Protective structure of truss manipulator

Abstract

The utility model provides a protection structure of a truss manipulator, belongs to the technical field of mechanical engineering, and aims to solve the problem that when clamped goods are collided, goods falling accidents are easily caused. Comprising a supporting truss body, a first movable sliding table, a second movable sliding table, a protective shielding cover, an anti-falling driving motor, a protective observation mechanism and an anti-falling driving mechanism. The first movable sliding table is connected to the upper portion of the supporting truss body in a sliding mode. The second movable sliding table is slidably connected to the lower portion of the inner side of the first movable sliding table. The protective shielding cover is fixedly connected to the lower end of the second movable sliding table; the anti-falling driving motor is of a self-locking type motor structure and fixedly connected to the left side of the front portion of the protective shielding cover. The protective observation mechanism is arranged on the outer side of the protective shielding cover; and the anti-falling driving mechanism is arranged on the outer side of the protective shielding cover, so that stable operation of the whole truss manipulator is guaranteed, and the safety of the truss manipulator during operation is improved.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical engineering technology, and more specifically, it relates to a protective structure for a gantry robot. Background Technology

[0002] Gantry robots, also known as Cartesian coordinate robots, are automated equipment based on the Cartesian coordinate system that performs material handling and processing operations through linear motion along the X, Y, and Z axes. Their core consists of a beam, column, slider, servo motor, and control system. They are capable of high-precision, high-load repetitive motion in three-dimensional space. With their modular design, flexible and controllable motion trajectory, and high positioning accuracy, gantry robots are widely used in industries such as automotive manufacturing, 3C electronics, construction machinery, and food and pharmaceuticals.

[0003] The existing application number is CN202222393936.8. This utility model discloses a truss manipulator with a protective structure, including a longitudinally placed main body. A flipping mechanism is provided at the right end of the front surface of the middle part of the main body. A support frame in contact with the ground is fixedly installed on the front side of the lower end of the main body. An X-axis slide rail is horizontally fixedly installed on the front side of the upper end of the main body. A movable slider is disposed outside the X-axis slide rail. A Y-axis slide rail is longitudinally installed through the inside of the movable slider. This truss manipulator with a protective structure adopts a novel structural design, which allows the front protective mechanism to protect the manipulator during use, preventing accidental contact by the operator and causing danger. Furthermore, during the up-and-down movement of the manipulator, the movable protective plate moves up and down synchronously relative to the fixed protective plate, thereby maintaining its relative position with the manipulator and achieving the best protective effect.

[0004] Based on the above, when the existing gantry manipulator collided with the cargo, the impact and vibration generated by the collision caused the connecting parts and transmission mechanism to loosen. This not only reduced the clamping accuracy of the gantry manipulator but also significantly decreased the clamping strength. During the subsequent movement of the cargo, the loose clamping mechanism could not provide a stable clamping force, which could easily lead to cargo falling accidents. This could not only damage the cargo but also pose a serious threat to the safety of surrounding personnel and equipment, greatly affecting the safety and continuity of industrial production. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a protective structure for a gantry manipulator. This structure solves the problem that when goods are collided during gripping, the resulting impact and vibration can cause the connecting components and transmission mechanisms of the gantry manipulator to loosen. This not only reduces the gripping accuracy of the gantry manipulator but also significantly decreases the gripping strength. During subsequent movement of the goods, the loosened gripping mechanism cannot provide stable gripping force, easily leading to goods falling. This can not only damage the goods but also pose a serious threat to the safety of surrounding personnel and equipment, greatly affecting the safety and continuity of industrial production.

[0006] The purpose and function of the protective structure for a gantry manipulator of this utility model are achieved by the following specific technical means:

[0007] A protective structure for a truss manipulator includes a supporting truss body, a first movable slide, a second movable slide, a protective shield, a fall-prevention drive motor, a protective observation mechanism, and a fall-prevention drive mechanism. The first movable slide is slidably connected above the supporting truss body. The second movable slide is slidably connected to the lower inner side of the first movable slide, and a manipulator structure is provided at the lower end of the second movable slide. The protective shield is fixedly connected to the lower end of the second movable slide. The fall-prevention drive motor is a self-locking motor structure and is fixedly connected to the front left side of the protective shield. The protective observation mechanism is located on the outside of the protective shield. The fall-prevention drive mechanism is located on the outside of the protective shield.

[0008] Furthermore, the protective observation mechanism includes: a clamping observation window and a transport display light strip; two sets of clamping observation windows are provided, and the two sets of clamping observation windows are fixedly connected to the front and rear sides of the protective shield, respectively, and both sets of clamping observation windows are transparent acrylic sheet structures; the transport display light strip is a rectangular LED light strip structure, and the transport display light strip is fixedly connected to the upper outer periphery of the protective shield.

[0009] Furthermore, the fall arresting drive mechanism includes: fall arresting support rollers, fall arresting drive rollers, and fall arresting shield nets; two sets of fall arresting support rollers are provided, and the two sets of fall arresting support rollers are rotatably connected to the left and right sides below the protective shield nets respectively; two sets of fall arresting drive rollers are provided, and the two sets of fall arresting drive rollers are rotatably connected to the left and right sides above the protective shield nets respectively, with the left set of fall arresting drive rollers being drive-connected to the fall arresting drive motor; the left side of the fall arresting shield nets has a rectangular groove structure, the right end of the fall arresting shield nets is wrapped around the outer periphery of the right set of fall arresting drive rollers, and the left end of the fall arresting shield nets is fixedly connected to the left set of fall arresting drive rollers.

[0010] Furthermore, the fall protection drive mechanism also includes: a fall protection trigger rod and a fall protection reset spring; there are two sets of fall protection trigger rods, which are respectively hinged to the lower left and right sides of the protective shield; there are four sets of fall protection reset springs, all of which are right-angle spring structures, and are respectively fixedly connected to the outer circumference of the rotating shaft of the fall protection trigger rod.

[0011] Furthermore, the fall arrestor drive mechanism also includes: pressure sensors; a total of four pressure sensors are provided, and the four pressure sensors are fixedly connected to the left and right sides of the protective shield, and all four pressure sensors are electrically connected to the control circuit of the fall arrestor drive motor.

[0012] Furthermore, the fall protection drive mechanism also includes: fall protection drive rods, fall protection drive grooves, and fall protection drive components; four sets of fall protection drive rods are provided, each slidably connected to the left and right sides of the protective shield, and all four sets of fall protection drive rods are located inside the pressure sensor; four sets of fall protection drive grooves are provided, each located on the front and rear sides above the fall protection trigger rod; four sets of fall protection drive components are provided, each fixedly connected to the outside of the fall protection drive rod, and each set of fall protection drive components is located inside the fall protection drive groove.

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

[0014] This utility model, through the setting of a protective observation mechanism, allows workers to observe the robotic arm through a clamped observation window, facilitating the operation of the robotic arm. At the same time, the protective shield protects the robotic arm, reducing collisions with the outside world, extending the service life of the robotic arm, and ensuring stable operation. When the transport indicator light strip is turned on, it emits parallel light, displaying the working area of ​​the robotic arm and reminding the workers, thus improving the overall safety of the gantry robotic arm.

[0015] This invention utilizes an anti-fall drive mechanism. When the anti-fall trigger rod is squeezed and rotated by external debris, the rotation of the trigger rod causes the anti-fall drive groove to rotate. The rotating anti-fall drive groove then squeezes the anti-fall drive component outward, causing the anti-fall drive rod to move outward. This outward movement of the anti-fall drive rod squeezes the pressure sensor, which in turn converts the pressure signal into an electrical signal, which is transmitted to the control circuit of the anti-fall drive motor. At this point, the anti-fall drive motor is triggered and starts. The rotation of the motor's shaft drives a set of anti-fall drive rollers on the left side to rotate. The rotation of these rollers retracts the anti-fall shielding net. The rectangular groove of the anti-fall shielding net is no longer aligned with the bottom of the protective shield, effectively sealing the bottom of the protective shield and preventing the transported goods from falling. This ensures the stable operation of the entire gantry robot and improves its safety during operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0017] Figure 2 This is a schematic diagram of the transport display light strip structure of this utility model.

[0018] Figure 3 This is a schematic diagram of the anti-fall reset spring structure of this utility model.

[0019] Figure 4 This is a schematic diagram of the anti-fall trigger rod structure of this utility model.

[0020] Figure 5 This is a schematic diagram of the anti-fall drive rod structure of this utility model.

[0021] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0022] 1. Support truss main body; 101. Clamping observation window; 102. Transport indicator light strip; 2. First moving slide; 3. Second moving slide; 4. Protective shield; 5. Anti-fall drive motor; 501. Anti-fall support roller; 502. Anti-fall drive roller; 503. Anti-fall shield net; 504. Anti-fall trigger rod; 505. Anti-fall reset spring; 506. Pressure sensor; 507. Anti-fall drive rod; 508. Anti-fall drive groove; 509. Anti-fall drive component. Detailed Implementation

[0023] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples.

[0024] Example 1:

[0025] As attached Figures 1 to 3 As shown:

[0026] This utility model provides a protective structure for a truss manipulator, including a supporting truss body 1, a first movable slide 2, a second movable slide 3, a protective shield 4, a fall-prevention drive motor 5, and a protective observation mechanism; the first movable slide 2 is slidably connected above the supporting truss body 1; the second movable slide 3 is slidably connected to the lower inner side of the first movable slide 2, and a manipulator structure is provided at the lower end of the second movable slide 3; the protective shield 4 is fixedly connected to the lower end of the second movable slide 3; the fall-prevention drive motor 5 is a self-locking motor structure, and the fall-prevention drive motor 5 is fixedly connected to the front left side of the protective shield 4; the protective observation mechanism is located on the outside of the protective shield 4.

[0027] The protective observation mechanism includes: a clamping observation window 101 and a transport display light strip 102; two sets of clamping observation windows 101 are provided, and the two sets of clamping observation windows 101 are fixedly connected to the front and rear sides of the protective shield 4 respectively, and both sets of clamping observation windows 101 are transparent acrylic sheet structures; the transport display light strip 102 is a rectangular LED light strip structure, and the transport display light strip 102 is fixedly connected to the upper outer periphery of the protective shield 4.

[0028] The specific usage and function of this embodiment are as follows: When handling goods, workers can observe the robot arm through the clamping observation window 101, which facilitates the operation of the robot arm. At the same time, the protective shield 4 protects the robot arm, reduces collisions between the robot arm and the outside world, extends the service life of the robot arm, and ensures the stable operation of the robot arm. When the handling display light strip 102 is turned on, the handling display light strip 102 emits parallel light, which realizes the display of the robot arm's working area, realizes the reminder to the worker, and improves the safety of the entire gantry robot arm.

[0029] Example 2:

[0030] This utility model provides a protective structure for a gantry robot, based on Embodiment 1, such as... Figures 1 to 5 As shown, it also includes a fall protection drive mechanism, which is located on the outside of the protective shield 4.

[0031] The fall arrestor drive mechanism includes: fall arrestor support rollers 501, fall arrestor drive rollers 502, and fall arrestor shielding nets 503. Two sets of fall arrestor support rollers 501 are provided, rotatably connected to the left and right sides below the protective shielding cover 4, respectively. Two sets of fall arrestor drive rollers 502 are provided, rotatably connected to the left and right sides above the protective shielding cover 4, respectively. The left set of fall arrestor drive rollers 502 is connected to the fall arrestor drive motor 5. The left side of the fall arrestor shielding nets 503 has a rectangular groove structure. The right end of the fall arrestor shielding nets 503 is wrapped around the outer periphery of the right set of fall arrestor drive rollers 502, and the left end of the fall arrestor shielding nets 503 is fixedly connected to the left set of fall arrestor drive rollers 502.

[0032] The fall arrestor drive mechanism also includes: a fall arrestor trigger rod 504 and a fall arrestor reset spring 505; there are two sets of fall arrestor trigger rods 504, which are respectively hinged to the lower left and right sides of the protective shield 4; there are four sets of fall arrestor reset springs 505, which are all right-angle spring structures, and are respectively fixedly connected to the outer circumference of the rotating shaft of the fall arrestor trigger rod 504.

[0033] The fall arrestor drive mechanism also includes a pressure sensor 506; four sets of pressure sensors 506 are provided, and the four sets of pressure sensors 506 are fixedly connected to the left and right sides of the protective shield 4 respectively. All four sets of pressure sensors 506 are electrically connected to the control circuit of the fall arrestor drive motor 5.

[0034] The fall arrestor mechanism also includes: fall arrestor rods 507, fall arrestor grooves 508, and fall arrestor components 509; four sets of fall arrestor rods 507 are provided, and the four sets of fall arrestor rods 507 are slidably connected to the left and right sides of the protective shield 4, and all four sets of fall arrestor rods 507 are located inside the pressure sensor 506; four sets of fall arrestor grooves 508 are provided, and the four sets of fall arrestor grooves 508 are respectively opened on the front and rear sides above the fall arrestor trigger rod 504; four sets of fall arrestor components 509 are provided, and the four sets of fall arrestor components 509 are respectively fixedly connected to the outside of the fall arrestor rods 507, and the four sets of fall arrestor components 509 are respectively located inside the fall arrestor grooves 508.

[0035] The specific usage and function of this embodiment: When the robotic arm experiences a collision, the anti-fall trigger rod 504 is squeezed and rotated by external debris. The rotation of the anti-fall trigger rod 504 drives the anti-fall drive groove 508 to rotate, which in turn squeezes the anti-fall drive component 509 outward. The squeezed anti-fall drive component 509 causes the anti-fall drive rod 507 to move outward, which in turn squeezes the pressure sensor 506. The squeezed pressure sensor 506 converts the pressure signal into an electrical signal, which is then transmitted to the control circuit of the anti-fall drive motor 5. At this point, the anti-fall drive motor 5 is triggered and started. The rotation of the shaft of the anti-fall drive motor 5 drives a set of anti-fall drive rollers 502 on the left side to rotate. The rotation of the set of anti-fall drive rollers 502 on the left side realizes the winding of the anti-fall shield net 503. At this time, the rectangular groove of the anti-fall shield net 503 is no longer aligned with the bottom of the protective shield 4. The anti-fall shield net 503 achieves the closure of the lower end of the protective shield 4, preventing the goods being transported from falling, ensuring the stable operation of the entire gantry robot, and improving the safety of the gantry robot during operation.

[0036] The following points should be noted in this article:

[0037] 1. The accompanying drawings of this embodiment only involve the structures involved in this embodiment; other structures can refer to the general design.

[0038] 2. Where there is no conflict, this embodiment and the features in the embodiment can be combined with each other to obtain new embodiments.

[0039] 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 protective structure for a gantry robot, characterized by: The system includes a supporting truss body (1), a first movable slide (2), a second movable slide (3), a protective shield (4), a fall arrest drive motor (5), a protective observation mechanism, and a fall arrest drive mechanism. The first movable slide (2) is slidably connected above the supporting truss body (1). The second movable slide (3) is slidably connected to the lower inner side of the first movable slide (2), and a robotic arm structure is provided at the lower end of the second movable slide (3). The protective shield (4) is fixedly connected to the lower end of the second movable slide (3). The fall arrest drive motor (5) is a self-locking motor structure and is fixedly connected to the front left side of the protective shield (4). The protective observation mechanism is located on the outside of the protective shield (4). The fall arrest drive mechanism is located on the outside of the protective shield (4).

2. The protective structure of a truss robot according to claim 1, wherein: The protective observation mechanism includes: a clamping observation window (101) and a transport display light strip (102); the clamping observation window (101) is provided in two sets, and the two sets of clamping observation windows (101) are fixedly connected to the front and rear sides of the protective shield (4) respectively. Both sets of clamping observation windows (101) are transparent acrylic sheet structures; the transport display light strip (102) is a rectangular LED light strip structure, and the transport display light strip (102) is fixedly connected to the upper outer periphery of the protective shield (4).

3. The protective structure of a truss robot according to claim 1, wherein: The fall protection drive mechanism includes: fall protection support roller (501), fall protection drive roller (502), and fall protection shield (503); the fall protection support roller (501) is provided in two sets, and the two sets of fall protection support roller (501) are rotatably connected to the left and right sides below the protective shield (4); the fall protection drive roller (502) is provided in two sets, and the two sets of fall protection drive roller (502) are rotatably connected to the left and right sides above the protective shield (4), and the left set of fall protection drive roller (502) is connected to the fall protection drive motor (5); the left side of the fall protection shield (503) is provided with a rectangular groove structure, the right end of the fall protection shield (503) is wrapped around the outer periphery of the right set of fall protection drive roller (502), and the left end of the fall protection shield (503) is fixedly connected to the left set of fall protection drive roller (502).

4. The protective structure for a gantry robot according to claim 3, wherein: The fall protection drive mechanism also includes: a fall protection trigger rod (504) and a fall protection reset spring (505); there are two sets of fall protection trigger rods (504), which are respectively hinged to the lower left and right sides of the protective shield (4); there are four sets of fall protection reset springs (505), which are all right-angle spring structures, and are respectively fixedly connected to the outer circumference of the rotating shaft of the fall protection trigger rod (504).

5. The protective structure for a gantry robot as set forth in claim 4, wherein: The fall protection drive mechanism also includes a pressure sensor (506); there are four sets of pressure sensors (506), which are fixedly connected to the left and right sides of the protective shield (4) respectively, and all four sets of pressure sensors (506) are electrically connected to the control circuit of the fall protection drive motor (5).

6. The protective structure for a gantry robot as set forth in claim 5, wherein: The fall protection drive mechanism further includes: fall protection drive rods (507), fall protection drive grooves (508), and fall protection drive components (509); there are four sets of fall protection drive rods (507), which are slidably connected to the left and right sides of the protective shield (4), and all four sets of fall protection drive rods (507) are located inside the pressure sensor (506); there are four sets of fall protection drive grooves (508), which are respectively opened on the front and rear sides above the fall protection trigger rod (504); there are four sets of fall protection drive components (509), which are respectively fixedly connected to the outside of the fall protection drive rods (507), and all four sets of fall protection drive components (509) are located inside the fall protection drive grooves (508).

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