Anti-collision truss manipulator

Abstract

The utility model relates to the technical field of truss manipulators, and particularly discloses an anti-collision truss manipulator which comprises a supporting column, a base is fixedly connected to the lower portion of the supporting column through bolts, an inclined strut is fixedly connected to one side of the lower end of the supporting column, a supporting block is fixedly connected to one side of the upper end of the supporting column, and a cross beam is fixedly connected to the upper portion of the supporting block. The transverse moving mechanism transversely moves on the cross beam; the longitudinal moving mechanism is arranged on the transverse moving mechanism, and the longitudinal moving mechanism comprises a driving device and a lifting arm; the clamping mechanism comprises a plurality of suction cups, and the suction cups are evenly distributed on the two sides of the longitudinal moving mechanism; and the anti-collision mechanism is located on the outer side of the clamping mechanism and can play a role in protecting the whole mechanical arm, the device can rapidly achieve response and reduce impact force, automatic reset is achieved after an elastic material deforms, and the maintenance frequency is reduced.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, specifically an anti-collision gantry robot. Background Technology

[0002] Gantry robots are automated devices with multiple degrees of freedom that can be repeatedly programmed based on a spatial XYZ Cartesian coordinate system. They have changed the traditional logistics methods, effectively improved the working environment, reliably ensured product quality, and greatly improved labor productivity.

[0003] Early anti-collision mechanisms for robotic arms mostly adopted partial protection designs (such as top and bottom anti-collision plates). Although they could provide basic shock absorption, the protection range was limited and could not fully cover the robotic arm body, resulting in a higher risk of collisions on the side or during dynamic movement. To address this, we propose an anti-collision truss robotic arm. Utility Model Content

[0004] The purpose of this invention is to provide a collision-resistant gantry robot to solve the problem of high collision risk during lateral or dynamic movement mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a collision-resistant truss manipulator, comprising a support column, a base fixedly connected to the bottom of the support column by bolts, a diagonal brace fixedly connected to one side of the lower end of the support column, a support block fixedly connected to one side of the upper end of the support column, and a crossbeam fixedly connected above the support block; a transverse movement mechanism that moves laterally on the crossbeam; a longitudinal movement mechanism located on the transverse movement mechanism, comprising a drive device and a lifting arm; a clamping mechanism including several suction cups evenly distributed on both sides of the longitudinal movement mechanism; and a collision-resistant mechanism located outside the clamping mechanism, which protects the entire manipulator.

[0006] The transverse mechanism includes two slide rails located on one side of the crossbeam, with limit blocks on the inner sides of both ends of the slide rails, and the limit blocks are fixedly connected to the crossbeam.

[0007] The slide rail has a slider connected to one side, a transition connecting plate fixedly connected to the slider away from the slide rail, a fixed plate fixedly connected to the transition connecting plate away from the slider, a connecting column fixedly connected to the fixed plate away from the transition connecting plate, and a longitudinal movement mechanism fixedly connected to the connecting column away from the fixed plate.

[0008] The longitudinal movement mechanism includes a longitudinal beam frame, which is fixedly connected to one side of a fixed plate. Guide rails are evenly distributed on the inner side of the longitudinal beam frame and are fixedly connected to the longitudinal beam frame. Lifting sliders are fixedly connected to both sides of the lifting arm and are slidably connected to the guide rails.

[0009] The lifting arm is fixedly connected to a limit plate at the top, and a hydraulic buffer is fixedly connected inside the limit plate. Two lifting slider bases are fixedly connected to the lower end of the lifting arm, and a limit buffer column is fixedly connected above the lifting slider bases.

[0010] The clamping mechanism includes a mounting base, which is connected to the flange of the lifting slider base. A steel frame is fixedly connected to the bottom of the mounting base, and clamping guide rails are fixedly connected to both sides of the steel frame. Suction cup sliders are evenly distributed on both sides of the clamping guide rails. A fixed shaft is fixedly connected to the outside of the suction cup slider, and a suction cup frame is fixedly connected to the end of the fixed shaft away from the suction cup slider. The suction cup frame is threadedly connected to the suction cup.

[0011] The anti-collision mechanism includes a copper foil tape that is fixedly connected to the outside of the clamping mechanism and the suction cup frame. A conductive rubber strip is fixedly connected around the outside of the copper foil tape, and a silicone tube is fixedly connected around the outside of the conductive rubber strip.

[0012] This invention has at least the following beneficial effects: The anti-collision mechanism achieves dynamic obstacle avoidance and impact buffering through a multi-layer composite protection design. Under normal operating conditions, the conductive rubber strip and the copper foil tape maintain slight contact, forming a high-resistance monitoring circuit. When the robot encounters an external collision, the outer flexible silicone tube first deforms to absorb the impact energy, while simultaneously pressing the inner conductive rubber strip to displace towards the copper foil tape. As the collision force increases, the contact area between the conductive rubber and the copper foil increases in a gradient, resulting in a significant decrease in the resistance value of the monitoring circuit. The intelligent detection module continuously monitors the resistance change of this circuit. When the resistance value is lower than the preset threshold, the system immediately implements emergency braking, stops the drive device, and allows the drive device to run in reverse after a 1-second pause. This device can respond quickly, reduce impact force, and automatically reset after the elastic material deforms, reducing maintenance frequency. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a front view structural diagram of the present invention;

[0015] Figure 3 This is a top view schematic diagram of the structure of this utility model;

[0016] Figure 4 for Figure 3 Enlarged structural diagram at point A in the middle.

[0017] In the diagram: 1. Support column; 11. Base; 12. Diagonal brace; 13. Support block; 14. Crossbeam; 2. Lateral movement mechanism; 21. Slide rail; 22. Limiting block; 23. Slider; 24. Transition connecting plate; 25. Fixing plate; 26. Connecting column; 3. Longitudinal movement mechanism; 31. Drive device; 32. Lifting arm; 321. Longitudinal beam frame; 322. Guide rail; 323. Lifting slider; 324. Limiting plate; 325. Hydraulic buffer; 326. Lifting slider base; 327. Limiting buffer column; 4. Clamping mechanism; 41. Suction cup; 42. Mounting seat; 43. Steel frame; 44. Clamping guide rail; 45. Suction cup slider; 46. Fixed shaft; 47. Suction cup frame; 5. Anti-collision mechanism; 51. Copper foil tape; 52. Conductive rubber strip; 53. Silicone tube. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figure 1-4 This utility model provides a technical solution: an anti-collision truss manipulator, including a support column 1, a base 11 fixedly connected to the bottom of the support column 1 by bolts, a diagonal brace 12 fixedly connected to one side of the lower end of the support column 1, a support block 13 fixedly connected to one side of the upper end of the support column 1, and a crossbeam 14 fixedly connected above the support block 13; a transverse movement mechanism 2, which moves laterally on the crossbeam 14; a longitudinal movement mechanism 3, which is disposed on the transverse movement mechanism 2, and includes a drive device 31 and a lifting arm 32; a clamping mechanism 4, which includes a plurality of suction cups 41, which are evenly distributed on both sides of the longitudinal movement mechanism 3; and an anti-collision mechanism 5, which is located outside the clamping mechanism 4 and can protect the entire manipulator.

[0020] The transverse mechanism 2 includes two slide rails 21 located on one side of the crossbeam 14. Limiting blocks 22 are provided on the inner sides of both ends of the slide rails 21, and the limiting blocks 22 are fixedly connected to the crossbeam 14.

[0021] A slider 23 is slidably connected to one side of the slide rail 21. A transition connecting plate 24 is fixedly connected to the side of the slider 23 away from the slide rail 21. A fixing plate 25 is bolted to the side of the transition connecting plate 24 away from the slider 23. A connecting column 26 is fixedly connected to the side of the fixing plate 25 away from the transition connecting plate 24. A longitudinal movement mechanism 3 is fixedly connected to the end of the connecting column 26 away from the fixing plate 25.

[0022] The longitudinal movement mechanism 3 includes a longitudinal beam frame 321, which is fixedly connected to one side of the fixed plate 25. Guide rails 322 are evenly distributed on the inner side of the longitudinal beam frame 321, and the guide rails 322 are fixedly connected to the longitudinal beam frame 321. Lifting sliders 323 are fixedly connected to both sides of the lifting arm 32, and the lifting sliders 323 are slidably connected to the guide rails 322.

[0023] A limit plate 324 is fixedly connected above the lifting arm 32. A hydraulic buffer 325 is fixedly connected inside the limit plate 324. Two lifting slider bases 326 are fixedly connected to the lower end of the lifting arm 32. A limit buffer column 327 is fixedly connected above the lifting slider base 326.

[0024] The clamping mechanism 4 includes a mounting base 42, which is flange-connected to the lifting slider base 326. A steel frame 43 is fixedly connected to the bottom of the mounting base 42. Clamping guide rails 44 are fixedly connected to both sides of the steel frame 43. Suction cup sliders 45 are evenly distributed on both sides of the clamping guide rails 44. A fixed shaft 46 is fixedly connected to the outside of the suction cup slider 45. A suction cup frame 47 is fixedly connected to the end of the fixed shaft 46 away from the suction cup slider 45. The suction cup frame 47 is threadedly connected to the suction cup 41.

[0025] The anti-collision mechanism 5 includes a copper foil tape 51 that is fixedly connected to the outside of the clamping mechanism 4 and the suction cup frame 47. A conductive rubber strip 52 is fixedly connected around the outside of the copper foil tape 51, and a silicone tube 53 is fixedly connected around the outside of the conductive rubber strip 52.

[0026] When a collision occurs, the outer silicone tube 53 is compressed, causing the inner conductive rubber strip 52 to come into contact with the copper foil tape 51. The change in resistance triggers a signal. The conductive rubber strip 52 and the copper foil tape 51 are arranged on the surface of the robot. Under normal conditions, there is little contact between the conductive rubber strip 52 and the copper foil tape 51, resulting in a high resistance. When a collision occurs, the conductive rubber strip 52 is squeezed, increasing the contact area with the copper foil tape 51 and decreasing the resistance. The detection circuit triggers a corresponding response by measuring the change in resistance. When there is no collision, the drive device 31 is in normal condition, and the resistance is high even with slight contact between the conductive rubber strip 52 and the copper foil tape 51 (similar to a switch being turned off). When a collision occurs: the outer silicone tube 53 is squeezed and deformed, and the conductive rubber strip 52 and the copper foil tape 51 are under pressure, immediately stopping the drive device 31 and causing the drive motor to run in reverse.

[0027] The hydraulic buffer 325 in the device can both limit the movement and buffer the longitudinal movement mechanism 3; the limit buffer column 327 is made of rubber and can also buffer the longitudinal movement mechanism 3. All of these are protective functions for the entire device.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0029] 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 collision avoidance gantry robot, comprising: A support column (1) is fixedly connected to a base (11) by bolts at the bottom of the support column (1). A diagonal brace (12) is fixedly connected to one side of the lower end of the support column (1). A support block (13) is fixedly connected to one side of the upper end of the support column (1). A crossbeam (14) is fixedly connected above the support block (13). A transverse movement mechanism (2) moves laterally on a crossbeam (14); The longitudinal movement mechanism (3) is mounted on the transverse movement mechanism (2). The longitudinal movement mechanism (3) includes a drive device (31) and a lifting arm (32). Its characteristic is that it further includes: The clamping mechanism (4) includes a plurality of suction cups (41), which are evenly distributed on both sides of the longitudinal movement mechanism (3); Anti-collision mechanism (5), which is located outside the clamping mechanism (4), can protect the entire robot arm; The longitudinal movement mechanism (3) includes a longitudinal beam frame (321), which is fixedly connected to one side of the fixed plate (25). Guide rails (322) are evenly distributed on the inner side of the longitudinal beam frame (321), and the guide rails (322) are fixedly connected to the longitudinal beam frame (321). Lifting sliders (323) are fixedly connected to both sides of the lifting arm (32), and the lifting sliders (323) are slidably connected to the guide rails (322). A limiting plate (324) is fixedly connected above the lifting arm (32), and a hydraulic buffer (325) is fixedly connected inside the limiting plate (324). Two lifting slider bases (326) are fixedly connected to the lower end of the lifting arm (32), and a limiting buffer column (327) is fixedly connected above the lifting slider base (326).

2. The anti-collision gantry robot of claim 1, wherein: The transverse mechanism (2) includes two slide rails (21) located on one side of the crossbeam (14). Limiting blocks (22) are provided on the inner sides of both ends of the slide rails (21), and the limiting blocks (22) are fixedly connected to the crossbeam (14).

3. The anti-collision gantry robot according to claim 2, characterized in that: A slider (23) is slidably connected to one side of the slide rail (21). A transition connecting plate (24) is fixedly connected to the side of the slider (23) away from the slide rail (21). A fixing plate (25) is bolted to the side of the transition connecting plate (24) away from the slider (23). A connecting column (26) is fixedly connected to the side of the fixing plate (25) away from the transition connecting plate (24). A longitudinal movement mechanism (3) is fixedly connected to the end of the connecting column (26) away from the fixing plate (25).

4. The anti-collision gantry robot of claim 1, wherein: The clamping mechanism (4) includes a mounting base (42), which is flange-connected to the lifting slider base (326). A steel frame (43) is fixedly connected below the mounting base (42), and clamping guide rails (44) are fixedly connected on both sides of the steel frame (43). Suction cup sliders (45) are evenly distributed on both sides of the clamping guide rails (44). A fixed shaft (46) is fixedly connected to the outside of the suction cup slider (45), and a suction cup frame (47) is fixedly connected to the end of the fixed shaft (46) away from the suction cup slider (45). The suction cup frame (47) is threadedly connected to the suction cup (41).

5. The anti-collision gantry robot of claim 4, wherein: The anti-collision mechanism (5) includes a copper foil tape (51) fixedly connected to the outside of the clamping mechanism (4) and the suction cup frame (47). A conductive rubber strip (52) is fixedly connected around the outside of the copper foil tape (51), and a silicone tube (53) is fixedly connected around the outside of the conductive rubber strip (52).

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