Truss manipulator

By using the three-axis linkage and connecting plate rotation drive of the gantry manipulator, the problems of poor rotation and multi-task adaptability of the end effector of traditional manipulators are solved, and efficient and multi-functional operation in complex space operations is realized.

CN224143802UActive Publication Date: 2026-04-21SHANXI MCHENGRUI ELECTROMECHANICAL TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
SHANXI MCHENGRUI ELECTROMECHANICAL TECH CO LTD
Filing Date
2025-05-12
Publication Date
2026-04-21

AI Technical Summary

Technical Problem

Traditional gantry robot designs often have limitations, making it difficult to achieve multi-angle rotation of the end effector and resulting in poor adaptability to multiple tasks, leading to equipment redundancy and low switching efficiency.

Method used

It adopts a three-axis linkage design of horizontal slide, mounting slide and lifting rod, combined with the rotation drive of connecting plate to achieve four-degree-of-freedom precise positioning of end effector, and realizes multi-functional operation by integrating welding robot and switchable hook assembly.

Benefits of technology

It fulfills the complex spatial operation requirements of the end effector, improves the multi-task adaptability and switching efficiency of the equipment, and reduces equipment redundancy.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model relates to the technical field of industrial robots, in particular to a truss manipulator which comprises a truss, a horizontal sliding table, an installation sliding table and a lifting rod, the horizontal sliding table is arranged in the length direction of the truss in a sliding mode, and the horizontal sliding table is connected with a first driving structure driving the horizontal sliding table to move along the truss. A first guide rail is arranged on the horizontal sliding table in the direction perpendicular to the length direction of the truss, the mounting sliding table is slidably arranged on the first guide rail, a second driving structure for driving the mounting sliding table to move along the horizontal sliding table is arranged between the mounting sliding table and the horizontal sliding table, and the lifting rod is slidably arranged on the mounting sliding table in the vertical direction; and a third driving structure for driving the lifting rod to vertically move along the mounting sliding table is arranged between the lifting rod and the mounting sliding table. By means of three-axis linkage of the horizontal sliding table, the installation sliding table and the lifting rod and rotation driving of the connecting disc, four-degree-of-freedom accurate positioning of the end effector is achieved, and the requirement for complex space operation is met.
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Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and more specifically, to a gantry manipulator. Background Technology

[0002] In the field of industrial automation, gantry robots are widely used in material handling, welding, assembly, and other scenarios. Traditional gantry robots typically achieve two-dimensional or three-dimensional motion through horizontal slides and lifting rods, but their structural design often has the following limitations: most robots can only achieve horizontal movement and vertical lifting, and the end effector lacks the ability to rotate around an axis, making it difficult to adapt to complex working conditions (such as multi-angle docking of electrode cylinders or welding tasks); existing robots are mostly designed for single tasks, for example, electrode paste transportation and electrode cylinder handling require different equipment, resulting in increased costs and low switching efficiency.

[0003] Therefore, it is necessary to improve existing technologies. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, a multifunctional gantry robot is provided.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0006] A truss manipulator includes a truss, a horizontal slide, a mounting slide, and a lifting rod. The horizontal slide is slidably disposed along the length of the truss and is connected to a first drive structure that drives it to move along the truss. A first guide rail is disposed on the horizontal slide perpendicular to the length of the truss. The mounting slide is slidably disposed on the first guide rail. A second drive structure is disposed between the mounting slide and the horizontal slide that drives it to move along the horizontal slide. The lifting rod is slidably disposed on the mounting slide in a vertical direction and a third drive structure is disposed between the lifting rod and the mounting slide that drives it to move vertically along the mounting slide.

[0007] The lower end of the lifting rod is provided with a hook assembly and a connecting plate for connecting the end effector. The connecting plate is rotatably connected to the lower end of the lifting rod, and a first rotary drive is provided between the connecting plate and the lifting rod. The hook assembly includes a telescopic controller and a hook. The telescopic controller is arranged vertically inside the lifting rod and is fixedly connected to the connecting plate. The hook is connected to the telescopic end of the telescopic controller.

[0008] Preferably, the lower end of the mounting slide is rotatably provided with an annular structure, and a second rotary driver is provided between the annular structure and the mounting slide to drive its rotation;

[0009] A welding robot that can move up and down is installed on one side of the ring structure, and a control cabinet is installed on the other side of the ring structure.

[0010] Preferably, the first rotary driver includes a drive motor I and an external gear ring fixedly mounted on the connecting plate. The drive motor I is fixedly mounted on the lifting rod, and the output shaft of the drive motor I is connected to a reducer. The output end of the reducer is connected to a drive gear I that meshes with the external gear ring.

[0011] Preferably, the third drive structure includes a drive motor II and a rack I fixedly mounted on the lifting rod. The mounting slide has a through hole in the middle for the lifting rod to pass through, a guide block is provided on the mounting slide, and a second guide rail is provided on the side wall of the lifting rod to slide in cooperation with the guide block. The drive motor II is fixedly mounted on the mounting slide, and the output end of the drive motor II is connected to a drive gear II that meshes with the rack I.

[0012] Preferably, a linear driver is fixedly mounted on the mounting slide, the output end of the linear driver is connected to a plug rod, and the lifting rod has multiple plug holes along its length that cooperate with the plug rod.

[0013] Preferably, the second driving mechanism includes a rack II and a drive motor III. The drive motor III is fixedly mounted on the mounting slide, the rack II is fixedly mounted on the horizontal slide, and the output end of the drive motor III is connected to a drive gear III that meshes with the rack II.

[0014] Preferably, the second rotary driver includes an internal gear ring and a drive motor IV. The drive motor IV is fixedly mounted on the mounting slide, the internal gear ring is fixedly mounted on the annular structure, and the output end of the drive motor IV is connected to a drive gear IV that meshes with the internal gear ring.

[0015] Preferably, limit blocks are provided on both the upper and lower sides of the lifting rod.

[0016] Preferably, the first drive structure includes a dual-output shaft motor, a transmission rod, and a drive gear V. The dual-output shaft motor is mounted on a horizontal slide, and the transmission shafts on both sides of the dual-output shaft motor are connected to the drive gear V through the transmission rod. A rack III that meshes with the drive gear V is provided on the truss.

[0017] The advantages of this utility model compared with the prior art are as follows:

[0018] This invention achieves precise four-degree-of-freedom positioning of the end effector through three-axis linkage of the horizontal slide (X-axis), mounting slide (Y-axis), and lifting rod (Z-axis), combined with the rotational drive of the connecting plate (around the Z-axis), adapting to the needs of complex spatial operations. The ring-shaped structure integrated with the welding robot design enables circumferential rotation of the welding robot via a second rotary actuator, achieving efficient welding of circumferential welds and reducing manual intervention. A switchable hook assembly and connecting plate are installed at the end of the lifting rod, allowing for quick switching between electrode paste transport and electrode cylinder clamping functions via a telescopic controller, reducing equipment redundancy. Attached Figure Description

[0019] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the operation of this utility model;

[0021] Figure 2 This is a schematic diagram of the horizontal sliding table structure;

[0022] Figure 3 for Figure 2 A magnified view of part A in the image;

[0023] Figure 4 This is a schematic diagram of the installation of the third drive structure;

[0024] Figure 5 for Figure 4 A magnified view of part B in the image;

[0025] Figure 6 Schematic diagram of the installation of the second rotary actuator;

[0026] Figure 7 for Figure 6 A magnified view of part C;

[0027] Figure 8 This is a schematic diagram of the connecting disk structure;

[0028] Figure 9 for Figure 8 A magnified view of part D;

[0029] Figure 10 This is a cross-sectional schematic diagram of the present invention;

[0030] Figure 11 This is a schematic diagram of the first driving structure of this utility model.

[0031] In the diagram: 1. Truss; 2. Horizontal slide; 21. First guide rail; 3. Mounting slide; 31. Annular structure; 32. Welding robot; 33. Control cabinet; 34. Through hole; 35. Guide block; 36. Linear actuator; 37. Insert rod; 4. Lifting rod; 41. Connecting plate; 42. Telescopic controller; 43. Hook; 44. Second guide rail; 45. Insertion hole; 46. Limit block; 5. First drive structure; 51. Dual output shaft motor; 52. Transmission rod; 53. 54. Drive gear V; 6. Rack III; 7. Second drive structure; 8. Rack II; 9. Drive motor III; 10. Drive gear III; 11. Third drive structure; 12. Drive motor II; 13. Rack I; 14. Drive gear II; 15. First rotary actuator; 16. Drive motor I; 17. External gear ring; 18. Reducer; 19. Drive gear I; 20. Second rotary actuator; 11. Internal gear ring; 12. Drive motor IV; 13. Drive gear IV. Detailed Implementation

[0032] 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.

[0033] Example:

[0034] like Figures 1 to 11 As shown, a truss manipulator includes a truss 1, a horizontal slide 2, a mounting slide 3, and a lifting rod 4. The horizontal slide 2 is slidably arranged along the length of the truss 1. The horizontal slide 2 is connected to a first drive structure 5 that drives it to move along the truss 1. Specifically, a guide rail is provided on the truss 1, and a guide block that slides with the guide rail is provided on the horizontal slide 2. The first drive structure 5 can adopt the following structure: it includes a dual-output shaft motor 51, a transmission rod 52, and a drive gear V 53. The dual-output shaft motor 51 is mounted on the horizontal slide 2. The transmission shafts on both sides of the dual-output shaft motor 51 are connected to the drive gear V 53 through the transmission rod 52. A rack III 54 that meshes with the drive gear V 53 is fixedly mounted on the truss 1. The dual-output shaft motor 51 drives the drive gear V 53 to rotate, and then the drive gear V 53 meshes with the rack III 54 to drive the horizontal slide 2 to move along the truss 1.

[0035] A first guide rail 21 is provided on the horizontal slide 2 along the direction perpendicular to the length of the truss 1. The mounting slide 3 is slidably mounted on the first guide rail 21. A second drive structure 6 is provided between the mounting slide 3 and the horizontal slide 2 to drive the mounting slide 3 to move along the horizontal slide 2. In this embodiment, the second drive mechanism includes a rack II 61 and a drive motor III 62. The drive motor III 62 is fixedly mounted on the mounting slide 3, and the rack II 61 is fixedly mounted on the horizontal slide 2. The output end of the drive motor III 62 is connected to a drive gear III 63 that meshes with the rack II 61. The drive motor III 62 drives the drive gear III 63 to rotate, and then the meshing of the gear and the rack drives the mounting slide 3 to move relative to the rack II 61.

[0036] The lifting rod 4 is slidably mounted on the mounting slide 3 in a vertical direction. A third drive structure 7 is provided between the lifting rod 4 and the mounting slide 3 to drive its vertical movement along the mounting slide 3. The third drive structure 7 includes a drive motor II 71 and a rack I 72 fixedly mounted on the lifting rod 4. The mounting slide 3 has a through hole 34 in the middle for the lifting rod 4 to pass through. A guide block 35 is provided on the mounting slide 3, and a second guide rail 44 that slides with the guide block 35 is provided on the side wall of the lifting rod 4. The drive motor II 71 is fixedly mounted on the mounting slide 3, and the output end of the drive motor II 71 is connected to a drive gear II 73 that meshes with the rack I 72. The drive motor II 71 drives the drive gear II 73 to rotate, thereby driving the lifting rod 4 to move up and down along the mounting slide 3.

[0037] The lower end of the lifting rod 4 is equipped with a hook assembly and a connecting plate 41 for connecting an end effector. The hook assembly is used to transport electrode paste, and the connecting plate 41 can be connected to the end effector to transport the electrode cylinder. The hook assembly includes a telescopic controller 42 and a hook 43. The telescopic controller 42 is vertically disposed inside the lifting rod 4 and fixedly connected to the connecting plate 41. The hook 43 is connected to the telescopic end of the telescopic controller 42. The telescopic controller 42 can control the upward and downward movement of the hook 43.

[0038] The connecting plate 41 is rotatably connected to the lower end of the lifting rod 4, and a first rotary driver 8 is provided between the connecting plate 41 and the lifting rod 4. Preferably, the first rotary driver 8 includes a drive motor I 81 and an external gear ring 82 fixedly mounted on the connecting plate 41. The drive motor I 81 is fixedly mounted on the lifting rod 4, and the output shaft of the drive motor I 81 is connected to a reducer 83. The output end of the reducer 83 is connected to a drive gear I 84 that meshes with the external gear ring 82. The drive motor I 81 and the reducer 83 drive the drive gear I 84 to rotate, which in turn drives the connecting plate 41 to rotate through the meshing of the drive gear I 84 with the external gear ring 82.

[0039] Preferably, a ring structure 31 is rotatably provided at the lower end of the mounting slide 3, and a second rotary actuator 9 is provided between the ring structure 31 and the mounting slide 3 to drive its rotation. A welding robot 32 that can move up and down is provided on one side of the ring structure 31. The welding robot 32 is an existing welding robot, such as the FANUC M-10iD / 12 welding robot. The lifting and lowering movement of the welding robot 32 can be realized by a gear and rack lifting mechanism similar to the lifting rod 4, or by an existing lifting actuator.

[0040] A control cabinet 33 is located on the other side of the annular structure 31. Preferably, the second rotary driver 9 includes an internal gear ring 91 and a drive motor IV 92. The drive motor IV 92 is fixedly mounted on the mounting slide 3, and the internal gear ring 91 is fixedly mounted on the annular structure 31. The output end of the drive motor IV 92 is connected to a drive gear IV 93 that meshes with the internal gear ring 91. The drive motor IV 92 drives the drive gear IV 93 to rotate, and then the meshing of the drive gear IV 93 with the internal gear ring 91 drives the annular structure 31 and the welding robot 32 on it to rotate, thereby achieving circumferential welding.

[0041] Preferably, a linear actuator 36 is fixedly mounted on the mounting slide 3. The output end of the linear actuator 36 is connected to a plug rod 37. The lifting rod 4 has multiple insertion holes 45 along its length that mate with the plug rod 37. By inserting the plug rod 37 into the insertion hole 45, the height of the lifting rod 4 can be locked to prevent accidents.

[0042] Preferably, limit blocks 46 are provided on both the upper and lower sides of the lifting rod 4.

[0043] The above description only describes the preferred embodiments of the present utility model. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model, and all such changes should be included within the protection scope of the present utility model.

Claims

1. A truss robot, characterized by: It includes a truss (1), a horizontal slide (2), a mounting slide (3) and a lifting rod (4). The horizontal slide (2) is slidably arranged along the length direction of the truss (1). The horizontal slide (2) is connected to a first driving structure (5) that drives it to move along the truss (1). A first guide rail (21) is arranged on the horizontal slide (2) along the length direction perpendicular to the truss (1). The mounting slide (3) is slidably arranged on the first guide rail (21). A second driving structure (6) that drives it to move along the horizontal slide (2) is arranged between the mounting slide (3) and the horizontal slide (2). The lifting rod (4) is slidably arranged on the mounting slide (3) in the vertical direction. A third driving structure (7) that drives it to move vertically along the mounting slide (3) is arranged between the lifting rod (4) and the mounting slide (3). The lower end of the lifting rod (4) is provided with a hook assembly and a connecting plate (41) for connecting the end effector. The connecting plate (41) is rotatably connected to the lower end of the lifting rod (4). A first rotary driver (8) is provided between the connecting plate (41) and the lifting rod (4). The hook assembly includes a telescopic controller (42) and a hook (43). The telescopic controller (42) is arranged vertically inside the lifting rod (4) and is fixedly connected to the connecting plate (41). The hook (43) is connected to the telescopic end of the telescopic controller (42).

2. The truss robot of claim 1, wherein: The lower end of the mounting slide (3) is rotatably provided with an annular structure (31), and a second rotary driver (9) is provided between the annular structure (31) and the mounting slide (3) to drive its rotation; A welding robot (32) that can move up and down is provided on one side of the ring structure (31), and a control cabinet (33) is provided on the other side of the ring structure (31).

3. The truss robot of claim 1, wherein: The first rotary driver (8) includes a drive motor I (81) and an external gear ring (82) fixedly mounted on the connecting plate (41). The drive motor I (81) is fixedly mounted on the lifting rod (4). The output shaft of the drive motor I (81) is connected to a reducer (83). The output end of the reducer (83) is connected to a drive gear I (84) that meshes with the external gear ring (82).

4. A gantry (1) robot according to claim 1, characterized in that: The third drive structure (7) includes a drive motor II (71) and a rack I (72) fixedly mounted on the lifting rod (4). The mounting slide (3) has a through hole (34) in the middle for the lifting rod (4) to pass through. A guide block (35) is provided on the mounting slide (3). A second guide rail (44) is provided on the side wall of the lifting rod (4) and slides with the guide block (35). The drive motor II (71) is fixedly mounted on the mounting slide (3). The output end of the drive motor II (71) is connected to a drive gear II (73) that meshes with the rack I (72).

5. A gantry robot according to claim 4, wherein: A linear driver (36) is fixedly installed on the mounting slide (3). The output end of the linear driver (36) is connected to a plug rod (37). The lifting rod (4) has multiple plug holes (45) along its length that cooperate with the plug rod (37).

6. The gantry of claim 1 wherein: The second drive structure includes a rack II (61) and a drive motor III (62). The drive motor III (62) is fixedly mounted on the mounting slide (3), and the rack II (61) is fixedly mounted on the horizontal slide (2). The output end of the drive motor III (62) is connected to a drive gear III (63) that meshes with the rack II (61).

7. The gantry of claim 2 wherein: The second rotary driver (9) includes an internal gear ring (91) and a drive motor IV (92). The drive motor IV (92) is fixedly mounted on the mounting slide (3), and the internal gear ring (91) is fixedly mounted on the ring structure (31). The output end of the drive motor IV (92) is connected to a drive gear IV (93) that meshes with the internal gear ring (91).

8. The gantry of claim 1 wherein: Limiting blocks (46) are provided on both the upper and lower sides of the lifting rod (4).

9. The truss robot of claim 1, wherein: The first drive structure (5) includes a dual-output shaft motor (51), a transmission rod (52) and a drive gear V (53). The dual-output shaft motor (51) is mounted on a horizontal slide (2). The transmission shafts on both sides of the dual-output shaft motor (51) are connected to the drive gear V (53) through the transmission rod (52). A rack III (54) that meshes with the drive gear V (53) is mounted on the truss (1).