Truss manipulator

Abstract

The utility model relates to the field of industrial machinery, and particularly discloses a truss manipulator which comprises a truss, an X-axis moving frame and a Y-axis moving frame, the Y-axis moving frame is arranged on the truss, the X-axis moving frame is arranged on the Y-axis moving frame, a lifting arm and a first driving motor for lifting the lifting arm are arranged on the X-axis moving frame, and the first driving motor is arranged on the Y-axis moving frame. A clamping mechanism is arranged at the end, away from the X-axis moving frame, of the lifting arm. The X-axis moving frame and the Y-axis moving frame move the clamping mechanism to the position above a carried workpiece, the first driving motor is started to drive the lifting arm to descend, the clamping mechanism clamps the workpiece, and then the first driving motor is started to drive the lifting arm to ascend; and after ascending is stopped, the workpiece is moved to a designated position through the X-axis moving frame and the Y-axis moving frame, after moving is completed, the first driving motor drives the lifting arm to descend, the workpiece is placed at a proper position, and therefore full-automatic carrying of the workpiece is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of industrial machinery, in particular to a truss manipulator. BACKGROUND

[0002] In the production process of engineering machinery, the workpieces that constitute the engineering machinery are large in size and heavy in weight, and usually need to be transported by an industrial machinery automatic assembly line. The industrial machinery automatic assembly line integrates heavy-load conveying lines, transfer machines, AGVs and robots for collaborative work, combines precise positioning and torque feedback technology, and realizes efficient, safe and flexible assembly to adapt to complex production requirements of excavators, cranes, concrete machinery and the like.

[0003] In the prior art, gantry cranes are usually used to transport workpieces. The gantry crane includes a cross beam, support beams, a driving mechanism and a stand. The support beams are fixedly installed on the stand and are provided in multiple groups. The cross beam is movably installed on the support beams by the driving mechanism. A lifting hook and a chain hoist are installed on the support beams. The chain hoist is movably installed on the support beams. When the workpiece needs to be transported, the lifting hook is first lowered, then the workpiece is loaded onto the lifting hook by a worker, and then the chain hoist is controlled to move horizontally to a specified position.

[0004] For the related technology in the above, since the workpieces to be transported are usually large in weight and size and different in shape, it is troublesome for the worker to load the workpiece onto the lifting hook, which affects the efficiency. Therefore, improvement is needed. CONTENT OF THE UTILITY MODEL

[0005] In order to realize accurate automatic grabbing of the workpiece, the present application provides a truss manipulator.

[0006] The truss manipulator provided by the present application adopts the following technical scheme:

[0007] The truss manipulator comprises a truss, an X-axis moving frame and a Y-axis moving frame. The Y-axis moving frame is fixedly arranged on the truss. The X-axis moving frame is movably arranged on the Y-axis moving frame along the length direction of the Y-axis moving frame. A first driving motor and a lifting arm are arranged on the X-axis moving frame. A first driving gear is fixedly arranged at the output end of the first driving motor. A rack is arranged on the side wall of the lifting arm. The rack and the first driving gear are in meshing relationship. A first limiting block is arranged on the X-axis moving frame. A lifting auxiliary rail is vertically arranged on the lifting arm. The lifting auxiliary rail and the first limiting block are in sliding connection. A clamping mechanism for flexibly grabbing a workpiece is arranged at the end of the lifting arm away from the X-axis moving frame.

[0008] By adopting the technical scheme, when workpieces need to be carried, the clamping mechanism is moved to above the workpieces to be carried by the X-axis moving frame and the Y-axis moving frame, the first driving motor is started, the first driving motor drives the driving gear to rotate, the driving gear and the rack are engaged with each other, so that the rotation of the driving gear drives the lifting arm to descend, the lifting auxiliary rail on the lifting arm slides relative to the first limiting block, so that the stability of the lifting arm when descending is improved, when descending to a suitable position, the clamping mechanism in the application clamps the workpieces, after clamping is completed, the first driving motor is started to drive the lifting arm to ascend by a certain height, after stopping ascending, the X-axis moving frame and the Y-axis moving frame are moved to a specified position, after moving is completed, the first driving motor drives the lifting arm to descend, after descending to a suitable height, the workpieces are placed in a suitable position by the clamping mechanism, so that full-automatic carrying of the workpieces is realized.

[0009] Optionally, the clamping mechanism comprises a second driving motor, a second driving gear, a driven gear disc, a centering frame, a centering block, a centering rail, a centering cylinder, a clamping frame, a first direction clamping assembly and a second direction clamping assembly, the second driving motor is fixedly arranged on the lifting arm, the second driving gear is fixedly arranged on an output end of the second driving motor, the driven gear disc is rotatably arranged on an end of the lifting arm away from the X-axis moving frame, the second driving gear and the driven gear disc are engaged with each other, the centering frame is fixedly arranged on the driven gear disc, the centering block is fixedly arranged on a side of the centering frame away from the lifting arm, the centering rail is horizontally fixedly arranged on the clamping frame, the centering rail and the centering block are slidably connected, the centering cylinder is fixedly arranged on the clamping frame, and is used for sliding the centering block relative to the centering rail, the first direction clamping assembly and the second direction clamping assembly are arranged on a side of the clamping frame away from the centering frame, and are used for clamping and carrying the workpieces.

[0010] By adopting the technical scheme, the second driving motor is started, the output end of the second driving motor drives the second driving gear to rotate, the second driving gear drives the centering frame through the driven gear plate, the centering frame drives the clamping frame through the centering block and the centering rail, and the clamping frame drives the first direction clamping assembly and the second direction clamping assembly to rotate through rotation, so that the first direction clamping assembly and the second direction clamping assembly are adjusted to appropriate angles for clamping. When the positions of the first direction clamping assembly and the second direction clamping assembly are deviated from the position of the workpiece, the centering cylinder can drive the centering block to move along the centering rail, so that the first direction clamping assembly and the second direction clamping assembly on the clamping frame are moved horizontally to appropriate positions to accurately clamp the workpiece without changing the position of the lifting arm, thereby realizing fine adjustment of the first direction clamping assembly and the second direction clamping assembly in multiple angles and multiple directions, automatic grabbing of the workpiece, and improvement of clamping accuracy and efficiency.

[0011] Optionally, the first direction clamping assembly comprises a third driving motor, a third driving gear, a chain, a third driven gear, a second limiting block, a lead screw, a clamping block, a guide rail and a first clamping jaw. The third driving motor is fixedly arranged on a side of the clamping frame away from the centering frame. The third driving gear is fixedly arranged on an output end of the third driving motor. The second limiting block is fixedly arranged on a side of the clamping frame away from the centering frame. The third driven gear is rotatably arranged on the second limiting block. The chain is used to connect the third driving gear and the third driven gear. The lead screw is rotatably arranged on the second limiting block, and one end of the lead screw is fixedly connected with the third driven gear. The lead screw comprises a first threaded section and a second threaded section. The first threaded section and the second threaded section are symmetrically arranged. Two groups of the first clamping jaws are symmetrically arranged on the lead screw, and are respectively threadedly connected with the first threaded section and the second threaded section. The guide rail is horizontally arranged on a side of the clamping frame away from the lifting arm. The clamping block is fixedly arranged on the first clamping jaw. The clamping block is slidably connected with the guide rail.

[0012] By adopting the technical scheme, when the lifting arm moves to an appropriate position and needs to clamp and carry the workpiece, the third driving motor is started, the output end of the third driving motor drives the third driving gear to rotate, the third driving gear drives the third driven gear to rotate through the chain, and the third driven gear drives the lead screw to rotate through rotation. Under the action of the symmetrically arranged clamping block and guide rail and first threaded section and second threaded section, the lead screw rotates to realize that the two groups of first clamping jaws are close to each other, thereby realizing clamping and grabbing of the carried workpiece.

[0013] Optionally, the first direction clamping assembly is arranged with the second direction clamping assembly, the second direction clamping assembly comprises a second clamping jaw, the first clamping jaw is arranged with a first clamping head, the second clamping jaw is arranged with a second clamping head, and the first clamping head and the second clamping head are detachably arranged.

[0014] By adopting the above technical scheme, when the workpiece needs to be transported, the two groups of first clamping jaws are first clamped to fix the workpiece in one direction, and then the two groups of second clamping jaws are clamped to fix the workpiece in another direction. When the workpiece to be transported is special, the two groups of first clamping heads and the two groups of second clamping heads can be replaced as needed, so as to realize clamping of workpieces of various special shapes, meet various transportation requirements under the premise of ensuring clamping effect, and have wider application.

[0015] Optionally, the first clamping jaw is arranged with an adjustable cylinder, and the first clamping head is arranged on the telescopic end of the adjustable cylinder.

[0016] By adopting the above technical scheme, when the workpiece to be transported is special, the adjustable cylinders on the two groups of first clamping jaws and the two groups of second clamping jaws drive the two groups of first clamping heads and the two groups of second clamping heads to ascend and descend. After the two groups of first clamping heads and the two groups of second clamping heads are adjusted to appropriate positions, clamping is performed, so as to realize more flexible clamping of the workpiece and ensure that the clamped workpiece does not tilt and deviate.

[0017] Optionally, the X-axis moving frame is arranged with a lifting cylinder, one end of the lifting cylinder is fixedly arranged on the X-axis moving frame, and the other end of the lifting cylinder is fixedly arranged on the lifting arm.

[0018] By adopting the above technical scheme, when the lifting arm needs to be lifted, the lifting cylinder can assist the lifting arm to ascend and descend, reduce the load of the first driving motor, improve the service life of the first driving motor, and improve the safety of the lifting arm during lifting.

[0019] Optionally, the X-axis moving frame is arranged with an anti-falling assembly, the anti-falling assembly comprises a safety clamp, a brake and an anti-falling toothed rail, the safety clamp is arranged on the X-axis moving frame, the brake is arranged on the X-axis moving frame and used for rotating the safety clamp, the anti-falling toothed rail is fixedly arranged on the lifting arm, and the safety clamp abuts against the anti-falling toothed rail.

[0020] By adopting the technical scheme, when the lifting arm rises, the safety clamp abuts against the anti-falling tooth rail but is not clamped, the lifting arm can rise, when the lifting arm descends, the brake is started, the brake rotates the safety clamp, the safety clamp does not abut against the anti-falling tooth rail, the lifting arm descends, when the lifting arm suddenly descends unexpectedly, the brake rotates the safety clamp to clamp the safety clamp and the anti-falling tooth rail, so that the descent of the lifting arm is prevented, and a safety accident is avoided.

[0021] Optionally, a plurality of damping members are arranged between the centering frame body and the driven tooth disc, the damping member comprises a telescopic cylinder and a spring, one end of the telescopic cylinder is fixedly connected to the driven tooth disc, the other end of the telescopic cylinder is fixedly connected to the centering frame body, the spring is sleeved on the outer circumferential wall of the telescopic cylinder, one end of the spring is fixedly connected to the driven tooth disc, and the other end of the spring is fixedly connected to the centering frame body.

[0022] By adopting the technical scheme, when the workpiece needs to be placed at a specified position, the spring and the telescopic cylinder are shortened to dampen, the reaction force when the workpiece falls to the ground is slowed down, the impact force between the first clamping jaw and the second clamping jaw and the ground is reduced, and damage to the truss manipulator and the workpiece is reduced.

[0023] In summary, the present application has at least one of the following beneficial technical effects:

[0024] 1. When the positions of the first direction clamping assembly and the second direction clamping assembly in the present application are inconvenient for clamping, the second driving motor is started to drive the centering frame body and the clamping frame body to rotate, so that the first direction clamping assembly and the second direction clamping assembly on the clamping frame body are adjusted to appropriate angles for clamping; when the positions of the first direction clamping assembly and the second direction clamping assembly deviate from the position of the workpiece, the centering cylinder can drive the centering block to move along the centering rail, so that the first direction clamping assembly and the second direction clamping assembly on the clamping frame body are horizontally moved to appropriate positions to accurately clamp the workpiece without changing the position of the lifting arm, thereby realizing fine adjustment of the first direction clamping assembly and the second direction clamping assembly in multiple angles and directions, automatically grabbing the workpiece, and improving clamping accuracy and efficiency;

[0025] 2. The first chuck and the second chuck in the present application can be detachably arranged, when the workpiece to be carried is special, two groups of first chucks and two groups of second chucks can be replaced as needed, so as to clamp workpieces of various special shapes, meet various carrying needs under the premise of ensuring clamping effect, and have wider application.

[0026] 3. The X-axis moving frame and lifting arm in the application are provided with a lifting cylinder, which can assist the lifting arm to lift when the lifting arm needs to lift, thereby reducing the load of the first driving motor, prolonging the service life of the first driving motor, and improving the safety of the lifting arm during lifting. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort.

[0028] Figure 1 is a schematic diagram of the overall structure of the embodiment of the application;

[0029] Figure 2 is a schematic diagram of the partial structure of Figure 1 ;

[0030] Figure 3 is a schematic diagram of the partial structure of Figure 2 ;

[0031] Figure 4 is an enlarged schematic diagram of part A in Figure 2 ;

[0032] Figure 5 is an enlarged schematic diagram of part B in Figure 2 .

[0033] Reference signs: 1, truss; 11, X-axis moving frame; 12, Y-axis moving frame; 13, first driving motor; 131, first driving gear; 14, lifting arm; 141, rack; 142, lifting auxiliary rail; 15, first limiting block; 16, lifting cylinder; 2, clamping mechanism; 21, second driving motor; 211, second driving gear; 22, driven gear disc; 23, centering frame; 231, centering block; 24, centering cylinder; 25, clamping frame; 251, centering rail; 3, first direction clamping assembly; 31, third driving motor; 311, third driving gear; 312, chain; 313, third driven gear; 32, second limiting block; 33, screw rod; 331, first threaded section; 332, second threaded section; 34, clamping block; 35, guide rail; 36, first clamping jaw; 361, first clamping head; 362, adjustable cylinder; 4, anti-falling assembly; 41, safety clamp; 42, brake; 43, anti-falling rack; 5, damping member; 51, telescopic cylinder; 52, spring. DETAILED DESCRIPTION

[0034] The following will be described in combination with the accompanying Figures 1-5The application is described in further detail.

[0035] The embodiment of the application discloses a truss manipulator, which refers to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , comprising a truss 1, an X-axis moving frame 11 and a Y-axis moving frame 12, the Y-axis moving frame 12 is fixedly welded on the truss 1, the X-axis moving frame 11 is movably installed on the Y-axis moving frame 12 along the length direction of the Y-axis moving frame 12, a first driving motor 13 and a lifting arm 14 are installed on the X-axis moving frame 11, a first driving gear 131 is welded and installed on the output end of the first driving motor 13, a rack 141 is welded and installed on the side wall of the lifting arm 14, the rack 141 and the first driving gear 131 are mutually engaged, a first limiting block 15 is bolted and installed on the X-axis moving frame 11, a lifting auxiliary rail 142 is bolted and installed on the lifting arm 14 in the vertical direction, the lifting auxiliary rail 142 and the first limiting block 15 are slidably connected, and a clamping mechanism 2 is arranged at the end of the lifting arm 14 away from the X-axis moving frame 11.

[0036] When a workpiece needs to be carried, the clamping mechanism 2 is moved to the upper side of the workpiece to be carried through the X-axis moving frame 11 and the Y-axis moving frame 12, the first driving motor 13 is started, the first driving motor 13 drives the lifting arm 14 to descend through the driving gear, the lifting auxiliary rail 142 on the lifting arm 14 and the first limiting block 15 slide relative to each other, so as to improve the stability of the lifting arm 14 when descending, when descending to a suitable position, the clamping mechanism 2 in the application clamps the workpiece, after clamping is completed, the first driving motor 13 drives the lifting arm 14 to ascend to a certain height, after stopping ascending, the X-axis moving frame 11 and the Y-axis moving frame 12 are moved to a specified position, after moving is completed, the first driving motor 13 drives the lifting arm 14 to descend, after descending to a suitable height, the workpiece is placed to a suitable position through the clamping mechanism 2, so as to realize full-automatic carrying of the workpiece, the lifting auxiliary rail 142 and the first limiting block 15 are provided with four groups in the embodiment, the four groups are a preferred mode in the embodiment, and other group numbers can also be arranged.

[0037] Referring to Figure 2 、 Figure 3 and Figure 5In order to realize the fine adjustment of the position and angle of the clamping mechanism 2, the clamping mechanism 2 in the embodiment comprises a second driving motor 21, a second driving gear 211, a driven gear plate 22, a centering frame 23, a centering block 231, a centering rail 251, a centering cylinder 24, a clamping frame 25, a first direction clamping assembly 3 and a second direction clamping assembly. The second driving motor 21 is fixedly installed on the lifting arm 14. The second driving gear 211 is welded to the output end of the second driving motor 21. The driven gear plate 22 is rotatably installed on the end of the lifting arm 14 away from the X-axis moving frame 11. The second driving gear 211 and the driven gear plate 22 are in mesh with each other. The centering frame 23 is connected to the driven gear plate 22 through a plurality of bolts. The centering block 231 is bolted to one side of the centering frame 23 away from the lifting arm 14. The centering rail 251 is horizontally fixedly installed on the clamping frame 25. The centering rail 251 is in sliding connection with the centering block 231. The centering cylinder 24 is fixedly installed on the clamping frame 25. The first direction clamping assembly 3 and the second direction clamping assembly are arranged on the side of the clamping frame 25 away from the centering frame 23.

[0038] The second driving motor 21 is started. The second driving motor 21 drives the driven gear plate 22 and the centering frame 23 to rotate through the second driving gear 211. The centering frame 23 drives the clamping frame 25 to rotate through the centering block 231 and the centering rail 251. The clamping frame 25 drives the first direction clamping assembly 3 and the second direction clamping assembly to rotate, so as to adjust the first direction clamping assembly 3 and the second direction clamping assembly to the appropriate angle for clamping. When the position of the first direction clamping assembly 3 and the second direction clamping assembly deviates from the position of the workpiece, the centering cylinder 24 can drive the centering block 231 to move along the centering rail 251, so as to move the first direction clamping assembly 3 and the second direction clamping assembly on the clamping frame 25 to the appropriate position horizontally without changing the position of the lifting arm 14, so as to accurately clamp the workpiece and realize the fine adjustment of the first direction clamping assembly 3 and the second direction clamping assembly in multiple angles and directions, thereby improving the clamping precision and efficiency of the workpiece.

[0039] Referring to Figure 3In order to realize the automatic grabbing of the workpiece, the first direction clamping assembly 3 in the embodiment comprises a third driving motor 31, a third driving gear 311, a chain 312, a third driven gear 313, a second limiting block 32, a lead screw 33, a clamping block 34, a guide rail 35 and a first clamping jaw 36. The third driving motor 31 is fixedly installed on one side of the clamping frame 25 away from the centering frame 23. The third driving gear 311 is fixedly installed on the output end of the third driving motor 31. The second limiting block 32 is fixedly installed on one side of the clamping frame 25 away from the centering frame 23. The third driven gear 313 is rotatably installed on the second limiting block 32. The chain 312 is used to connect the third driving gear 311 and the third driven gear 313. The lead screw 33 is rotatably installed on the second limiting block 32 and is welded to one end of the third driven gear 313. The lead screw 33 comprises a first threaded section 331 and a second threaded section 332. The first threaded section 331 and the second threaded section 332 are symmetrically arranged. Two groups of the first clamping jaw 36 are symmetrically installed on the lead screw 33 and are respectively threadedly connected with the first threaded section 331 and the second threaded section 332. The guide rail 35 is horizontally fixedly installed on one side of the clamping frame 25 away from the lifting arm 14. The clamping block 34 is fixedly installed on the first clamping jaw 36. The clamping block 34 is slidably connected with the guide rail 35.

[0040] When the lifting arm 14 moves to a suitable position and needs to clamp and carry the workpiece, the third driving motor 31 is started. The third driving motor 31 drives the third driving gear 311 and the chain 312 to drive the third driven gear 313 to rotate. The third driven gear 313 drives the lead screw 33 to rotate. Under the action of the clamping block 34 and the guide rail 35 and the symmetric arrangement of the first threaded section 331 and the second threaded section 332, the two groups of the first clamping jaw 36 can approach each other when the lead screw 33 rotates, so as to realize the clamping of the carried workpiece.

[0041] Referring to Figure 3 When the carried workpiece is special, the first direction clamping assembly 3 in the embodiment is provided with a second direction clamping assembly. The second direction clamping assembly comprises a second clamping jaw. A first chuck 361 is arranged on the first clamping jaw 36. A second chuck is arranged on the second clamping jaw. The first chuck 361 and the second chuck are detachably arranged. An adjustable cylinder 362 is bolted on the first clamping jaw 36 in the embodiment. The first chuck 361 is installed on the telescopic end of the adjustable cylinder 362.

[0042] When the workpiece needs to be transported, the two groups of first clamping jaws 36 are first clamped to fix the workpiece in one direction, and then the two groups of second clamping jaws are clamped to fix the workpiece in another direction. When the workpiece to be transported is special, the two groups of first clamping heads 361 and the two groups of second clamping heads can be replaced as needed to achieve clamping of various special-shaped workpieces, meet various transportation needs under the premise of ensuring clamping effect, and have wider application. In the embodiment, the first direction clamping assembly 3 and the second direction clamping assembly are each provided with two groups of clamping jaws, and the two groups of clamping jaws are symmetrically arranged. When the workpiece to be transported is special, the adjustable cylinders 362 on the two groups of first clamping jaws 36 and the two groups of second clamping jaws drive the two groups of first clamping heads 361 and the two groups of second clamping heads to ascend and descend. After the two groups of first clamping heads 361 and the two groups of second clamping heads are adjusted to appropriate positions, clamping is performed, so that the workpiece can be clamped more flexibly, and the clamped workpiece will not tilt or deviate.

[0043] Referring to Figure 2 When the lifting arm 14 ascends and descends, the lifting cylinder 16 is fixedly installed on the X-axis moving frame 11 in the embodiment. One end of the lifting cylinder 16 is bolted to the X-axis moving frame 11, and the other end of the lifting cylinder 16 is bolted to the lifting arm 14. The lifting cylinder 16 can assist the lifting arm 14 to ascend and descend, reduce the load of the first driving motor 13, improve the service life of the first driving motor 13, and improve the safety of the lifting arm 14 during lifting. In the embodiment, the lifting cylinder 16 is provided with two groups, which is a preferred mode in the embodiment, and can also be provided with other groups.

[0044] Referring to Figure 4 To prevent the lifting arm 14 from falling accidentally, the X-axis moving frame 11 is provided with an anti-falling assembly 4 in the embodiment. The anti-falling assembly 4 includes a safety clamp 41, a brake 42, and an anti-falling toothed rail 43. The safety clamp 41 is rotatably installed on the X-axis moving frame 11, the brake 42 is fixedly installed on the X-axis moving frame 11 by bolting, and the anti-falling toothed rail 43 is welded to the lifting arm 14. The safety clamp 41 abuts against the anti-falling toothed rail 43. When the lifting arm 14 ascends, the safety clamp 41 abuts against the anti-falling toothed rail 43 but does not engage with the anti-falling toothed rail 43, so that the lifting arm 14 can ascend. When the lifting arm 14 descends, the brake 42 is started to rotate the safety clamp 41, so that the safety clamp 41 does not abut against the anti-falling toothed rail 43, and the lifting arm 14 descends. When the lifting arm 14 suddenly descends accidentally, the brake 42 rotates the safety clamp 41 to engage the safety clamp 41 with the anti-falling toothed rail 43, so that the descent of the lifting arm 14 is prevented, and safety accidents are avoided. In the embodiment, the anti-falling toothed chain and the safety clamp 41 are provided with one group, which is a preferred mode in the embodiment, and can also be provided with multiple groups.

[0045] Referring to Figure 5When the workpiece is placed, the force of the workpiece and the ground is transmitted to the truss manipulator, and damage may be caused. In the embodiment, a plurality of damping members 5 are installed between the centering frame body 23 and the driven gear disc 22. The damping member 5 includes an extension cylinder 51 and a spring 52. One end of the extension cylinder 51 is welded to the driven gear disc 22, and the other end of the extension cylinder 51 is welded to the centering frame body 23. The spring 52 is sleeved on the outer peripheral wall of the extension cylinder 51. One end of the spring 52 is welded to the driven gear disc 22, and the other end of the spring 52 is welded to the centering frame body 23. When the workpiece needs to be placed after being carried to the designated position, the spring 52 and the extension cylinder 51 are shortened to dampen and slow down the reaction force when the workpiece falls to the ground, the impact force between the first clamping jaw 36 and the second clamping jaw and the ground, and the damage to the truss manipulator and the workpiece.

[0046] The implementation principle of the truss manipulator of the present application is as follows:

[0047] When the positions of the first direction clamping assembly 3 and the second direction clamping assembly are not convenient for clamping, the second driving motor 21 is started to drive the centering frame body 23 to rotate, the centering frame body 23 drives the clamping frame body 25 to rotate, and the clamping frame body 25 drives the first direction clamping assembly 3 and the second direction clamping assembly to rotate, so as to adjust the first direction clamping assembly 3 and the second direction clamping assembly to the appropriate angle for clamping. When the positions of the first direction clamping assembly 3 and the second direction clamping assembly deviate from the position of the workpiece, the centering cylinder 24 can drive the centering block 231 to move along the centering rail 251, so that the first direction clamping assembly 3 and the second direction clamping assembly on the clamping frame body 25 are horizontally moved to the appropriate position to accurately clamp the workpiece without changing the position of the lifting arm 14, thereby realizing the fine adjustment of the first direction clamping assembly 3 and the second direction clamping assembly in multiple angles and directions, improving the clamping precision and efficiency of the workpiece.

[0048] When the workpiece is special, the two groups of first clamping heads 361 and the two groups of second clamping heads can be replaced as needed, so as to clamp various special-shaped workpieces, meet various carrying needs under the premise of ensuring the clamping effect, and be more widely applied.

[0049] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. Unless otherwise defined, the terms "first", "second" or "third" and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. The terms "one", "another", "an" or "some" as well as similar referents in the context of describing the specification and claims are to be construed to be open-ended, i.e., to cover both singular and plural referents unless otherwise indicated. The terms "including", "containing" or "comprising" and the like are not intended to exclude other integers or steps not recited. The terms "above", "below", "left", "right" and the like in the context of the specification and claims are used for relative positioning only and are not intended to denote absolute orientations based on an absolute reference frame.

[0050] The above are all optional embodiments of the present application, and do not limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A gantry robot characterised in that: The utility model provides a kind of flexible workpiece grabbing device, including truss (1), X-axis moving frame (11) and Y-axis moving frame (12), the Y-axis moving frame (12) is fixedly arranged on the truss (1), the X-axis moving frame (11) is movably arranged on the Y-axis moving frame (12) perpendicularly to the length direction of the Y-axis moving frame (12), first drive motor (13) and lifting arm (14) are provided on the X-axis moving frame (11), the output end of the first drive motor (13) is fixedly provided with first driving gear (131), rack (141) is provided on the side wall of the lifting arm (14), the rack (141) and the first driving gear (131) are mutually engaged, first limit block (15) is provided on the X-axis moving frame (11), lifting auxiliary rail (142) is vertically provided on the lifting arm (14), the lifting auxiliary rail (142) and the first limit block (15) are slidably connected, the end of the lifting arm (14) away from X-axis moving frame (11) is provided with the clamping mechanism (2) of flexible workpiece grabbing.

2. The trussbot of claim 1, wherein: The clamping mechanism (2) includes second drive motor (21), second driving gear (211), driven gear disc (22), centering frame body (23), centering block (231), centering rail (251), centering cylinder (24), clamping frame body (25), first direction clamping assembly (3) and second direction clamping assembly, the second drive motor (21) is fixedly arranged on the lifting arm (14), the second driving gear (211) is fixedly arranged on the output end of the second drive motor (21), the driven gear disc (22) is rotatably arranged on the end of the lifting arm (14) away from X-axis moving frame (11), the second driving gear (211) and the driven gear disc (22) are mutually engaged, the centering frame body (23) is fixedly arranged on the driven gear disc (22), the centering block (231) is fixedly arranged on the side of the centering frame body (23) away from the lifting arm (14), the centering rail (251) is horizontally fixedly arranged on the clamping frame body (25), the centering rail (251) and the centering block (231) are slidably connected, the centering cylinder (24) is fixedly arranged on the clamping frame body (25), for the centering block (231) and the centering rail (251) between sliding occurs, the first direction clamping assembly (3) and the second direction clamping assembly are arranged on the side of the clamping frame body (25) away from the centering frame body (23), for clamping and carrying workpiece.

3. The trussbot of claim 2, wherein: The first direction clamping assembly (3) comprises a third driving motor (31), a third driving gear (311), a chain (312), a third driven gear (313), a second limiting block (32), a lead screw (33), a clamping block (34), a guide rail (35) and a first clamping jaw (36), the third driving motor (31) is fixedly arranged on the side of the clamping frame (25) away from the centering frame (23), the third driving gear (311) is fixedly arranged on the output end of the third driving motor (31), the second limiting block (32) is fixedly arranged on the side of the clamping frame (25) away from the centering frame (23), the third driven gear (313) is rotatably arranged on the second limiting block (32), the chain (312) is used for connecting the third driving gear (311) and the third driven gear (313), the lead screw (33) is rotatably arranged on the second limiting block (32) and fixedly connected with the third driven gear (313) at one end, the lead screw (33) comprises a first threaded section (331) and a second threaded section (332), the first threaded section (331) and the second threaded section (332) are symmetrically arranged, the first clamping jaw (36) is provided with two groups, the two groups of first clamping jaws (36) are symmetrically arranged on the lead screw (33) and are respectively threadedly connected with the first threaded section (331) and the second threaded section (332), the guide rail (35) is horizontally arranged on the side of the clamping frame (25) away from the lifting arm (14), the clamping block (34) is fixedly arranged on the first clamping jaw (36), and the clamping block (34) is slidably connected with the guide rail (35).

4. The trussbot of claim 3, wherein: The first direction clamping assembly (3) is arranged with the second direction clamping assembly, the second direction clamping assembly comprises a second clamping jaw, a first chuck (361) is arranged on the first clamping jaw (36), a second chuck is arranged on the second clamping jaw, and the first chuck (361) and the second chuck are detachably arranged.

5. The trussbot of claim 4, wherein: An adjustable air cylinder (362) is arranged on the first clamping jaw (36), and the first chuck (361) is arranged on the telescopic end of the adjustable air cylinder (362).

6. The trussbot of claim 1, wherein: A lifting air cylinder (16) is arranged on the X-axis moving frame (11), one end of the lifting air cylinder (16) is fixedly arranged on the X-axis moving frame (11), and the other end of the lifting air cylinder (16) is fixedly arranged on the lifting arm (14).

7. The trussbot of claim 1, wherein: A falling prevention assembly (4) is arranged on the X-axis moving frame (11), the falling prevention assembly (4) comprises a safety clamp (41), a brake (42) and a falling prevention rack (43), the safety clamp (41) is arranged on the X-axis moving frame (11), the brake (42) is arranged on the X-axis moving frame (11) and used for rotating the safety clamp (41), the falling prevention rack (43) is fixedly arranged on the lifting arm (14), and the safety clamp (41) abuts against the falling prevention rack (43).

8. The trussbot of claim 2, wherein: A plurality of sets of damping members (5) are arranged between the centering frame (23) and the driven gear disc (22), the damping member (5) comprises a telescopic cylinder (51) and a spring (52), one end of the telescopic cylinder (51) is fixedly connected to the driven gear disc (22), the other end of the telescopic cylinder (51) is fixedly connected to the centering frame (23), the spring (52) is sleeved on the outer circumferential wall of the telescopic cylinder (51), one end of the spring (52) is fixedly connected to the driven gear disc (22), and the other end of the spring (52) is fixedly connected to the centering frame (23).

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