Truss type movable carrying device

Abstract

The utility model provides a truss type movable carrying device which comprises a robot body, a stand column, a cross beam, a guide rail, a movable plate, a sliding block, a rack, a motor, a gear, a movable beam and a gripper assembly. The moving plate is located above the two guide rails, and the robot body is installed on the moving plate. Sliding grooves are formed in the sliding blocks, the multiple sliding blocks are installed at the bottom of the movable plate, and the two guide rails penetrate through the sliding grooves of the multiple sliding blocks correspondingly. The rack is installed on the cross beam and located between the two guide rails. The multiple sliding blocks are installed at the bottom of the moving plate, the guide rails penetrate through the sliding grooves of the sliding blocks, and the robot body is installed on the moving plate, so that the moving plate can move along the guide rails through the sliding blocks, the positions of the moving plate and the robot body are adjusted, and the workpiece grabbing and carrying range of the robot body is expanded; and the use experience of the product is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of carrying device, specifically relates to a truss formula removal carrying device. BACKGROUND

[0002] In the related art, in the production process of workpieces, the workpieces need to be carried to predetermined positions by a carrying device, so as to facilitate subsequent processing or storage of the workpieces.

[0003] The prior art (authorized announcement number: CN209408489U) discloses a carrying manipulator device. The carrying manipulator device comprises a mounting base, the mounting base comprises a bottom plate and a vertical support part, a slide rail is arranged on the support part in the vertical direction, a mechanical arm frame is arranged on the slide rail through a vertical guide rail sliding block and is driven by a lead screw driving motor, a harmonic reducer is arranged at the top end of the mechanical arm frame, the harmonic reducer is further connected with a mechanical arm guide rail mounting seat through a flange, a horizontal guide rail is arranged on the upper end surface of the mechanical arm guide rail mounting seat, a turnover motor mounting seat is arranged on the end part perpendicular to the horizontal guide rail, a turnover motor is arranged on the turnover motor mounting seat, a mechanical arm is arranged in a mechanical arm horizontal movement support and is connected with the turnover motor at one end, the turnover motor provides a turnover movement of the mechanical arm, and the other end of the mechanical arm is connected with a suction disc. The carrying manipulator device can realize vertical up-down movement, horizontal rotation movement, horizontal extension movement and mechanical hand turnover movement, so that the mechanical hand can work safely in a relatively harsh environment.

[0004] In the prior art, since the product can only be fixed at a certain place, the working range of the product is limited, thereby reducing the use experience of the product. UTILITY MODEL CONTENTS

[0005] In order to solve the problem that the product can only be fixed at a certain place in the prior art, the working range of the product is limited, thereby reducing the use experience of the product, the utility model provides a truss formula removal carrying device, the moving plate can move along the guide rail through the sliding block, so as to realize the position adjustment of the moving plate and the robot body, so as to expand the range of the robot body for grabbing and carrying workpieces, and the use experience of the product is improved. The specific technical scheme is as follows:

[0006] The utility model provides a truss type mobile handling device, the truss type mobile handling device includes robot body, and the truss type mobile handling device includes: stand, crossbeam, guide rail, moving plate, slider, rack, motor, gear, moving beam and gripper assembly, a plurality of stands are fixed on the ground, the crossbeam is connected with the top of a plurality of stands simultaneously, two guide rails are installed on the crossbeam, and there is spacing between the two guide rails, the moving plate is located above the two guide rails, and the robot body is installed on the moving plate, the slider is provided with a sliding groove, a plurality of sliders are installed on the bottom of the moving plate, and the two guide rails respectively pass through the sliding groove of a plurality of sliders, the rack is installed on the crossbeam, and the rack is located between the two guide rails, the motor is provided with output shaft, and the motor is installed on the moving plate, the gear is sleeved on the outside of the output shaft of the motor, the gear is located below the moving plate, and the gear is engaged with the rack, the moving beam is connected with the output end of the robot body, and at least two gripper assemblies are installed on the moving beam.

[0007] In addition, the truss type mobile handling device in the above technical solution provided by the utility model can further have the following additional technical features:

[0008] In the above technical solution, the gripper assembly comprises: a first cross rod, a first sliding seat, a second cross rod, a second sliding seat, a third cross rod, a vertical rod and a vacuum chuck, the first cross rod is installed on the side wall of the moving beam, two first sliding seats are sleeved on the outside of the first cross rod, two second cross rods are connected with the two first sliding seats respectively, two second sliding seats are sleeved on the outside of the second cross rod, and there is spacing between the two second sliding seats, one end of two third cross rods is connected with the two second sliding seats respectively, the vertical rod is connected with the other end of the third cross rod, and the vertical rod is perpendicular to the third cross rod, and the vacuum chuck is installed on the bottom of the vertical rod.

[0009] In the above technical solution, the truss type mobile handling device further comprises: a limiting groove and a limiting part, two limiting grooves are arranged on the two sides of the guide rail respectively, and two limiting parts are arranged on the two inner walls of the slider respectively, and the two limiting parts are embedded in the two limiting grooves respectively.

[0010] In the above technical solution, the truss type mobile handling device further comprises: a limiting seat and a buffer pad, at least two limiting seats are installed at the two ends of the crossbeam, and at least two limiting seats are located on the two sides of the moving plate, the buffer pad is an elastic body, at least two buffer pads are connected with at least two limiting seats respectively, and at least two buffer pads are opposite to the two ends of the moving plate respectively.

[0011] In the technical scheme, the truss type mobile carrying device further comprises a support base, a first threaded hole and a first screw rod; two support bases are installed on the moving plate and are located on two sides of the motor; a first internal thread is arranged in the first threaded hole, and two first threaded holes are arranged in the support base; a first external thread is arranged on the outer wall of the first screw rod, two first screw rods pass through the two first threaded holes respectively, and the two first screw rods are attached to the motor; and the first internal thread is matched with the first external thread.

[0012] In the technical scheme, the truss type mobile carrying device further comprises a connecting plate, a mounting plate, a second threaded hole and a second screw rod; the connecting plate is connected to the bottom of the stand column; the mounting plate is placed on the ground and is located below the connecting plate; a second internal thread is arranged in the second threaded hole, and a plurality of second threaded holes are arranged in the connecting plate; a second external thread is arranged on the outer wall of the second screw rod, a plurality of second screw rods pass through the plurality of second threaded holes respectively, and the plurality of second screw rods are attached to the mounting plate simultaneously.

[0013] Compared with the prior art, the truss type mobile carrying device has the following beneficial effects:

[0014] 1. By installing a plurality of sliding blocks at the bottom of the moving plate, the guide rail passes through the sliding groove of the sliding block, and the robot body is installed on the moving plate, so that the moving plate can move along the guide rail through the sliding block, thereby adjusting the position of the moving plate and the robot body, expanding the range of the robot body to grasp and carry workpieces, and improving the use experience of the product.

[0015] 2. By moving the first sliding seat along the first horizontal rod and moving the second sliding seat along the second horizontal rod, the position of the vacuum suction cup is adjusted from multiple angles, so that multiple vacuum suction cups can cooperate to adsorb and carry workpieces of different specifications, thereby improving the applicability of the product.

[0016] 3. By arranging two limiting grooves on both sides of the guide rail and arranging two limiting parts on the two inner walls of the sliding block, and embedding the limiting part in the limiting groove, the limiting part can move along the limiting groove, thereby realizing the clamping connection of the sliding block and the guide rail, avoiding the sliding block from moving out of the guide rail, and improving the stability of the moving plate.

[0017] 4. By connecting a plurality of buffer pads to a plurality of limiting seats respectively, and opposing the two ends of the moving plate with the plurality of buffer pads respectively, when the moving plate moves to the limiting seat, the buffer pad is attached to the moving plate, thereby limiting the movement distance of the moving plate, and avoiding rigid contact between the moving plate and the limiting seat, thereby improving the quality of the product.

[0018] 5. By setting two first threaded holes in the support seat, making two first screws pass through the first threaded holes respectively, and making the two first screws fit with the motor, the threaded connection of the two first screws with the support seat is realized, the first screws are screwed to move the motor, the position of the motor is adjusted, the gap between the gear and the rack is adjusted, and the meshing transmission effect of the gear and the rack is improved.

[0019] 6. By setting a plurality of second threaded holes in the connecting plate, making a plurality of second screws pass through the plurality of second threaded holes respectively, and making the plurality of second screws fit with the mounting plate at the same time, the threaded connection of the second screws with the connecting plate is realized, the second screws are screwed to adjust the distance between the connecting plate and the mounting plate, and the upright column is leveled to improve the use experience of the product. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a perspective view of a truss type mobile carrying device of the utility model;

[0021] Figure 2 It is Figure 1 A partial enlarged view of the place;

[0022] Figure 3 It is Figure 1 B partial enlarged view of the place;

[0023] Figure 4 It is Figure 1 C partial enlarged view of the place;

[0024] Figure 5 It is a perspective view of a truss type mobile carrying device of the utility model;

[0025] Figure 6 It is Figure 5 D partial enlarged view of the place;

[0026] Among them, Figures 1 to 6 The correspondence between the reference signs and the component names in the drawings is as follows:

[0027] 10 robot body, 11 upright column, 12 cross beam, 13 guide rail, 14 moving plate, 15 sliding block, 16 rack, 17 motor, 18 gear, 19 moving beam, 20 gripper assembly, 201 first cross rod, 202 first sliding seat, 203 second cross rod, 204 second sliding seat, 205 third cross rod, 206 vertical rod, 207 vacuum chuck, 21 limit groove, 22 limit part, 23 limit seat, 24 buffer pad, 25 support seat, 26 first screw, 27 connecting plate, 28 mounting plate, 29 second screw. DETAILED DESCRIPTION

[0028] The specific implementation cases and drawings will be described belowFigures 1 to 6 The present invention will be further described below, but the present invention is not limited to these embodiments.

[0029] A truss-type mobile transport device, such as Figures 1 to 6 As shown, the truss-type mobile transport device includes a robot body 10. The truss-type mobile transport device includes: columns 11, crossbeams 12, guide rails 13, a moving plate 14, sliders 15, racks 16, motors 17, gears 18, a moving beam 19, and a gripper assembly 20. Multiple columns 11 are fixed to the ground. The crossbeam 12 is simultaneously connected to the tops of multiple columns 11. Two guide rails 13 are mounted on the crossbeam 12, with a gap between them. The moving plate 14 is located above the two guide rails 13, and the robot body 10 is mounted on the moving plate 14. Slider 15... The moving plate 14 has internal grooves, and multiple sliders 15 are installed at the bottom of the moving plate 14. Two guide rails 13 pass through the grooves of the sliders 15 respectively. A rack 16 is installed on the crossbeam 12 and is located between the two guide rails 13. A motor 17 is provided with an output shaft and is installed on the moving plate 14. A gear 18 is fitted on the outside of the output shaft of the motor 17. The gear 18 is located below the moving plate 14 and meshes with the rack 16. A moving beam 19 is connected to the output end of the robot body 10. At least two gripper assemblies 20 are installed on the moving beam 19.

[0030] The plurality of columns 11 are fixed on the ground, and the cross beam 12 is connected with the top of the plurality of columns 11, so that the plurality of columns 11 cooperate to support the cross beam 12, so as to form a frame structure with the plurality of columns 11 and the cross beam 12, thereby improving the stability of the cross beam 12; two guide rails 13 are installed on the cross beam 12, and the two guide rails 13 are spaced apart, so that the cross beam 12 supports the two guide rails 13, thereby improving the stability of the two guide rails 13; a plurality of sliding blocks 15 are installed at the bottom of the moving plate 14, the two guide rails 13 pass through the sliding grooves of the plurality of sliding blocks 15, and the robot body 10 is installed on the moving plate 14, so that the moving plate 14 can move along the guide rail 13 through the sliding block 15, and the moving plate 14 can also support the robot body 10, so that the moving plate 14 and the robot body 10 move synchronously to adjust the position of the robot body 10. The motor 17 is installed on the moving plate 14, and the gear 18 is sleeved on the outer side of the output shaft of the motor 17, so that the moving plate 14 supports the motor 17, so that the motor 17 can drive the gear 18 to rotate; the rack 16 is installed on the cross beam 12, and the gear 18 is engaged with the rack 16, so that when the motor 17 drives the gear 18 to rotate, the gear 18 can engage the rack 16 to move, so that the moving plate 14 and the robot body 10 can move along the guide rail 13, thereby providing power for the moving robot body 10. The moving beam 19 is connected with the output end of the robot body 10, and at least two gripper assemblies 20 are installed on the moving beam 19, so that the robot body 10 can drive the moving beam 19 and the plurality of gripper assemblies 20 to move, thereby realizing the plurality of gripper assemblies 20 cooperating to grasp and carry the workpiece.

[0031] With the above structure, the plurality of sliding blocks 15 are installed at the bottom of the moving plate 14, the guide rail 13 passes through the sliding groove of the sliding block 15, and the robot body 10 is installed on the moving plate 14, so that the moving plate 14 can move along the guide rail 13 through the sliding block 15, thereby adjusting the position of the moving plate 14 and the robot body 10, so as to expand the range of the robot body 10 grasping and carrying the workpiece, thereby improving the use experience of the product.

[0032] In the embodiment of the present application, Figures 1 to 6As shown in the drawings, the gripper assembly 20 comprises a first crossbar 201, a first sliding seat 202, a second crossbar 203, a second sliding seat 204, a third crossbar 205, a vertical bar 206 and a vacuum chuck 207; the first crossbar 201 is installed on the side wall of the moving beam 19; two first sliding seats 202 are sleeved on the outer side of the first crossbar 201; two second crossbars 203 are connected with the two first sliding seats 202 respectively; two second sliding seats 204 are sleeved on the outer side of the second crossbar 203, and the two second sliding seats 204 are spaced apart; one end of two third crossbars 205 is connected with the two second sliding seats 204 respectively; the vertical bar 206 is connected with the other end of the third crossbar 205, and the vertical bar 206 is perpendicular to the third crossbar 205; and the vacuum chuck 207 is installed at the bottom of the vertical bar 206.

[0033] By installing the first crossbar 201 on the side wall of the moving beam 19 and sleeving the two first sliding seats 202 on the outer side of the first crossbar 201, the moving beam 19 can support the first crossbar 201, so that the two first sliding seats 202 can move along the first crossbar 201, thereby adjusting the distance between the two first sliding seats 202; by connecting the second crossbar 203 with the first sliding seat 202 and sleeving the two second sliding seats 204 on the outer side of the second crossbar 203, the second crossbar 203 moves synchronously with the first sliding seat 202, so that the two second sliding seats 204 can move along the second crossbar 203, thereby adjusting the distance between the two second sliding seats 204. By connecting one end of the third crossbar 205 with the second sliding seat 204, connecting the vertical bar 206 with the other end of the third crossbar 205, and installing the vacuum chuck 207 at the bottom of the vertical bar 206, the vacuum chuck 207, the vertical bar 206, the third crossbar 205 and the second sliding seat 204 move synchronously, thereby adjusting the position of the vacuum chuck 207.

[0034] With the above structure, by moving the first sliding seat 202 along the first crossbar 201 and moving the second sliding seat 204 along the second crossbar 203, the position of the vacuum chuck 207 can be adjusted from multiple angles, so that multiple vacuum chucks 207 can cooperate to adsorb and carry workpieces of different specifications, thereby improving the applicability of the product.

[0035] In the embodiment of the utility model, as shown in the drawings, Figures 1 to 6 As shown in the drawings, the truss type mobile carrying device further comprises a limiting groove 21 and a limiting part 22; two limiting grooves 21 are arranged on the two sides of the guide rail 13 respectively; two limiting parts 22 are arranged on the two inner walls of the sliding block 15 respectively, and the two limiting parts 22 are embedded in the two limiting grooves 21 respectively.

[0036] By setting two limiting grooves 21 on both sides of the guide rail 13, setting two limiting parts 22 on the inner walls of the sliding block 15, and embedding the limiting parts 22 in the limiting grooves 21, the limiting parts 22 can move along the limiting grooves 21, so that the sliding block 15 is clamped with the guide rail 13, the sliding block 15 is prevented from moving out of the guide rail 13, and the stability of the movement of the moving plate 14 is improved.

[0037] In the embodiment of the utility model, as shown in Figures 1 to 6 The truss type mobile carrying device further comprises limiting seats 23 and buffer pads 24; the at least two limiting seats 23 are respectively installed at the two ends of the cross beam 12, and the at least two limiting seats 23 are located at the two sides of the moving plate 14; the buffer pads 24 are elastic bodies, the at least two buffer pads 24 are respectively connected with the at least two limiting seats 23, and the at least two buffer pads 24 are respectively opposite to the two ends of the moving plate 14.

[0038] By installing the at least two limiting seats 23 at the two ends of the cross beam 12 and locating the at least two limiting seats 23 at the two sides of the moving plate 14, the cross beam 12 supports the plurality of limiting seats 23, thereby improving the stability of the plurality of limiting seats 23; by connecting the plurality of buffer pads 24 with the plurality of limiting seats 23 and locating the plurality of buffer pads 24 opposite to the two ends of the moving plate 14, when the moving plate 14 moves to the limiting seat 23, the buffer pad 24 is in close contact with the moving plate 14, thereby limiting the movement distance of the moving plate 14, and rigid contact between the moving plate 14 and the limiting seat 23 is avoided, thereby improving the quality of the product.

[0039] In the embodiment of the utility model, as shown in Figures 1 to 6 The truss type mobile carrying device further comprises supporting seats 25, first threaded holes and first screw rods 26; the two supporting seats 25 are installed on the moving plate 14, and the two supporting seats 25 are located at the two sides of the motor 17; the first threaded holes are provided with first internal threads, and the two first threaded holes are arranged in the supporting seat 25; the first screw rods 26 are provided with first external threads on the outer walls, the two first screw rods 26 pass through the two first threaded holes respectively, and the two first screw rods 26 are in close contact with the motor 17; wherein, the first internal threads are matched with the first external threads.

[0040] The two support bases 25 are installed on the moving plate 14 and located on the two sides of the motor 17, so that the moving plate 14 supports the two support bases 25; the two first screw holes are arranged in the support base 25, the two first screw rods 26 pass through the first screw holes respectively, and the two first screw rods 26 are attached to the motor 17, so that the two first screw rods 26 are in threaded connection with the support base 25, and the first screw rod 26 is screwed to drive the motor 17 to move, so that the position of the motor 17 is adjusted, and then the gap between the gear 18 and the rack 16 is adjusted, so that the meshing transmission effect of the gear 18 and the rack 16 is improved.

[0041] In the embodiment of the utility model, as shown in Figures 1 to 6 The truss type mobile carrying device further comprises a connecting plate 27, a mounting plate 28, second screw holes and second screw rods 29; the connecting plate 27 is connected to the bottom of the stand 11; the mounting plate 28 is placed on the ground and located below the connecting plate 27; the second screw holes are provided with second internal threads, and a plurality of second screw holes are arranged in the connecting plate 27; the second screw rods 29 are provided with second external threads on the outer walls, and a plurality of second screw rods 29 pass through the second screw holes respectively and are attached to the mounting plate 28 simultaneously.

[0042] The connecting plate 27 is connected to the bottom of the stand 11, and the mounting plate 28 is placed on the ground, so that the connecting plate 27 moves synchronously with the stand 11, and the ground supports the mounting plate 28; the plurality of second screw holes are arranged in the connecting plate 27, the plurality of second screw rods 29 pass through the second screw holes respectively, and the plurality of second screw rods 29 are attached to the mounting plate 28 simultaneously, so that the second screw rod 29 is in threaded connection with the connecting plate 27, and the second screw rod 29 is screwed to adjust the distance between the connecting plate 27 and the mounting plate 28, so that the stand 11 is leveled, and the use experience of the product is improved.

[0043] In the description of the utility model, the term "a plurality of" refers to two or more than two, unless otherwise explicitly limited, the terms "upper", "lower" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and not indicating or implying that the indicated device or element must have a particular orientation, a particular orientation and operation, therefore, it cannot be understood as a limitation on the utility model; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be fixed connection, can also be detachable connection, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0044] In the description of the utility model, the description of the terms "one embodiment", "some embodiments", "a specific embodiment" and the like means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are contained in at least one embodiment or example of the utility model. In the utility model, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0045] The above only is the preferred embodiment of the utility model, and does not limit the utility model, and the utility model can have various changes and changes for the person skilled in the art. Any modification, equivalent replacement, improvement etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A truss-type mobile handling device comprising a robot body, characterized by, The truss type mobile carrying device comprises: a plurality of columns fixed on the ground; a plurality of beams connected to the top of the columns; two rails installed on the beams and spaced apart; a moving plate above the two rails, and a robot body installed on the moving plate; a plurality of sliders provided with sliding grooves, the sliders being installed on the bottom of the moving plate, and the two rails penetrating through the sliding grooves of the sliders; a rack installed on the beam and located between the two rails; a motor provided with an output shaft, the motor being installed on the moving plate; a gear sleeved on the outside of the output shaft of the motor, the gear being located below the moving plate and engaged with the rack; a moving beam connected to the output end of the robot body; at least two gripper assemblies installed on the moving beam.

2. A mobile transport device of the truss type according to claim 1, characterized in that The gripper assembly comprises: a first cross bar installed on the side wall of the moving beam; two first sliding seats sleeved on the outside of the first cross bar; two second cross bars connected to the two first sliding seats respectively; two second sliding seats sleeved on the outside of the second cross bar and spaced apart; two third cross bars, one end of each of the third cross bars being connected to the second sliding seat respectively; a vertical bar connected to the other end of the third cross bar and perpendicular to the third cross bar; a vacuum chuck installed on the bottom of the vertical bar.

3. A mobile transport device of the truss type according to claim 2, characterised in that The truss type mobile carrying device further comprises: two limiting grooves respectively provided on the two sides of the rail; two limiting portions respectively provided on the two inner walls of the slider and embedded in the two limiting grooves respectively.

4. A mobile transport device according to claim 3, wherein, The truss type mobile carrying device further comprises: at least two limiting seats respectively installed on the two ends of the beam and located on the two sides of the moving plate; at least two buffer pads made of elastic bodies, the buffer pads being connected to the limiting seats respectively and opposite to the two ends of the moving plate.

5. A mobile transport device according to claim 4, wherein, The truss type mobile carrying device further comprises: two support seats installed on the moving plate and located on the two sides of the motor; two first threaded holes provided with first internal threads, the first threaded holes being provided in the support seats; two first screws provided with first external threads on the outer walls, the first screws penetrating through the first threaded holes respectively and abutting against the motor; wherein the first internal threads are matched with the first external threads.

6. A truss-type mobile handling device according to claim 1, wherein, The truss type mobile carrying device further comprises: a connecting plate connected to the bottom of the column; a mounting plate, the mounting plate is placed on the ground, and the mounting plate is located below the connecting plate; a second threaded hole, a second internal thread is arranged in the second threaded hole, and a plurality of second threaded holes are arranged in the connecting plate; a second screw rod, a second external thread is arranged on an outer wall of the second screw rod, a plurality of second screw rods respectively pass through a plurality of second threaded holes, and the plurality of second screw rods are simultaneously attached to the mounting plate.

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