Four-axis truss

Abstract

The utility model provides a four-axis truss, and relates to the technical field of four-axis trusses. Positioning blocks are fixedly mounted at the upper ends of the two ends of the fixed cross beam respectively; and a first drag chain is mounted on the front side wall of the fixed cross beam. The position of the movable longitudinal beam is firstly adjusted left and right, then the position of the movable longitudinal beam is adjusted front and back, then the position of the adjusting beam is moved up and down, meanwhile, the position of a connecting shaft below the adjusting beam can also move along with the adjusting beam, the manipulator clamp can move front, back, left, right, up and down, and the position of the clamp can be accurately adjusted through movement in six directions (X / Y / Z axis translation). The four-axis truss is suitable for objects of different shapes and sizes, is particularly suitable for grabbing in complex arrangement or narrow space, and solves the problem that the position of a manipulator clamp on the four-axis truss needs to be automatically adjusted due to the fact that the four-axis truss mostly adopts a fixed guide rail layout and the placement positions of the objects are different, otherwise, the manipulator clamp cannot stably clamp the objects below.

Description

Technical Field

[0001] This utility model relates to the field of four-axis truss technology, and in particular to a four-axis truss. Background Technology

[0002] Traditional robotic grippers suffer from insufficient flexibility, low positioning accuracy, and poor adaptability in complex working conditions, particularly in multi-station, large-span, or heavy workpiece handling scenarios. Early solutions often employed three-axis Cartesian truss structures, which, while enabling basic linear motion, were limited by insufficient degrees of freedom, making it difficult to perform complex angle adjustments or tilting gripping tasks, resulting in low production efficiency. Some improvements compensated for the lack of flexibility by adding rotary axes or replacing grippers, but frequent gripper changes reduced system reliability and increased maintenance costs. Existing four-axis truss technology introduces a fourth rotary axis (usually the A-axis or B-axis), giving the gripper the ability to rotate around a specific axis while retaining the linear motion capabilities of the X / Y / Z axes.

[0003] During use, four-axis trusses often employ a fixed guide rail layout. Since the position of the object is different each time, the position of the robotic gripper on the four-axis truss needs to be automatically adjusted; otherwise, the robotic gripper cannot stably hold the object below. Utility Model Content

[0004] This utility model relates to a four-axis truss, which first adjusts the position of the moving longitudinal beam left and right, then adjusts the position of the moving longitudinal beam forward and backward, and then adjusts the position of the beam up and down. At the same time, the position of the connecting shaft under the beam also moves accordingly. The robotic gripper can move forward, backward, left, right, up and down. Through the movement in six directions (X / Y / Z axis translation), the position of the gripper can be precisely adjusted to adapt to objects of different shapes and sizes. It is especially suitable for gripping objects in complex arrangements or narrow spaces. Then, the connecting shaft is rotated to adjust the angle of the robotic gripper, making it easier for the robotic gripper to grip the objects below.

[0005] In a first aspect, this utility model provides a four-axis truss, specifically comprising: a fixed crossbeam; positioning blocks fixedly installed at the upper ends of both ends of the fixed crossbeam; a first drag chain installed on the front side wall of the fixed crossbeam; a first track fixedly installed at the front end of the top of the fixed crossbeam; a first track fixedly installed on the rear side wall of the fixed crossbeam; and a first rack fixedly installed at the rear end of the top of the fixed crossbeam; fixed vertical beams fixedly installed at both ends of the bottom of the fixed crossbeam; and a control cabinet fixedly installed on the front side wall of the upper end of the fixed vertical beam.

[0006] A connecting conduit is installed on one side of the control cabinet; a fixed base is fixedly installed at the lower end of each of the two fixed vertical beams, and through fixed posts are evenly inserted on the fixed base; a horizontally movable longitudinal beam is installed at the upper end of the fixed horizontal beam, and positioning blocks are fixedly installed at the bottom of both ends of the movable longitudinal beam; a vertical adjusting beam is slidably installed at the rear end of the movable longitudinal beam, and parallel third tracks are fixedly installed on the front side wall of the adjusting beam;

[0007] A third rack is fixedly installed on the front side of the adjusting beam. A fixing plate is fixedly installed on the left side wall of the adjusting beam. A third drag chain is fixedly installed on the front side of the fixing plate. A cantilever shell is fixedly installed at the lower end of the adjusting beam. A fixed motor is fixedly installed in the inner cavity of the cantilever shell. A V-belt is rolled on the shaft of the fixed motor. A rotating shaft is rolled on the other end of the V-belt. A connecting shaft is fixedly installed at the lower end of the rotating shaft.

[0008] Furthermore, a cantilever frame is slidably installed at the bottom of the movable longitudinal beam, and a track block is fixedly installed on the front side wall at the lower end of the cantilever frame. A track block is fixedly installed at the bottom of the cantilever frame, and symmetrical track blocks are fixedly installed at the top of the cantilever frame. A second drag chain is installed at the front end of the upper end of the movable longitudinal beam, and parallel second tracks are fixedly installed at the bottom of the movable longitudinal beam.

[0009] Furthermore, a second rack is fixedly installed on the right side wall of the movable longitudinal beam, a bearing plate is fixedly installed on the top of the cantilever frame, a second motor is fixedly installed through the bearing plate, and a gear is installed on the shaft of the second motor.

[0010] Furthermore, a first motor is fixedly installed at the upper end of the top of the cantilever frame, and a gear is installed on the shaft of the first motor. A third motor is fixedly installed at the rear end of the top of the moving longitudinal beam, and a gear is installed on the shaft of the third motor. An anti-detachment plate is fixedly installed on the rear side wall of the moving longitudinal beam, and symmetrical track blocks are fixedly installed on the rear side wall of the anti-detachment plate.

[0011] This utility model provides a four-axis truss, which has the following beneficial effects:

[0012] In this utility model, when using the four-axis truss, first adjust the position of the moving longitudinal beam left and right, then adjust the position of the moving longitudinal beam forward and backward, and then adjust the position of the beam up and down. At the same time, the position of the connecting shaft below the beam will also move accordingly. The robotic gripper can move forward, backward, left, right, up and down. Through the movement in six directions (X / Y / Z axis translation), the position of the gripper can be precisely adjusted to adapt to objects of different shapes and sizes. It is especially suitable for gripping in complex arrangements or narrow spaces. Then, the connecting shaft can be rotated to adjust the angle of the robotic gripper, making it easier for the robotic gripper to grip the objects below.

[0013] By first adjusting the position of the moving longitudinal beam left and right, then adjusting its position forward and backward, and finally adjusting its position up and down, a robotic gripper is fixedly installed at the lower end of the connecting shaft. Starting the fixed motor shaft causes the triangular belt on the rotating shaft to rotate, which in turn rotates the connecting shaft at the lower end. This allows the robotic gripper at the lower end of the connecting shaft to rotate and adjust its angle, facilitating the gripper's gripping of objects below. The independent adjustment capabilities of left and right (X-axis), forward and backward (Y-axis), and up and down (Z-axis) enable the robotic gripper to cover any position in three-dimensional space, making it suitable for various work environments. Attached Figure Description

[0014] To more clearly illustrate the technical solution of this utility model, the accompanying drawings of the embodiments will be briefly described below.

[0015] In the attached diagram:

[0016] Figure 1 A schematic diagram of the left front upper axis view structure of this application is shown;

[0017] Figure 2 A schematic diagram of the fixed vertical beam section of this application is shown;

[0018] Figure 3 A schematic diagram of the movable longitudinal beam section of this application is shown;

[0019] Figure 4 A schematic diagram of the first track and the movable longitudinal beam section of this application is shown;

[0020] Figure 5 This application shows Figure 4 Schematic diagram of part A in the middle;

[0021] Figure 6 A schematic diagram of the disassembled structure of the adjustment beam section of this application is shown.

[0022] List of reference numerals

[0023] 1. Fixed crossbeam; 101. First cable chain; 102. First track; 103. First rack; 2. Fixed vertical beam; 201. Control cabinet; 202. Fixed base; 3. Moving longitudinal beam; 301. Cantilever frame; 302. Second cable chain; 303. Second track; 304. Second rack; 305. Bearing plate; 306. Second motor; 307. First motor; 308. Third motor; 309. Anti-detachment plate; 4. Adjusting beam; 401. Third track; 402. Third rack; 403. Fixed plate; 404. Third cable chain; 405. Cantilever shell; 406. Fixed motor; 407. V-belt; 408. Rotating shaft; 409. Connecting shaft. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the described embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0025] Example 1: Please refer to Figures 1 to 6 :

[0026] This utility model proposes a four-axis truss, including: a fixed crossbeam 1; positioning blocks are fixedly installed at the upper ends of both ends of the fixed crossbeam 1; when the movable longitudinal beam 3 moves left and right, it stops moving when the cantilever frame 301 at the bottom of the movable longitudinal beam 3 comes into contact with the positioning blocks at both ends of the fixed crossbeam 1; a first drag chain 101 is installed on the front side wall of the fixed crossbeam 1; the other end of the first drag chain 101 is fixedly installed on the cantilever frame 301; a first track 102 is fixedly installed at the front end of the top of the fixed crossbeam 1; the first track 102 is fixedly installed on the rear side wall of the fixed crossbeam 1; a first rack 103 is fixedly installed at the rear end of the top of the fixed crossbeam 1; fixed vertical beams 2 are fixedly installed at both ends of the bottom of the fixed crossbeam 1, and a control cabinet 201 is fixedly installed on the front side wall of the upper end of the fixed vertical beam 2; a connecting conduit is inserted on one side of the control cabinet 201; a control system is installed in the control cabinet 201; the wires pulled out from the control cabinet 201 enter the first drag chain 101 through the connecting conduit, and then enter... The cable then enters the second cable chain 302 and then the third cable chain 404. The wires in the first cable chain 101, the second cable chain 302, and the third cable chain 404 are connected to the power lines of the first motor 307, the second motor 306, and the third motor 308, respectively. The lower ends of the two fixed vertical beams 2 are respectively fixedly installed with fixed bases 202, and fixed posts are evenly inserted through the fixed bases 202. The fixed posts on the fixed bases 202 are fixedly inserted into the ground and are fixedly connected to the ground. The fixed posts are used to provide stable support for the fixed bases 202 and the fixed vertical beams 2. At this time, the two fixed vertical beams 2 will provide stable support for the fixed horizontal beam 1. The upper end of the fixed horizontal beam 1 is equipped with a horizontally movable longitudinal beam 3, and the bottom of both ends of the movable longitudinal beam 3 is fixedly installed with positioning blocks. When the movable longitudinal beam 3 moves back and forth, it will stop moving when the positioning blocks at both ends of the movable longitudinal beam 3 are in contact with the sides of the fixed horizontal beam 1. The rear end of the movable longitudinal beam 3 is slidably installed with a vertical adjustment beam 4.

[0027] The cantilever frame 301 is slidably mounted on the bottom of the movable longitudinal beam 3. A track block is fixedly mounted on the front sidewall of the lower end of the cantilever frame 301, and a track block is fixedly mounted on the bottom of the cantilever frame 301. Symmetrically arranged track blocks are fixedly mounted on the top of the cantilever frame 301. The track block on the front sidewall of the cantilever frame 301 is slidably mounted on the first track 102 on the rear sidewall of the fixed crossbeam 1. The track block at the bottom of the cantilever frame 301 is slidably mounted on the first track 102 at the top of the fixed crossbeam 1. When the cantilever frame 301 slides left or right, the track blocks on the cantilever frame 301 are restricted by the first track 102, preventing the cantilever frame 301 from sliding left or right. If the cantilever beam 3 tilts, it will also tilt and become unstable. A second drag chain 302 is installed at the front end of the upper part of the cantilever beam 3. The other end of the second drag chain 302 is fixedly installed at the top of the cantilever frame 301. Parallel second tracks 303 are fixedly installed at the bottom of the cantilever beam 3. The track block at the top of the cantilever frame 301 is slidably mounted on the second track 303. When the cantilever beam 3 slides back and forth, the track block at the top of the cantilever frame 301 is restricted by the second track 303, allowing the cantilever frame 301 to slide only back and forth. This prevents the cantilever frame 301 from tilting during back and forth sliding, which would cause the cantilever beam 3 to tilt and become unstable. The right side wall of the cantilever beam 3... A second rack 304 is fixedly installed. The gear on the second motor 306 meshes with the second rack 304. When the second motor 306 is started, the gear on its shaft will slowly rotate. The rotation of the gear on the shaft of the second motor 306 drives the moving longitudinal beam 3 to move smoothly back and forth. A bearing plate 305 is fixedly installed at the top of the cantilever frame 301. A second motor 306 is fixedly installed through the bearing plate 305, and a gear is installed on the shaft of the second motor 306. A first motor 307 is fixedly installed through the top of the cantilever frame 301, and a gear is installed on the shaft of the first motor 307. The gear on the first motor 307 meshes with the first rack 103. When the moving phases mesh, the gear on the shaft of the first motor 307 will slowly rotate. The rotation of the gear on the shaft of the first motor 307 will drive the moving longitudinal beam 3 to move smoothly left and right. The rear end of the top of the moving longitudinal beam 3 is fixedly installed with a third motor 308, and a gear is installed on the shaft of the third motor 308. The gear on the third motor 308 meshes with the third rack 402. When the third motor 308 is started, the gear on the shaft of the third motor 308 will slowly rotate. The rotation of the gear on the shaft of the third motor 308 will drive the adjusting beam 4 to move smoothly up and down. An anti-detachment plate 309 is fixedly installed on the rear side wall of the moving longitudinal beam 3, and symmetrical track blocks are fixedly installed on the rear side wall of the anti-detachment plate 309.

[0028] The adjusting beam 4 has a third track 401 fixedly installed on its front side wall, and a track block on the rear side wall of the anti-detachment plate 309 is slidably installed on the third track 401. When the adjusting beam 4 slides up and down, the third track 401 is restricted by the track block on the anti-detachment plate 309, so the adjusting beam 4 can only slide up and down, preventing the adjusting beam 4 from tilting when sliding up and down. The connecting shaft 409 at the lower end of the adjusting beam 4 will also not tilt. A third rack 402 is fixedly installed on the front side of the adjusting beam 4, and a fixing plate 403 is fixedly installed on the left side wall of the adjusting beam 4. A third drag chain 404 is fixedly installed on the front side of the fixing plate 403, and the other end of the third drag chain 404 is fixedly installed on the top of the anti-detachment plate 309. At the lower end of the adjusting beam 4, a cantilever shell 405 is fixedly installed, and a fixed motor 406 is fixedly installed in the inner cavity of the cantilever shell 405. A V-belt 407 is rolled on the shaft of the fixed motor 406, and a rotating shaft 408 is rolled on the other end of the V-belt 407. A connecting shaft 409 is fixedly installed at the lower end of the rotating shaft 408, and a robotic gripper is fixedly installed at the lower end of the connecting shaft 409. When the V-belt 407 on the shaft of the fixed motor 406 is started, it will drive the rotating shaft 408 to rotate. At the same time, the rotating shaft 408 will also drive the connecting shaft 409 at the lower end to rotate, which facilitates the rotation and adjustment of the angle of the robotic gripper at the lower end of the connecting shaft 409, so that the robotic gripper can grasp the object below.

[0029] Example 2, based on Example 1, such as Figure 1 and Figure 6 As shown, fixed bases 202 are fixedly installed at the lower ends of the two fixed vertical beams 2, and fixed posts are evenly inserted on the fixed bases 202. The fixed posts on the fixed bases 202 are removed, and then the bottom of the fixed bases 202 is fixedly welded to the fixed iron plate on the ground to stabilize and restrict the fixed bases 202 and the fixed vertical beams 2. In this way, the fixed vertical beams 2 will not tilt when touched, and the two fixed vertical beams 2 can provide stable support for the fixed horizontal beam 1.

[0030] The working principle of this embodiment is as follows: When in use, starting the gear on the shaft of the first motor 307 will slowly rotate. This rotation drives the moving longitudinal beam 3 to move smoothly left and right, adjusting its position. Starting the gear on the shaft of the second motor 306 will also slowly rotate, driving the moving longitudinal beam 3 to move smoothly forward and backward, adjusting its position. Starting the gear on the shaft of the third motor 308 will further rotate, driving the adjusting beam 4 to move smoothly up and down, adjusting its position. A robotic gripper is fixedly installed at the lower end of the connecting shaft 409. Starting the V-belt 407 on the shaft of the fixed motor 406 will drive the rotating shaft 408 to rotate. Simultaneously, the rotating shaft 408 will also drive the lower connecting shaft 409 to rotate, facilitating the rotation and adjustment of the robotic gripper at the lower end of the connecting shaft 409, allowing the robotic gripper to easily grasp objects below.

[0031] The following points should be noted in this article:

[0032] 1. The accompanying drawings of this utility model embodiment only involve the structure involved in this utility model embodiment; other structures can refer to general designs.

[0033] 2. Where there is no conflict, the embodiments of this utility model and the features in the embodiments can be combined with each other to obtain new embodiments.

[0034] The above are merely specific embodiments of this utility model, but the protection scope of this utility model 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 utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A quadcopter comprising: A fixed crossbeam (1); characterized in that positioning blocks are fixedly installed at the upper ends of both ends of the fixed crossbeam (1); a first drag chain (101) is installed on the front side wall of the fixed crossbeam (1); a first track (102) is fixedly installed at the front end of the top of the fixed crossbeam (1); a first track (102) is fixedly installed on the rear side wall of the fixed crossbeam (1), and a first rack (103) is fixedly installed at the rear end of the top of the fixed crossbeam (1); fixed vertical beams (2) are fixedly installed at both ends of the bottom of the fixed crossbeam (1), and a fixed vertical beam (2) is fixedly installed at both ends of the fixed crossbeam (1). A control cabinet (201) is fixedly installed on the front side wall of the upper end of the vertical beam (2); a connecting pipe is inserted into one side of the control cabinet (201); a fixed base (202) is fixedly installed at the lower end of the two fixed vertical beams (2), and a through fixed post is evenly inserted on the fixed base (202); a horizontally movable longitudinal beam (3) is installed at the upper end of the fixed horizontal beam (1), and a positioning block is fixedly installed at the bottom of both ends of the movable longitudinal beam (3); a vertical adjustment beam (4) is slidably installed at the rear end of the movable longitudinal beam (3).

2. A four-axis gantry according to claim 1, wherein: The bottom of the movable longitudinal beam (3) is slidably mounted with a cantilever frame (301), and a track block is fixedly mounted on the front side wall of the lower end of the cantilever frame (301). The bottom of the cantilever frame (301) is fixedly mounted with a track block, and the top of the cantilever frame (301) is fixedly mounted with mutually symmetrical track blocks. The front end of the upper end of the movable longitudinal beam (3) is mounted with a second drag chain (302), and the bottom of the movable longitudinal beam (3) is fixedly mounted with mutually parallel second tracks (303).

3. A four-axis gantry according to claim 2, wherein: A second rack (304) is fixedly installed on the right side wall of the movable longitudinal beam (3), a bearing plate (305) is fixedly installed on the top of the cantilever frame (301), and a through second motor (306) is fixedly installed on the bearing plate (305), and a gear is installed on the shaft of the second motor (306).

4. A four-axis gantry according to claim 2, wherein: A first motor (307) is fixedly installed at the top end of the cantilever frame (301), and a gear is installed on the shaft of the first motor (307). A third motor (308) is fixedly installed at the rear end of the top of the movable longitudinal beam (3), and a gear is installed on the shaft of the third motor (308). An anti-detachment plate (309) is fixedly installed on the rear side wall of the movable longitudinal beam (3), and symmetrical track blocks are fixedly installed on the rear side wall of the anti-detachment plate (309).

5. A four-axis gantry according to claim 1, wherein: A third track (401) parallel to each other is fixedly installed on the front side wall of the adjusting beam (4), a third rack (402) is fixedly installed on the front side of the adjusting beam (4), and a fixing plate (403) is fixedly installed on the left side wall of the adjusting beam (4).

6. A four-axis gantry according to claim 5, wherein: A third drag chain (404) is fixedly installed on the front side of the fixed plate (403), and a cantilever shell (405) is fixedly installed at the lower end of the adjusting beam (4), while a fixed motor (406) is fixedly installed in the inner cavity of the cantilever shell (405).

7. A four-axis gantry according to claim 6, wherein: The fixed motor (406) has a V-belt (407) mounted on its rotating shaft, and a rotating shaft (408) is mounted on the other end of the V-belt (407) with a roller sleeve. A connecting shaft (409) is fixedly mounted on the lower end of the rotating shaft (408).

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