Multifunctional operation truss robot

Abstract

The utility model relates to the technical field of truss robots, in particular to a multifunctional operation truss robot which comprises a cross beam, and a first guide rail and a rack are respectively installed on the top face of the cross beam in the length direction of the cross beam. The utility model has the advantages that by arranging the cross beam, the first mounting seat, the support frame and the second mounting seat, the first mounting seat is slidably mounted at the top end of the cross beam, the pneumatic cylinder is rotatably mounted on one side of the first mounting seat, the output end of the pneumatic cylinder is rotatably connected with the side surface of the second mounting seat, and the third mounting seat is rotatably connected with the second mounting seat; the first motor is powered on to rotate, so that the first gear and the second gear rotate relatively, the vertical beam is driven to rotate on the horizontal plane or the vertical plane, and then the pneumatic cylinder extends or rotates to drive the second mounting base and the vertical beam to rotate in a right-angle mode. And the truss robot is more multifunctional, the practicability is higher, and taking and placing operation of goods on the goods shelf is conveniently executed.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, and in particular to a multi-functional gantry robot. Background Technology

[0002] A gantry robot is an automated device that uses a servo motor to drive a ball screw for linear motion, enabling the robot to move in three-dimensional space. It features high precision, high speed, strong load capacity, and good stability. In logistics distribution centers, gantry robots can be used for sorting and palletizing goods. They can classify and organize goods of different types and specifications according to preset rules and instructions, and neatly stack them on designated pallets or shelves, thus automating the logistics distribution process.

[0003] Traditional gantry robots can generally only move within the spatial range of the X, Y, and Z axes, but they cannot turn the cargo at a specific angle as needed, lacking multi-functionality. Based on this, a multi-functional gantry robot is proposed to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-functional gantry robot, which effectively solves the deficiencies of the prior art.

[0005] To achieve the above objectives, one embodiment of this utility model provides a multifunctional gantry robot, including a crossbeam. A first guide rail and a rack are respectively mounted on the top surface of the crossbeam along its length. A first mounting seat that moves along the length of the two first guide rails is mounted on the outer wall of each first guide rail. A support frame is mounted on one side of the top surface of the first mounting seat. A second mounting seat capable of right-angle rotation is mounted on the top of the support frame. A third mounting seat is rotatably mounted on the middle of the second mounting seat. The middle of the third mounting seat protrudes outward and penetrates through the second mounting seat, and a first gear is fixedly connected to its end. A first motor is mounted on the other side of the second mounting seat, and a second gear meshing with the first gear is mounted on its output end.

[0006] Preferably, in any of the above schemes, the crossbeam is placed horizontally, and the rack is located between the two first guide rails. In this scheme, both ends of the crossbeam can be fixedly connected to the external truss or to the lead screw and nut drive mechanism, thereby realizing different usage scenarios and meeting the needs of cargo transfer. The rack adopts a segmented design, and each segment of the rack has a stepped hole on its top surface, which is fixedly connected to the top surface of the crossbeam by internal hex bolts, thereby facilitating the stabilization of the rack's position and ensuring stable meshing between the third gear and the rack. The second motor is powered on to drive the first mounting base to move horizontally.

[0007] Preferably, in any of the above solutions, a second motor is installed in the middle of the top surface of the first mounting base, and a third gear is installed at the output end of the second motor. The third gear meshes with a rack. In this solution, the second motor is a servo motor, and the forward and reverse rotation of the second motor can be controlled by an external servo controller, thereby enabling the first mounting base to move horizontally along the length of the first guide rail, thus realizing the transfer of goods.

[0008] Preferably, in any of the above solutions, a pneumatic cylinder is rotatably mounted on the side of the first mounting base away from the support frame, and the output end of the pneumatic cylinder is rotatably connected to the top of the side of the second mounting base. This solution facilitates the extension or retraction of the pneumatic cylinder to drive the second and third mounting bases to rotate at right angles, change the relative position of the vertical beam, realize the multi-functional operation requirements of the gantry robot, and facilitate the gripping or placement of goods.

[0009] Preferably, in any of the above solutions, the middle part of the third mounting base is rotatably connected to the middle part of the second mounting base via a bearing. The length of the third mounting base is greater than the length of the second mounting base. In this solution, the third mounting base facilitates the provision of an installation position for the vertical beam. The longer length of the third mounting base increases the contact area between it and the vertical beam. The corresponding position of the vertical beam is fixedly connected to the third mounting base using hexagon socket head cap bolts, making the installation of the vertical beam more stable.

[0010] Preferably, in any of the above embodiments, a synchronous belt drive mechanism is rotatably mounted on the side of the vertical beam, and an auxiliary rod is slidably mounted on the side of the vertical beam. The vertical beam is driven to move vertically by the synchronous belt drive mechanism. A pneumatic gripper is fixedly mounted at the bottom end of the auxiliary rod. The synchronous belt drive mechanism includes a third motor, two synchronous pulleys, and a synchronous belt. The two synchronous pulleys are rotatably connected to both ends of the vertical beam. The output end of the third motor is fixedly connected to one of the synchronous pulleys. The synchronous belt is meshed on the two synchronous pulleys. Two second guide rails are located on both sides of the synchronous belt. The two sides of the auxiliary rod are slidably connected to the second guide rails, and the other side of the auxiliary rod is fixedly connected to the synchronous belt. The auxiliary rod is driven to move along the second guide rails by the third motor, thus meeting the usage requirements in different scenarios.

[0011] This utility model has the following advantages:

[0012] 1. This multi-functional gantry robot comprises a crossbeam, a first mounting base, a support frame, and a second mounting base. The first mounting base is slidably mounted on the top of the crossbeam. A pneumatic cylinder is rotatably mounted on one side of the first mounting base, and its output end is rotatably connected to the side of the second mounting base. A third mounting base is rotatably connected to the second mounting base and is driven to rotate by a first motor. This causes the pneumatic cylinder to extend or rotate, driving the second mounting base and the vertical beam to rotate at a right angle. By energizing the first motor, the first gear and the second gear rotate relative to each other, driving the vertical beam to rotate in a horizontal or vertical plane. This design makes the gantry robot more multifunctional, more practical, and easier to perform operations such as picking up and placing goods on shelves.

[0013] 2. This multi-functional gantry robot, by setting up a support frame, the bottom end of which is fixedly connected to the top surface of the first mounting base, facilitates the raising of the installation height of the second mounting base. At the same time, the first motor is designed with an offset, and transmits power to the outside through the meshing of the first gear and the second gear, thereby avoiding motion interference between the first motor and the second motor, and between the first motor and the pneumatic cylinder, and ensuring the stable operation of the rotating mechanism. Attached Figure Description

[0014] Figure 1 This is a first-view structural diagram of the present invention;

[0015] Figure 2 This is a schematic diagram of the second-view structure of the present invention;

[0016] Figure 3 This is a schematic diagram of the beam structure of this utility model;

[0017] Figure 4 This is a schematic diagram of the vertical structure of the second mounting base of this utility model;

[0018] Figure 5 This is a schematic diagram of the horizontal structure of the second mounting base of this utility model.

[0019] In the diagram: 1-crossbeam, 2-first guide rail, 3-rack, 4-pneumatic cylinder, 5-first motor, 6-vertical beam, 8-support frame, 9-first mounting base, 10-second mounting base, 11-third gear, 12-second motor, 13-third mounting base, 14-second gear, 15-first gear. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0021] like Figures 1 to 5As shown, a multi-functional gantry robot includes a crossbeam 1, both ends of which are connected to an external gantry or screw-nut mechanism. The crossbeam adopts a single-plate design and is made of aluminum alloy, which can greatly reduce the relative weight while ensuring high mechanical performance. A first guide rail 2 and a rack 3 are respectively installed on the top surface of the crossbeam 1 along its length. The first guide rail 2 and the rack 3 are fixedly connected to the top surface of the crossbeam 1 by bolts. The rack 3 is located between the two first guide rails 2. The first guide rails 2 facilitate the support and limit of the first mounting base 9. The rack 3 facilitates the meshing with the third gear 11 for operation by energizing the second motor 12, driving the first mounting base 9 to move horizontally.

[0022] Two first guide rails 2 are mounted on their outer walls with first mounting seats 9 that move along their length. A support frame 8 is mounted on one side of the top surface of the first mounting seat 9. A second mounting seat 10 that can rotate at a right angle is mounted on the top of the support frame 8. A third mounting seat 13 is rotatably mounted in the middle of the second mounting seat 10. The middle of the third mounting seat 13 protrudes outward and passes through the second mounting seat 10, and a first gear 15 is fixedly connected to its end. A first motor 5 is mounted on the other side of the second mounting seat 10, and a second gear 14 that meshes with the first gear 15 is mounted on its output end. A vertical beam 6 is mounted on the side of the third mounting seat 13. The first motor 5 is offset and transmits power through the meshing between the second gear 14 and the first gear 15. This mounting arrangement can maintain a safe distance between the first motor 5 and the pneumatic cylinder 4, avoiding motion interference between the first motor 5 and the pneumatic cylinder 4.

[0023] The crossbeam 1 is placed horizontally, and the rack 3 is located between the two first guide rails 2. As an optional technical solution of this utility model, the two ends of the crossbeam 1 can be fixedly connected to the external truss or to the screw nut drive mechanism, thereby realizing different usage scenarios and meeting the needs of cargo transfer. The rack 3 adopts a segmented design, and each segment of the rack 3 has a stepped hole on its top surface, which is fixedly connected to the top surface of the crossbeam 1 by internal hex bolts, thereby facilitating the stabilization of the rack 3 position and facilitating the stable meshing of the third gear 11 with the rack 11. The second motor 12 is powered on and runs, driving the first mounting base 9 to move horizontally.

[0024] A second motor 12 is installed in the middle of the top surface of the first mounting base 9. A third gear 11 is installed at the output end of the second motor 12. The third gear 11 meshes with the rack 3. As an optional technical solution of this utility model, the second motor 12 is a servo motor, and the forward and reverse rotation of the second motor 12 can be controlled by an external servo controller, so that the first mounting base 9 moves horizontally along the length direction of the first guide rail 2 to realize the transfer of goods.

[0025] A pneumatic cylinder 4 is rotatably mounted on the side of the first mounting base 9 away from the support frame 8. The output end of the pneumatic cylinder 4 is rotatably connected to the top of the side of the second mounting base 10. As an optional technical solution of this utility model, this makes it easy to push the second mounting base 10 and the third mounting base 13 to rotate at a right angle by extending or shortening the pneumatic cylinder 4, thereby changing the relative position of the vertical beam 6 and realizing the multi-functional operation requirements of the gantry robot, which is convenient for gripping or placing goods.

[0026] The middle part of the third mounting base 13 is rotatably connected to the middle part of the second mounting base 10 through a bearing. The length of the third mounting base 13 is greater than the length of the second mounting base 10. As an optional technical solution of this utility model, the third mounting base 13 facilitates the provision of an installation position for the vertical beam 6. The longer length of the third mounting base 13 can correspondingly increase the contact area between it and the vertical beam 6. The corresponding position of the vertical beam 6 is fixedly connected to the third mounting base 13 using hexagon socket head cap bolts, making the installation of the vertical beam 6 more stable.

[0027] A synchronous belt drive mechanism is rotatably mounted on the side of the vertical beam 6, and an auxiliary rod is slidably mounted on the side of the vertical beam 6. The vertical beam 6 is driven vertically by the synchronous belt drive mechanism. A pneumatic gripper is fixedly mounted at the bottom end of the auxiliary rod. As an optional technical solution of this utility model, this facilitates the synchronous belt drive mechanism to drive the auxiliary rod to move along the outer wall of the vertical beam 6, thereby transferring the position of the goods. Two second guide rails are mounted on the outer wall of the vertical beam 6. The synchronous belt drive mechanism includes a third motor, two synchronous pulleys, and a synchronous belt. The two synchronous pulleys are rotatably connected to the two ends of the vertical beam 6. The output end of the third motor is fixedly connected to one of the synchronous pulleys. The synchronous belt is meshed on the two synchronous pulleys. The two second guide rails are located on both sides of the synchronous belt. The two sides of the auxiliary rod are slidably connected to the second guide rails, and the other side of the auxiliary rod is fixedly connected to the synchronous belt. The third motor is powered on to drive the auxiliary rod to move along the second guide rails, which can meet the needs of different scenarios.

[0028] This multi-functional gantry robot requires the following steps to operate:

[0029] 1) When the second motor 12 is powered on, it drives the third gear 11 to rotate relative to the rack 3, which facilitates the movement of the first mounting base 9 along the length of the first guide rail 2;

[0030] 2) The pneumatic cylinder 4 shortens, causing the second mounting base 10 and the vertical beam 6 to rotate from the vertical direction to the horizontal direction;

[0031] 3) When the first motor 5 is powered on, it drives the third mounting base 13 and the vertical beam 6 to rotate at a certain angle, and the synchronous belt drive mechanism and pneumatic gripper operate to clamp or place the goods.

[0032] In summary, during use, the system comprises a crossbeam 1, a first mounting base 9, a support frame 8, and a second mounting base 10. The first mounting base 9 is slidably mounted on the top of the crossbeam 1. A pneumatic cylinder 4 is rotatably mounted on one side of the first mounting base 9, and its output end is rotatably connected to the side of the second mounting base 10. A third mounting base 13 is rotatably connected to the second mounting base 10 and is driven to rotate by a first motor 5. This causes the pneumatic cylinder 4 to extend or rotate, driving the second mounting base 10 and the vertical beam 6 to rotate at a right angle. The first motor 5 is energized and rotates, causing the first gear 15 and the second gear 14 to rotate relative to each other, thus driving the vertical beam 6... The straight beam 6 rotates in a horizontal or vertical plane, making the gantry robot more multifunctional and practical, and facilitating the picking and placing of goods on shelves. A support frame 8 is then installed, with its bottom end fixedly connected to the top surface of the first mounting base 9. The support frame 8 facilitates raising the installation height of the second mounting base 10. Simultaneously, the first motor 5 is offset and transmits power externally through the meshing of the first gear 15 and the second gear 14, thus avoiding motion interference between the first motor 5 and the second motor 12, and between the first motor 5 and the pneumatic cylinder 4, ensuring the stable operation of the rotating mechanism.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-functionally operable truss robot, characterized by: The utility model provides a kind of vertical and horizontal movement mechanism, including crossbeam (1), the top surface of crossbeam (1) is respectively equipped with first guide rail (2) and rack (3) along its length direction, the outer wall of two first guide rail (2) is equipped with first mounting seat (9) moving along its length direction, the top surface of first mounting seat (9) one side is equipped with support frame (8), the top end of support frame (8) is equipped with the second mounting seat (10) that can be straightly rotated, the middle part of second mounting seat (10) is rotatably equipped with third mounting seat (13), third mounting seat (13) middle part is outwardly convex and penetrates second mounting seat (10), and its end is fixedly connected with first gear (15), the other side of second mounting seat (10) is equipped with first motor (5), and its output is equipped with second gear (14) with first gear (15) is engaged, the side of third mounting seat (13) is equipped with vertical beam (6).

2. A multi-functionally operated truss robot according to claim 1, characterized in that: The crossbeam (1) is horizontally placed, and the rack (3) is located between the two first guide rails (2).

3. A multi-functionally operated truss robot according to claim 2, characterized in that: The middle part of the top surface of the first mounting seat (9) is equipped with a second motor (12), and the output end of the second motor (12) is equipped with a third gear (11) engaged with the rack (3).

4. A multi-functionally operated truss robot according to claim 3, characterized in that: The side of the first mounting seat (9) away from the support frame (8) is rotatably equipped with a pneumatic cylinder (4), and the output end of the pneumatic cylinder (4) is rotatably connected with the top end of the side of the second mounting seat (10).

5. A multi-functionally operated truss robot according to claim 4, characterized in that: The middle part of the third mounting seat (13) is rotatably connected with the middle part of the second mounting seat (10) through a bearing, and the length of the third mounting seat (13) is greater than the length of the second mounting seat (10).

6. A multi-functionally operated truss robot according to claim 5, characterized in that: The side of the vertical beam (6) is rotatably equipped with a synchronous belt driving mechanism, the side of the vertical beam (6) is slidably equipped with an auxiliary rod, the vertical beam (6) is driven by the synchronous belt driving mechanism to move vertically, and the bottom end of the auxiliary rod is fixedly equipped with a pneumatic gripper.

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