Truss robot with high repeated positioning precision

Abstract

The utility model relates to the technical field of truss robots, in particular to a truss robot with high repeated positioning accuracy, which comprises two symmetrically arranged supports, the top end of each support is fixedly provided with a cross beam through a bolt, and an electric guide rail is fixedly connected between the two cross beams. The device has the advantages that at the moment, the locking bolt is twisted to lock the moving block, then the driving frame is driven by the electric guide rail to move, the roller sleeve can be pushed to move outwards after the guide fillet arranged on the driving frame is in contact with the roller sleeve, and the sliding block can be driven to reset under the pushing of the spring after the roller sleeve corresponds to the positioning groove. When the precision of the driving frame does not reach the standard, the roller sleeve and the positioning groove are staggered, the starting button is not extruded to start the Z-axis manipulator, and at the moment, a worker can observe that the precision of the truss robot is reduced and overhaul equipment is carried out.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, and in particular to a gantry robot with high repeatability positioning accuracy. Background Technology

[0002] Gantry robots, also known as Cartesian robots or gantry-type robots, are an important component of modern industrial automation. Their main structure typically consists of columns, beams, a control system, a drive system, and a mechanical system. Gantry robots are renowned for their high speed, high precision, and excellent dust and dirt resistance. They are primarily used for handling objects, manipulating tools, and performing various tasks. In practical applications, gantry robots are widely used in automated loading and unloading systems for various machine tools, such as lathes, grinding machines, and machining centers. They can efficiently and accurately complete workpiece handling tasks, improving production efficiency and reducing labor costs.

[0003] In the operation of a gantry robot, the reciprocating motion of the robotic arm is crucial to its functionality. To achieve this motion, the drive block is typically controlled by programming. As the power source for the robotic arm's movement, the precise control of the drive block is essential to ensuring the robot's motion accuracy. However, in practical applications, due to various factors such as mechanical wear, electrical faults, and control system errors, the robotic arm's movement may deviate. These errors are usually only discovered when the gantry robot malfunctions. If these deviations are not detected and corrected in a timely manner, they will seriously affect the gantry robot's working accuracy and efficiency. Utility Model Content

[0004] The purpose of this invention is to at least solve one of the aforementioned technical defects.

[0005] Therefore, one objective of this invention is to propose a gantry robot with high repeatability positioning accuracy to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0006] To achieve the above objectives, one embodiment of this utility model provides a gantry robot with high repeatability positioning accuracy, comprising two symmetrically arranged supports. A crossbeam is fixedly mounted at the top of each support by bolts. An electric guide rail is fixedly connected between the two crossbeams. A drive frame is slidably connected inside the electric guide rail. A Z-axis manipulator is fixedly connected to one side of the drive frame. A positioning groove is formed on the front of the drive frame, and a start button is disposed inside the positioning groove. The start button is electrically connected to the Z-axis manipulator. A baffle is fixedly connected between the two crossbeams. A moving block is slidably connected between the baffle and the electric guide rail. A lead screw is rotatably connected between the two crossbeams. The lead screw is threadedly connected to the moving block. A frame is fixedly connected to the top surface of the moving block. A slider is slidably connected to the inner wall of the frame. Two symmetrically arranged springs are fixedly connected between the slider and the frame. A pin is fixedly connected to the top surface of the slider. A roller sleeve is rotatably connected to the outer surface of the pin. The roller sleeve is located on the inner wall of the positioning groove, and the outer surface of the roller sleeve is in contact with the outer surface of the start button.

[0007] Preferably, in any of the above solutions, the diameter of the roller sleeve is equal to the diameter of the positioning groove, and the drive frame has two symmetrically arranged guide radii on the side near the roller sleeve, with the positioning groove located between the two guide radii.

[0008] Preferably, in any of the above embodiments, a control wheel is rotatably connected to the side of the crossbeam away from the lead screw via a bearing, and the control wheel is fixedly connected to the lead screw.

[0009] Preferably, in any of the above solutions, a guide rod is embedded in the inner wall of the baffle, and a guide hole is provided through the side of the movable block, and the movable block is slidably connected to the guide rod through the guide hole.

[0010] Preferably, in any of the above solutions, the inner wall of the frame is fixedly connected to two symmetrically arranged limiting posts, the slider is slidably connected to the limiting posts, and the limiting posts are located inside the spring.

[0011] Preferably, in any of the above embodiments, a locking bolt is rotatably connected to the side of the moving block near the baffle, and the threaded part of the locking bolt is in contact with the front of the electric guide rail.

[0012] Preferably, in any of the above solutions, two symmetrically arranged blocking discs are fixedly connected to the outer surface of the pin, and the top and bottom surfaces of the roller sleeve are respectively in contact with the two blocking discs.

[0013] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows:

[0014] When positioning the Z-axis robot is required, the operator can turn the control wheel to rotate the lead screw, which in turn drives the moving block to move left and right through the threaded transmission until the roller sleeve moves to the designated position. At this point, the locking bolt is turned to lock the moving block. Then, the drive frame is driven by the electric guide rail. When the guide radius on the drive frame contacts the roller sleeve, it can push the roller sleeve outward. When the roller sleeve aligns with the positioning groove, the spring pushes the slider to reset and causes the roller sleeve to press the start button, thus driving the Z-axis robot to work. If the drive frame's accuracy is not up to standard, the roller sleeve will misalign with the positioning groove and will not press the start button to start the Z-axis robot. At this point, the operator can observe the reduced accuracy of the gantry robot and perform maintenance on the equipment. Attached Figure Description

[0015] Figure 1 This is a first-view structural diagram of the assembly of this utility model;

[0016] Figure 2 This is a second-view structural diagram of the assembly of this utility model;

[0017] Figure 3 This is an exploded structural diagram of the drive frame of this utility model;

[0018] Figure 4 This is a schematic diagram of the drive frame of this utility model;

[0019] Figure 5 This is a schematic diagram of the structure of the movable block of this utility model.

[0020] In the diagram: 1-Bracket, 2-Crossbeam, 3-Electric guide rail, 4-Drive frame, 5-Z-axis robot, 6-Positioning groove, 7-Start button, 8-Baffle, 9-Moving block, 10-Lead screw, 11-Frame, 12-Slider, 13-Spring, 14-Pin, 15-Roller sleeve, 16-Control wheel, 17-Guide rod, 18-Guide hole, 19-Limit post, 20-Locking bolt, 21-Blocking disc. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited thereto.

[0022] like Figures 1 to 5As shown, a gantry robot with high repeatability positioning accuracy includes two symmetrically arranged supports 1. A crossbeam 2 is bolted to the top of each support 1. An electric guide rail 3 is fixedly connected between the two crossbeams 2. A drive frame 4 is slidably connected inside the electric guide rail 3. A Z-axis manipulator 5 is fixedly connected to one side of the drive frame 4. A positioning groove 6 is formed on the front of the drive frame 4, and a start button 7 is disposed inside the positioning groove 6. The start button 7 is electrically connected to the Z-axis manipulator 5. A baffle 8 is fixedly connected between the two crossbeams 2. A moving block 9 is slidably connected between the baffle 8 and the electric guide rail 3. A lead screw 10 is rotatably connected between the two crossbeams 2 and threadedly connected to the moving block 9. A frame 11 is fixedly connected to the top surface of the moving block 9. The inner wall of the slide is connected to a slider 12. Two symmetrically arranged springs 13 are fixedly connected between the slider 12 and the frame 11. The top surface of the slider 12 is fixedly connected to a pin 14. The outer surface of the pin 14 is rotatably connected to a roller sleeve 15. The roller sleeve 15 is located on the inner wall of the positioning groove 6. The outer surface of the roller sleeve 15 is in contact with the outer surface of the start button 7.

[0023] As an optional technical solution of this utility model, the diameter of the roller sleeve 15 is equal to the diameter of the positioning groove 6. Two symmetrically arranged guide radii are provided on the side of the drive frame 4 near the roller sleeve 15. The equal diameter of the roller sleeve 15 and the positioning groove 6 ensures accurate positioning and smooth rolling of the roller sleeve 15 within the positioning groove 6. The guide radii on the side of the drive frame 4 near the roller sleeve 15 further guide the movement of the roller sleeve 15, reducing friction and offset, and improving movement accuracy.

[0024] As an optional technical solution of this utility model, the side of the crossbeam 2 away from the lead screw 10 is rotatably connected to a control wheel 16 via a bearing. The control wheel 16 is fixedly connected to the lead screw 10, which facilitates manual or automatic adjustment of the position of the lead screw 10.

[0025] As an optional technical solution of this utility model, a guide rod 17 is embedded in the inner wall of the baffle 8, and a guide hole 18 is opened through the side of the moving block 9. The moving block 9 is slidably connected to the guide rod 17 through the guide hole 18. The guide rod 17 is embedded in the inner wall of the baffle 8, and the guide hole 18 is opened through the side of the moving block 9. The moving block 9 is slidably connected to the guide rod 17 through the guide hole 18, which ensures the smooth movement of the moving block 9.

[0026] As an optional technical solution of this utility model, the inner wall of the frame 11 is fixedly connected with two symmetrically arranged limiting posts 19, the slider 12 is slidably connected to the limiting posts 19, the limiting posts 19 are located inside the spring 13, the limiting posts 19 are symmetrically fixed to the inner wall of the frame 11, the slider 12 is slidably connected to the limiting posts 19, the limiting posts 19 are located inside the spring 13, thus ensuring the movement range and stability of the slider 12.

[0027] As an optional technical solution of this utility model, a locking bolt 20 is rotatably connected to the side of the moving block 9 near the baffle 8. The screw part of the locking bolt 20 is in contact with the front of the electric guide rail 3. The locking bolt 20 is rotatably connected to the side of the moving block 9 near the baffle 8, and its screw part is in contact with the front of the electric guide rail 3, which can quickly lock the position of the moving block 9.

[0028] As an optional technical solution of this utility model, two symmetrically arranged blocking discs 21 are fixedly connected to the outer surface of the pin 14. The top and bottom surfaces of the roller sleeve 15 are respectively in contact with the two blocking discs 21. The blocking discs 21 are symmetrically fixed on the outer surface of the pin 14. The top and bottom surfaces of the roller sleeve 15 are respectively in contact with the two blocking discs 21, ensuring the axial positioning of the roller sleeve 15.

[0029] A gantry robot with high repeatability and positioning accuracy works as follows:

[0030] 1) When it is necessary to position the Z-axis robot 5, the operator can turn the control wheel 16 to drive the lead screw 10 to rotate. Through the threaded transmission, the moving block 9 can be moved left and right until the roller sleeve 15 moves to the designated position. At this time, the locking bolt 20 is turned to lock the moving block 9.

[0031] 2): The drive frame 4 is driven to move by the electric guide rail 3. When the guide rounded corner set on the drive frame 4 contacts the roller sleeve 15, it can push the roller sleeve 15 to move outward. When the roller sleeve 15 corresponds to the positioning groove 6, it can drive the slider 12 to reset under the push of the spring 13, and drive the roller sleeve 15 to press the start button 7. At this time, the Z-axis robot arm 5 can be driven to work.

[0032] 3): When the accuracy of the drive frame 4 is not up to standard, the roller sleeve 15 will be misaligned with the positioning groove 6 and will not press the start button 7 to activate the Z-axis robot arm 5. At this time, the staff can observe the decrease in the accuracy of the gantry robot and carry out maintenance on the equipment.

[0033] In summary, when the Z-axis manipulator 5 needs to be positioned, the operator can turn the control wheel 16 to rotate the lead screw 10. Through the threaded transmission, the moving block 9 can be moved left and right until the roller sleeve 15 moves to the designated position. At this time, the locking bolt 20 is turned to lock the moving block 9. Then, the drive frame 4 is driven to move through the electric guide rail 3. When the guide rounded corner on the drive frame 4 contacts the roller sleeve 15, it can push the roller sleeve 15 to move outward. When the roller sleeve 15 corresponds to the positioning groove 6, the slider 12 can be reset under the push of the spring 13, and the roller sleeve 15 can press the start button 7. At this time, the Z-axis manipulator 5 can be driven to work. When the accuracy of the drive frame 4 is not up to standard, the roller sleeve 15 will be misaligned with the positioning groove 6 and will not press the start button 7 to start the Z-axis manipulator 5. At this time, the operator can observe the decrease in the accuracy of the gantry robot and perform maintenance on the equipment.

Claims

1. A gantry robot with high repeatability positioning accuracy, characterized in that: The device includes two symmetrically arranged supports (1). A crossbeam (2) is fixedly installed at the top of each support (1) by bolts. An electric guide rail (3) is fixedly connected between the two crossbeams (2). A drive frame (4) is slidably connected inside the electric guide rail (3). A Z-axis manipulator (5) is fixedly connected to one side of the drive frame (4). A positioning groove (6) is provided on the front of the drive frame (4). A start button (7) is provided inside the positioning groove (6). The start button (7) is electrically connected to the Z-axis manipulator (5). A baffle (8) is fixedly connected between the two crossbeams (2). A moving block (9) is slidably connected between the baffle (8) and the electric guide rail (3). A lead screw (10) is rotatably connected between the two crossbeams (2). The lead screw (10) is threadedly connected to the moving block (9). A frame (11) is fixedly connected to the top surface of the moving block (9). The inner wall of the slide is connected to a slider (12), and two symmetrically arranged springs (13) are fixedly connected between the slider (12) and the frame (11). The top surface of the slider (12) is fixedly connected to a pin (14), and the outer surface of the pin (14) is rotatably connected to a roller sleeve (15). The roller sleeve (15) is located on the inner wall of the positioning groove (6), and the outer surface of the roller sleeve (15) is in contact with the outer surface of the start button (7).

2. The gantry robot with high repeatability positioning accuracy according to claim 1, characterized in that: The diameter of the roller sleeve (15) is equal to the diameter of the positioning groove (6). The drive frame (4) has two symmetrically arranged guide rounded corners on the side near the roller sleeve (15), and the positioning groove (6) is located between the two guide rounded corners.

3. A gantry robot with high repeatability positioning accuracy according to claim 2, characterized in that: The side of the crossbeam (2) away from the lead screw (10) is rotatably connected to a control wheel (16) via a bearing, and the control wheel (16) is fixedly connected to the lead screw (10).

4. A gantry robot with high repeatability positioning accuracy according to claim 3, characterized in that: The inner wall of the baffle (8) is fitted with a guide rod (17), and the side of the moving block (9) is provided with a guide hole (18). The moving block (9) is slidably connected to the guide rod (17) through the guide hole (18).

5. A gantry robot with high repeatability positioning accuracy according to claim 4, characterized in that: The inner wall of the frame (11) is fixedly connected to two symmetrically arranged limiting posts (19), the slider (12) is slidably connected to the limiting posts (19), and the limiting posts (19) are located inside the spring (13).

6. A gantry robot with high repeatability positioning accuracy according to claim 5, characterized in that: The moving block (9) is rotatably connected to a locking bolt (20) on the side near the baffle (8), and the screw part of the locking bolt (20) is in contact with the front of the electric guide rail (3).

7. A gantry robot with high repeatability positioning accuracy according to claim 6, characterized in that: Two symmetrically arranged blocking discs (21) are fixedly connected to the outer surface of the pin (14), and the top and bottom surfaces of the roller sleeve (15) are respectively in contact with the two blocking discs (21).

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