 29, fixed shell; 210, moving piece; 211, first limiting block; 212, second limiting block; 213, moving frame; 3, clamping jaw; 31, mounting seat; 32, clamping arm; 33, motor; 34, speed reducer; 35, baffle. EMBODIMENT

[0025] In order to explain the technical content, the purposes and effects of the present application in detail, the following will be described in combination with the embodiments and the accompanying drawings.

[0026] Please refer to Figures 1 to 8 A truss manipulator, comprising a rack 1, a moving assembly 2 and a clamping jaw 3, the clamping jaw 3 is connected with the moving assembly 2, and the moving assembly 2 is movably arranged on the rack 1; two first slide rails 11 and two second slide rails 12 are symmetrically arranged on the rack 1, and the first slide rails 11 and the second slide rails 12 are arranged in parallel; the first slide rails 11 are arranged on the upper side of the rack 1, and the second slide rails 12 are arranged on the side of the rack 1; the second slide rails 12 are V-shaped slide rails; the moving assembly 2 is provided with a first pulley 21 and a second pulley 22 corresponding to the first slide rails 11 and the second slide rails 12 respectively, and the second pulley 22 is a V-shaped pulley.

[0027] From the above description, the present application has the following beneficial effects: through the cooperation of the first slide rails 11, the second slide rails 12, the first pulleys 21 and the second pulleys 22, the movement of the moving assembly 2 on the rack 1 is guided; through the arrangement of the two first slide rails 11 and the second slide rails 12, the moving assembly 2 can be simultaneously limited in the left-right direction when arranged, and in addition, through the side arrangement and the V-shaped structure of the second slide rails 12, the moving assembly 2 can be limited in the height direction of the rack 1, and the accurate displacement of the moving assembly 2 is further ensured.

[0028] Further, the first sliding rail 11 is a V-shaped sliding rail, and the first pulley 21 is a V-shaped pulley.

[0029] As can be seen from the above description, the V-shaped sliding rail design of the first sliding rail 11 is further matched with the V-shaped first pulley 21 to achieve the directional movement of the moving assembly 2.

[0030] Further, the first sliding rail 11 is a V-shaped sliding rail, and the first pulley 21 is a V-shaped pulley. The other first sliding rail 11 has a rectangular cross section in the length direction, and the first pulley 21 is in abutment with the upper end of the first sliding rail 11.

[0031] As can be seen from the above description, the directional movement of the moving assembly 2 is achieved by the V-shaped design of the first sliding rail 11 and the second sliding rail 12 on one side. Specifically, the V-shaped structure of the first sliding rail 11 enables the first pulley 21 on the moving assembly 2 to move directionally along the V-shaped groove, providing horizontal direction guidance and support for the moving assembly 2. At the same time, the V-shaped design of the second sliding rail 12 cooperates with the second pulley 22 to effectively limit the vertical freedom of the moving assembly 2, ensuring the stability of the moving assembly 2 during loading and preventing it from overturning, thereby ensuring its safe carrying capacity.

[0032] On this basis, considering that the first sliding rail 11 on one side has already adopted a V-shaped design, in order to achieve structural optimization and cost control, the first sliding rail 11 on the other side can adopt a rectangular cross section. This is because, for the first sliding rail 11 on this side, as long as the first pulley 21 can safely slide at its upper end, there is no need to add a complex structure with a limiting installation freedom function. This design, on the one hand, facilitates rapid assembly because the rectangular cross section of the sliding rail is relatively simple to process and install. On the other hand, compared to the traditional scheme of designing all first sliding rails 11 as V-shaped structures, this scheme can significantly reduce processing costs while not affecting the function implementation of the entire system. Under the premise of ensuring the normal directional movement and safe carrying of the moving assembly 2, it improves the economy and assembly efficiency of the system.

[0033] Further, the moving assembly 2 is provided with a lubricating assembly, which includes a first felt 25 matched with the first sliding rail 11 and a second felt 26 matched with the second sliding rail 12.

[0034] As can be seen from the above description, through the cooperation of the first felt 25 and the second felt 26 of the lubricating assembly with the first sliding rail 11 and the second sliding rail 12 respectively, the first sliding rail 11 and the second sliding rail 12 are cleaned and lubricated.

[0035] Further, the moving assembly 2 comprises a moving gear 23, and a moving rack 13 parallel to the first slide rail 11 is arranged on the rack 1, and the moving gear 23 is engaged with the moving rack 13.

[0036] From the above description, it can be known that the moving assembly 2 is moved along the length direction of the first slide rail 11 through the engagement of the moving gear 23 and the moving rack 13.

[0037] Further, the moving assembly 2 comprises a lubricating gear 24 arranged on one side of the moving gear 23 and matched with the moving rack 13.

[0038] From the above description, it can be known that the moving rack 13 is cleaned and lubricated through the matching of the lubricating gear 24 and the moving rack 13.

[0039] Further, the moving assembly 2 is arranged with an adjusting assembly, and the second pulley 22 is movably arranged on the adjusting assembly.

[0040] From the above description, it can be known that the adjusting assembly can facilitate the adjustment of the second pulley 22 and the quick maintenance and disassembly of the moving assembly 2.

[0041] Further, the adjusting assembly comprises a moving bracket 27, and the moving bracket 27 is movable in the height direction of the first slide rail 11, and the second pulley 22 is arranged on the moving bracket 27.

[0042] From the above description, it can be known that the second pulley 22 is adjusted through the movement of the moving bracket 27 in the height direction of the first slide rail 11.

[0043] Further, the adjusting assembly further comprises a moving seat 28, and the moving seat 28 is arranged on the moving bracket 27, and the moving seat 28 is movable towards the side surface of the first slide rail 11, and the second pulley 22 is arranged on the moving seat 28.

[0044] From the above description, it can be known that the second pulley 22 is adjusted through the movement of the moving seat 28 towards the side surface of the first slide rail 11.

[0045] Further, the moving assembly 2 comprises a vertical moving assembly, and the vertical moving assembly is arranged to move in the height direction of the rack 1; the vertical moving assembly comprises a fixed shell 29 and a moving piece 210, and the moving piece 210 is movably arranged in the fixed shell 29, and the clamping jaw 3 is connected with the moving piece 210; the fixed shell 29 is arranged with a first limiting block 211, and the moving piece 210 is arranged with a second limiting block 212, and the first limiting block 211 and the second limiting block 212 are opposite in the height direction of the rack 1.

[0046] From the above description, by the cooperation of the first limiting block 211 arranged in the fixed shell 29 of the vertical moving assembly and the second limiting block 212 on the moving piece 210, the situation that the clamping jaw 3 cannot be prevented from falling as a whole when being disassembled, maintained or failed can be avoided.

[0047] Please refer to Figures 1 to 8 , the embodiment one of the utility model discloses:

[0048] A truss manipulator, including frame 1, moving assembly 2 and clamping jaw 3, clamping jaw 3 is connected with moving assembly 2, moving assembly 2 is arranged on frame 1 and moves.

[0049] As Figures 1 to 3 Indicated, the frame 1 includes two horizontal supports and four vertical supports, two horizontal supports are arranged side by side, and four vertical supports are vertically arranged at the end of two horizontal supports respectively. Two horizontal supports are respectively provided with a guide seat, and the guide seat extends along the length direction of the horizontal support. The upper side of the guide seat is provided with a first sliding rail 11, and the side surface of the guide seat is provided with a second sliding rail 12.

[0050] Two second sliding rails 12 are V-shaped sliding rails, one first sliding rail 11 is a V-shaped sliding rail, and the length direction of the other first sliding rail 11 is rectangular.

[0051] The horizontal support is provided with a moving rack 13 on one side of the guide seat.

[0052] As Figures 4 to 8 Indicated, the moving assembly 2 includes a moving frame 213, moving gears 23 located on both sides of the moving frame 213 and a vertical moving assembly. The moving gears 23 are engaged with the moving rack 13 and are located on the front and rear sides of the moving gears 23. Each of the moving gears 23 is provided with a lubricating gear 24, and the lubricating gears 24 are matched with the moving rack 13. The moving frame 213 is provided with a first pulley 21 and a second pulley 22 on both sides corresponding to the first sliding rail 11 and the second sliding rail 12. Specifically, the first pulley 21 and the second pulley 22 are respectively provided with one on the front and rear sides of the moving gears 23. The second pulley 22 is a V-shaped pulley, the first pulley 21 matched with the V-shaped first sliding rail 11 is a V-shaped pulley, the first pulley 21 matched with the first sliding rail 11 with a rectangular cross section is a planar roller, and the first pulley 21 is in abutment with the upper end of the first sliding rail 11. The moving frame 213 is also provided with a lubricating assembly for lubricating the first sliding rail 11 and the second sliding rail 12. The lubricating assembly includes a first felt 25 matched with the first sliding rail 11 and a second felt 26 matched with the second sliding rail 12. The first felt 25 and the second felt 26 are respectively similar in shape to the first sliding rail 11 and the second sliding rail 12. The first felt 25 and the second felt 26 are connected with a lubricating oil pump arranged on the vertical support.

[0053] As Figure 5 shown, specifically, the second pulley 22 on both sides of the moving frame 213 is arranged on an adjusting assembly, the adjusting assembly includes a moving support 27 and a moving seat 28, the moving support 27 is arranged on the moving frame 213, and a plurality of connecting holes are arranged on the moving frame 213 in the height direction of the rack 1, and the position of the moving support 27 is changed by locking the connecting holes.

[0054] The moving support 27 is provided with a sliding hole in the direction towards the second sliding rail 12, the moving seat 28 is movably arranged in the sliding hole, the moving seat 28 is provided with an adjusting plate and an adjusting screw rod away from the side of the sliding hole, the adjusting screw is locked on the adjusting plate on the side of the sliding hole and is in threaded connection with the moving seat 28, and the position of the moving seat 28 is changed by rotating the adjusting screw.

[0055] As Figure 7 and Figure 8 shown, the vertical moving assembly is connected with the moving frame 213 and is movably arranged in the height direction of the rack 1; specifically, the vertical moving assembly includes a fixed shell 29 and a moving piece 210, the fixed shell 29 is connected with the moving frame 213, the moving piece 210 is movably arranged in the fixed shell 29, and the clamping jaw 3 is connected with the moving piece 210; the fixed shell 29 is provided with a first limiting block 211, the moving piece 210 is provided with a second limiting block 212, and the first limiting block 211 and the second limiting block 212 are opposite in the height direction of the rack 1.

[0056] The clamping jaw 3 includes a mounting seat 31, a clamping arm 32, a motor 33, a speed reducer 34, a conveying belt and a bidirectional screw rod, the mounting seat 31 is connected with the moving piece 210, and two clamping arms 32 are movably arranged on the lower side of the mounting seat 31; the mounting seat 31 is provided with a bidirectional screw rod, and the two clamping arms 32 are arranged at the two ends of the bidirectional screw rod; the upper side of the mounting seat 31 is provided with the motor 33, the speed reducer 34 and the conveying belt, the motor 33, the speed reducer 34 and the conveying belt are sequentially connected, and the conveying belt is in transmission connection with the end of the bidirectional screw rod.

[0057] The mounting seat 31 is provided with a detachable baffle 35 on the side surface corresponding to the end of the bidirectional screw rod, the bidirectional screw rod can be directly detached from the side surface of the mounting seat 31 by detaching the baffle 35, and the maintenance can be conveniently and quickly performed.

[0058] The rack 1 is further provided with a safety light curtain, an alarm device and an emergency stop switch.

[0059] In summary, the truss mechanical hand provided by the utility model realizes the moving guidance of the moving assembly on the rack through the cooperation of the first sliding rail, the second sliding rail and the first pulley and the second pulley; through the setting of the two first sliding rails and the second sliding rail, the moving assembly can be simultaneously limited in the left-right direction when being arranged, in addition, the side setting and the V-shaped structure of the second sliding rail can make the moving assembly be limited in the height direction of the rack, and the accurate displacement of the moving assembly is further ensured.

[0060] The above is only the embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent transformation, direct or indirect application in the related technical field by using the contents of the utility model specification and drawings are also included in the patent protection range of the utility model.

Claims

1. A truss robot characterized by, The utility model relates to a movable frame, including frame, mobile assembly and clamp jaw, the clamp jaw is connected with mobile assembly, mobile assembly is set up on frame, frame is symmetrically provided with two first slide rail and two second slide rail, first slide rail and second slide rail are parallelly arranged, first slide rail is located frame upside, second slide rail is located frame side, second slide rail is V-shaped slide rail, mobile assembly is equipped with first pulley and second pulley respectively corresponding first slide rail and second slide rail, second pulley is V-shaped pulley.

2. The trussbot of claim 1, wherein, The first slide rail is a V-shaped slide rail, and the first pulley corresponding to the V-shaped slide rail is a V-shaped pulley.

3. The trussbot of claim 1, wherein, One of the first slide rails is a V-shaped slide rail, and the first pulley corresponding to the V-shaped slide rail is a V-shaped pulley.

4. The trussbot of claim 1, wherein, The mobile assembly is provided with a lubricating assembly, and the lubricating assembly includes a first felt matched with the first slide rail and a second felt matched with the second slide rail.

5. The trussbot of claim 1, wherein, The mobile assembly includes a mobile gear, and the frame is provided with a mobile rack parallel to the first slide rail, and the mobile gear is engaged with the mobile rack.

6. The trussbot of claim 5, wherein, The mobile assembly includes a lubricating gear, which is arranged on one side of the mobile gear and matched with the mobile rack.

7. The trussbot of claim 5, wherein, The mobile assembly is provided with an adjusting assembly, and the second pulley is movably arranged on the adjusting assembly.

8. The trussbot of claim 7, wherein, The adjusting assembly includes a mobile support, which is movable in the height direction of the first slide rail, and the second pulley is arranged on the mobile support.

9. The trussbot of claim 8, wherein, The adjusting assembly further includes a mobile seat, which is arranged on the mobile support, and the second pulley is arranged on the mobile seat.

10. The trussbot of claim 1, wherein, The mobile assembly includes a vertical mobile assembly, which is arranged to move along the height direction of the frame, and the vertical mobile assembly includes a fixed housing and a mobile piece, the mobile piece is arranged to move in the fixed housing, and the clamp jaw is connected with the mobile piece. The fixed housing is provided with a first limiting block, and the mobile piece is provided with a second limiting block, and the first limiting block and the second limiting block are opposite in the height direction of the frame.