Truss manipulator with quick reloading function

Abstract

The utility model provides a truss manipulator with a rapid replacement function, belongs to the technical field of truss manipulators, and aims to solve the problems that when a clamping jaw of an existing truss manipulator is replaced, disassembly and assembly consumed by bolt connection is long, and cost of pneumatic driving or electromagnetic control is high. Comprising a supporting vertical rod, an electrical connection contact, a fixing box, a rapid reloading assembly and an impurity prevention assembly. The electrical connection contact is arranged at the bottom of the vertical guide rail; the fixed box is fixedly connected to the right side of the bottom of the vertical guide rail; the quick reloading assembly is arranged at the bottom of the vertical guide rail; the impurity preventing assemblies are arranged on the left side and the right side of the connecting sliding block. The clamping jaw and the vertical guide rail are conveniently separated and installed through the rapid replacement assembly, convenience and economical efficiency of clamping jaw replacement are greatly optimized, accumulated dust in a guide groove of the transverse guide rail is synchronously cleaned through sliding of the connecting sliding block, mechanical abrasion is effectively reduced, operation noise is lowered, and the service life of parts is prolonged.

Description

Technical Field

[0001] This utility model belongs to the field of gantry robot technology, and more specifically, it relates to a gantry robot with a quick change function. Background Technology

[0002] Gantry robots can achieve precise linear motion in three-dimensional space and can complete a variety of tasks such as material handling, loading and unloading, and assembly. They are widely used in industrial fields such as machining, automobile manufacturing, and electronic equipment production. They can effectively improve production efficiency, reduce labor intensity, and ensure product quality. They are one of the important pieces of equipment for realizing industrial automation. They are mainly composed of a gantry frame, linear motion axis, drive system, and end gripper.

[0003] Existing application number: CN202023177150.X, this application provides a truss manipulator, including a slide and a support. The lower end of the support is integrally connected to a slide plate, and the angle between the slide plate and the vertical plane is 45 degrees. The upper surface of the slide is provided with a groove, the opening of the groove is parallel to the slide plate, the slide plate is inserted into the groove, and the outer wall of the slide plate is slidably connected to the inner wall of the groove. The slide includes a support block and a traction block. The traction block is detachably fixed to the upper surface of the support block. The groove is formed by the support block and the traction block. The slide plate includes a second traction surface, a second inclined support surface and a second lifting surface. The second traction surface is parallel to the second lifting surface, the second inclined support surface is perpendicular to the second traction surface, the angle between the second traction surface and the vertical plane is 45 degrees, and the second traction surface is located above the second inclined support surface and the second lifting surface.

[0004] Based on the above, the connection between the gripper and the vertical guide rail of the gantry robot is mainly based on flange connection. The gripper base is directly fixed to the standardized flange surface by bolt group. This method requires disassembling each bolt one by one when replacing the gripper, which is time-consuming. Although some equipment has introduced quick-change connection technology, by integrating pneumatically driven or electromagnetically controlled quick-change joints at the end of the vertical guide rail to form a quick coupling with the complementary interface configured on the gripper base, such quick-change devices are themselves expensive and their application is limited in the lightweight design of small and medium-sized robots. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a gantry robot with a quick-change function. This solves the problem that the existing gantry robot's gripper and vertical guide rail connection primarily uses flange connections, where the gripper base is directly fixed to a standardized flange surface using bolt sets. This method requires disassembling each bolt individually when changing the gripper, which is time-consuming. While some devices have introduced quick-change connection technology by integrating pneumatically driven or electromagnetically controlled quick-change connectors at the end of the vertical guide rail, forming a rapid coupling with the complementary interface configured on the gripper base, such quick-change devices are inherently expensive, limiting their application in lightweight designs for small and medium-sized robots.

[0006] The purpose and effectiveness of this utility model, a gantry robot with a rapid assembly / change function, are achieved by the following specific technical means:

[0007] A truss robot with a quick-change function includes support columns, a horizontal guide rail, a connecting slider, a vertical guide rail, electrical contact points, grippers, a fixing box, a first connecting block, a quick-change assembly, and an anti-impurity assembly. The horizontal guide rail is fixedly connected to two support columns. The connecting slider is slidably connected to the front of the horizontal guide rail. The vertical guide rail is slidably connected inside the connecting slider. The electrical contact points are located at the bottom of the vertical guide rail. The grippers are located at the bottom of the vertical guide rail. The fixing box is fixedly connected to the right side of the bottom of the vertical guide rail. A square positioning hole is opened inside the first connecting block. Two first connecting blocks are provided, and the two first connecting blocks are respectively fixedly connected to the front and rear sides of the bottom of the vertical guide rail. The quick-change assembly is located at the bottom of the vertical guide rail. The anti-impurity assembly is located on the left and right sides of the connecting slider.

[0008] Furthermore, the quick-change assembly includes: a transmission screw, an operating knob, and a transmission slider; the transmission screw is rotatably connected inside the fixed box; the operating knob is coaxially fixedly connected to the top of the transmission screw; the transmission slider is slidably connected inside the fixed box, and the transmission slider is threadedly connected to the transmission screw.

[0009] Furthermore, the quick-change assembly also includes: a connecting transmission rod and a sliding rod; two connecting transmission rods are provided, with their tops hinged to the right side of the transmission slider; two sliding rods are provided, with their right ends hinged to the bottom of the connecting transmission rod respectively.

[0010] Furthermore, the quick-change assembly also includes: positioning posts and guide posts; two positioning posts are provided, and the two positioning posts are respectively fixedly connected to the inner side of the left end of the two sliding rods; the guide posts are fixedly connected to the right side of the bottom of the vertical guide rail, and the right ends of the two sliding rods are slidably connected to the outer side of the guide posts.

[0011] Furthermore, the quick-change assembly also includes: a fixing block and a second connecting block; two fixing blocks are provided, and the two fixing blocks are respectively fixedly connected to the front and rear sides of the top of the gripper; a square positioning hole is opened inside the second connecting block, and two second connecting blocks are provided, and the two second connecting blocks are respectively fixedly connected to the top of the two fixing blocks, and the two second connecting blocks are respectively inserted into the two first connecting blocks.

[0012] Furthermore, the anti-impurity component includes: a fixed connecting plate and a brush; four fixed connecting plates are provided, and the four fixed connecting plates are distributed and fixedly connected to the front and rear sides behind the connecting slider; four brushes are provided, and the four brushes are distributed and fixedly connected to the bottom of the four fixed connecting plates.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] First, when changing the gripper, turn the operating knob to rotate the transmission screw. The quick-change assembly drives the positioning pin to disengage from the positioning holes of the first and second connecting blocks, thus separating the gripper from the bottom of the vertical guide rail. This purely mechanical quick-change structure requires no electrical control or complex drive components. It converts the helical motion of the transmission screw into the linear displacement of the positioning pin. Compared with traditional bolt connections, it improves efficiency and has low manufacturing costs, significantly optimizing the convenience and economy of gripper replacement.

[0015] Secondly, by integrating a brush that contacts the inner surface of the guide groove on the connecting slider, the synchronous movement of the connecting slider during sliding enables dynamic cleaning of the dust accumulated on the top of the guide groove. This actively prevents dust and impurities from entering the gap between the connecting slider and the transverse guide rail, avoiding abnormal wear caused by particle wear, extending the life of mechanical parts, reducing motion stagnation and high-frequency vibration noise caused by foreign object jamming, and improving the stability of equipment operation.

[0016] This invention enables the positioning pin to quickly detach from the positioning hole through a quick-change component, facilitating the easy separation and installation of the gripper and the vertical guide rail. The purely mechanical structure requires no electrical control, significantly improving the convenience and economy of gripper replacement. Simultaneously cleaning the dust accumulation in the guide groove of the transverse guide rail via the sliding slider actively prevents dust from entering the mating gap, effectively reducing mechanical wear, lowering operating noise, and extending component lifespan. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the gripper structure of this utility model.

[0019] Figure 3 This is a schematic diagram of the vertical guide rail structure of this utility model.

[0020] Figure 4 This is a schematic diagram of the fixing box structure of this utility model.

[0021] Figure 5 This is a schematic diagram of the guide column structure of this utility model.

[0022] Figure 6 This is a schematic diagram of the fixed connection plate structure of this utility model.

[0023] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0024] 1. Supporting pole; 2. Horizontal guide rail; 3. Connecting slider; 4. Vertical guide rail; 401. Electrical contact point; 5. Gripper; 6. Fixing box; 7. Transmission screw; 701. Operating knob; 8. Transmission slider; 9. Connecting transmission rod; 10. Sliding rod; 1001. Positioning post; 11. Guide post; 12. First connecting block; 13. Fixing block; 1301. Second connecting block; 14. Fixing connecting plate; 1401. Brush. Detailed Implementation

[0025] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0026] Example 1:

[0027] As attached Figure 1 To be continued Figure 6 As shown:

[0028] This utility model provides a truss robot with a quick-change function, including a support column 1, a horizontal guide rail 2, a connecting slider 3, a vertical guide rail 4, an electrical connection contact point 401, a gripper 5, a fixing box 6, a first connecting block 12, and a quick-change assembly; the horizontal guide rail 2 is fixedly connected to two support columns 1; the connecting slider 3 is slidably connected to the front of the horizontal guide rail 2; the vertical guide rail 4 is slidably connected inside the connecting slider 3; the electrical connection contact point 401 is located at the bottom of the vertical guide rail 4; the gripper 5 is located at the bottom of the vertical guide rail 4; the fixing box 6 is fixedly connected to the bottom right side of the vertical guide rail 4; a square positioning hole is opened inside the first connecting block 12, and two first connecting blocks 12 are provided, which are respectively fixedly connected to the front and rear sides of the bottom of the vertical guide rail 4; the quick-change assembly is located at the bottom of the vertical guide rail 4.

[0029] The quick-change assembly includes: a transmission screw 7, an operating knob 701, and a transmission slider 8; the transmission screw 7 is rotatably connected inside the fixed box 6; the operating knob 701 is coaxially fixedly connected to the top of the transmission screw 7; the transmission slider 8 is slidably connected inside the fixed box 6, and the transmission slider 8 is threadedly connected to the transmission screw 7.

[0030] The quick-change assembly also includes: a connecting transmission rod 9 and a sliding rod 10; two connecting transmission rods 9 are provided, and the top of the two connecting transmission rods 9 are respectively hinged to the right side of the transmission slider 8; two sliding rods 10 are provided, and the right ends of the two sliding rods 10 are respectively hinged to the bottom of the connecting transmission rod 9.

[0031] The quick-change assembly also includes: positioning posts 1001 and guide posts 11; two positioning posts 1001 are provided, and the two positioning posts 1001 are respectively fixedly connected to the inner side of the left end of the two sliding rods 10; the guide post 11 is fixedly connected to the bottom right side of the vertical guide rail 4, and the right ends of the two sliding rods 10 are slidably connected to the outer side of the guide post 11.

[0032] The quick-change assembly also includes: a fixing block 13 and a second connecting block 1301; two fixing blocks 13 are provided, and the two fixing blocks 13 are respectively fixedly connected to the front and rear sides of the top of the gripper 5; a square positioning hole is opened inside the second connecting block 1301, and two second connecting blocks 1301 are provided, and the two second connecting blocks 1301 are respectively fixedly connected to the top of the two fixing blocks 13, and the two second connecting blocks 1301 are respectively inserted into the two first connecting blocks 12.

[0033] The specific usage and function of this embodiment are as follows: When using, if it is necessary to replace the gripper 5, turn the operation knob 701 to drive the transmission screw 7 to rotate. The transmission screw 7, together with the transmission slider 8, forms a threaded transmission mechanism that drives the transmission slider 8 to slide downward. Under the guidance of the guide post 11, the downward sliding of the transmission slider 8 will drive the two sliding rods 10 to slide outward simultaneously through the two connecting transmission rods 9, thereby causing the positioning post 1001 to disengage from the positioning hole inside the first connecting block 12 and the second connecting block 1301. Take the new gripper 5, insert the second connecting block 1301 into the two first connecting blocks 12, and the electrical contact point 401 will match and contact the electrical connection groove on the top of the new gripper 5. Then, turn the operation knob 701 in the opposite direction to drive the transmission slider 8 to move upward, thereby causing the positioning post 1001 to move inward and pass through the positioning hole inside the first connecting block 12 and the second connecting block 1301, thereby fixing the new gripper 5. The operation is convenient, fast, and low-cost.

[0034] Example 2:

[0035] Based on Example 1, as shown in the appendix Figure 1 To be continued Figure 6 As shown, it also includes an anti-impurity component, which is disposed on the left and right sides of the connecting slider 3.

[0036] The impurity prevention component includes: a fixed connecting plate 14 and a brush 1401; four fixed connecting plates 14 are provided, and the four fixed connecting plates 14 are distributed and fixedly connected to the front and rear sides of the connecting slider 3; four brushes 1401 are provided, and the four brushes 1401 are distributed and fixedly connected to the bottom of the four fixed connecting plates 14.

[0037] The specific usage and function of this embodiment: After long-term use, dust easily accumulates on the top of the guide groove of the transverse guide rail 2. When the connecting slider 3 slides in front of the transverse guide rail 2, it will drive the fixed connecting plate 14 and the brush 1401 to slide synchronously. The brush 1401 contacts the inner surface of the guide groove of the transverse guide rail 2, which can push most of the dust and impurities to one side in advance, and prevent these impurities and dust from entering the guide groove of the transverse guide rail 2 and the guide block behind the connecting slider 3, causing increased wear and noise.

[0038] The following points should be noted in this article:

[0039] 1. The accompanying drawings in this embodiment only involve the structures relevant to this embodiment; other structures can be referenced from general designs.

[0040] 2. Where there is no conflict, this embodiment and the features in the embodiment can be combined with each other to obtain new embodiments.

[0041] The above are merely specific implementations of this embodiment, but the protection scope of this embodiment is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this embodiment should be included within the protection scope of this embodiment. Therefore, the protection scope of this embodiment should be determined by the protection scope of the claims.

Claims

1. A truss manipulator with quick replacement function, comprising support vertical rods (1), horizontal guide rails (2), connecting sliding blocks (3), vertical guide rails (4), electrical connection contacts (401), clamping jaws (5), fixed boxes (6), first connecting blocks (12), quick replacement assemblies and impurity prevention assemblies; the horizontal guide rails (2) are fixedly connected on the top of two support vertical rods (1); characterized in that: The connecting slider (3) is slidably connected to the front of the horizontal guide rail (2); the vertical guide rail (4) is slidably connected inside the connecting slider (3); the electrical contact point (401) is located at the bottom of the vertical guide rail (4); the gripper (5) is located at the bottom of the vertical guide rail (4); the fixing box (6) is fixedly connected to the bottom right side of the vertical guide rail (4); a square positioning hole is opened inside the first connecting block (12), and two first connecting blocks (12) are provided, and the two first connecting blocks (12) are fixedly connected to the front and rear sides of the bottom of the vertical guide rail (4) respectively; the quick-change assembly is located at the bottom of the vertical guide rail (4); the anti-impurity assembly is located on the left and right sides of the connecting slider (3).

2. The truss robot with quick change function according to claim 1, characterized in that: The quick-change assembly includes: a transmission screw (7), an operating knob (701), and a transmission slider (8); the transmission screw (7) is rotatably connected inside the fixed box (6); the operating knob (701) is coaxially fixedly connected to the top of the transmission screw (7); the transmission slider (8) is slidably connected inside the fixed box (6), and the transmission slider (8) is threadedly connected to the transmission screw (7).

3. The truss robot with quick change function according to claim 2, characterized in that: The quick-change assembly also includes: a connecting transmission rod (9) and a sliding rod (10); two connecting transmission rods (9) are provided, and the tops of the two connecting transmission rods (9) are hinged to the right side of the transmission slider (8); two sliding rods (10) are provided, and the right ends of the two sliding rods (10) are respectively hinged to the bottom of the connecting transmission rod (9).

4. The truss robot with quick change function according to claim 3, characterized in that: The quick-change assembly also includes: a positioning post (1001) and a guide post (11); two positioning posts (1001) are provided, and the two positioning posts (1001) are respectively fixedly connected to the inner side of the left end of the two sliding rods (10); the guide post (11) is fixedly connected to the bottom right side of the vertical guide rail (4), and the right ends of the two sliding rods (10) are slidably connected to the outer side of the guide post (11).

5. The truss robot with quick change function according to claim 1, wherein: The quick-change assembly also includes: a fixing block (13) and a second connecting block (1301); two fixing blocks (13) are provided, and the two fixing blocks (13) are respectively fixedly connected to the front and rear sides of the top of the gripper (5); a square positioning hole is opened inside the second connecting block (1301), and two second connecting blocks (1301) are provided, and the two second connecting blocks (1301) are respectively fixedly connected to the top of the two fixing blocks (13), and the two second connecting blocks (1301) are respectively inserted into the two first connecting blocks (12).

6. The truss robot with quick change function according to claim 1, characterized in that: The impurity prevention component includes: a fixed connecting plate (14) and a brush (1401); four fixed connecting plates (14) are provided, and the four fixed connecting plates (14) are dispersedly fixedly connected to the front and rear sides of the connecting slider (3); four brushes (1401) are provided, and the four brushes (1401) are dispersedly fixedly connected to the four fixed connecting plates (14) below.

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