Spatial positioning structure of plane transfer robot
By setting longitudinal and lateral positioning devices on the planar handling robot and utilizing components such as limit mounting strips and monitoring photoelectric sensors, the problems of high cost and low precision in existing technologies are solved, achieving low-cost and efficient material gripping and stacking.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DUOMAI INTELLIGENT MFG (GUANGDONG) CO LTD
- Filing Date
- 2025-05-09
- Publication Date
- 2026-04-24
AI Technical Summary
Existing planar transfer equipment relies on high-cost servo motors and encoders, resulting in limited accuracy and short service life, making it difficult to achieve precise material gripping and stacking.
Employing longitudinal and lateral positioning devices, and using components such as limit mounting strips, longitudinal monitoring photoelectric sensors, induction plates, and laser emitters, precise spatial positioning of the planar transport robot is achieved. Combined with encoders and radar sensors, control accuracy and safety are improved.
It achieves low-cost, long-life precision material grasping and stacking, improves the control accuracy and working efficiency of planar handling robots, and ensures equipment safety.
Smart Images
Figure CN224160071U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of spatial positioning technology, and in particular to the spatial positioning structure of a planar mechanical handling robot. Background Technology
[0002] Products are stacked in a frame. The production line transports the frame to the transfer platform of a planar transfer device. The planar transfer device then transfers and stacks the frame and its contents to the unloading area. Currently, the load-bearing frame of the planar transfer device is controlled by a servo motor for lifting and lowering, and the lateral movement of the device is also controlled by a servo motor. The rotor inside the servo motor is a permanent magnet. The U / V / W three-phase electricity controlled by the driver creates an electromagnetic field, causing the rotor to rotate under the influence of this magnetic field. Simultaneously, the motor's built-in encoder feeds back signals to the driver, which compares the feedback value with the target value and adjusts the rotor's rotation angle accordingly. The accuracy of the servo motor depends on the accuracy of the encoder, resulting in higher cost and a shorter lifespan. Utility Model Content
[0003] In order to address the technical deficiencies mentioned in the background art, the purpose of this utility model is to provide a spatial positioning structure for a planar handling robot.
[0004] To achieve the above objectives, the present invention adopts the following technical solution:
[0005] The spatial positioning structure of the planar transport robot includes a truss that slides on two guide rails and comprises several sets of longitudinal and lateral positioning devices. At least one set of longitudinal positioning devices is provided on each side of the truss. Each longitudinal positioning device includes a limiting mounting strip, several longitudinal monitoring photoelectric sensors, and sensor plates. The limiting mounting strip is fixed longitudinally to the corresponding steel column of the truss. Multiple mounting slots for installing the longitudinal monitoring photoelectric sensors are spaced apart along the length of the limiting mounting strip. Each limiting mounting strip has at least one longitudinal monitoring photoelectric sensor, and the height of each photoelectric sensor corresponds to the height at which the load-bearing frame descends to hook materials or the height of the material stack. At least one sensor plate is provided at each end of the load-bearing frame, and the corresponding longitudinal monitoring photoelectric sensor is communicatively connected to the sensor plate to determine the lifting position of the load-bearing frame. The lateral positioning device is used to monitor the travel distance of the planar transport robot along the guide rails.
[0006] By adopting the above technical solution, limiting installation strips are set on the steel columns of the truss. Multiple longitudinal monitoring photoelectric sensors are fixedly installed at intervals along the height of these strips. Each longitudinal monitoring photoelectric sensor corresponds to a material stacking height or a material grabbing height. A corresponding sensor plate is installed on the load-bearing frame. When the corresponding longitudinal monitoring photoelectric sensor detects the sensor plate, it indicates that the load-bearing frame has reached the set position, and the control system controls the load-bearing frame to stop moving. The lateral positioning device controls the travel distance of the planar handling robot along the guide rail. The longitudinal positioning device works in conjunction with the lateral positioning device to achieve spatial positioning of the planar handling robot, enabling precise material grabbing and transfer to the stacking position. The structure is simple, easy to install and disassemble, has a long service life, and low cost. It also improves the control accuracy of the planar handling robot and the efficiency of handling and stacking.
[0007] Furthermore, each of the limiting mounting strips has two rows of mounting grooves along its height direction. The two adjacent and dissimilar mounting grooves are staggered vertically to improve compatibility and adapt to different heights. The staggered arrangement can also ensure the load-bearing strength of the limiting mounting strip.
[0008] Furthermore, the longitudinal positioning device also includes a top limit switch, a bottom limit switch, and a limit plate. The top limit switch is located at the top of the limiting mounting strip to limit the highest position of the load-bearing frame. The bottom limit switch is located below the limiting mounting strip to limit the lowest descent position of the load-bearing frame. At least one limit plate is located at a corresponding position at the end of the load-bearing frame. When the limit plate abuts against the top limit switch or the bottom limit switch, the load-bearing frame stops its lifting movement, improving safety.
[0009] Furthermore, the bottom limit switch has the same structure as the top limit switch. The bottom limit switch includes a switch body, a toggle lever, and an abutment wheel. The switch body is fixed to the limit mounting strip. One end of the toggle lever is hinged to the switch body, and the other end of the toggle lever protrudes and is connected to the abutment wheel. One end of the limit plate is fixed to the load-bearing frame, and the other end of the limit plate is bent and inclined to abut against the abutment wheel. The structure is compact and the control precision is high.
[0010] Furthermore, the longitudinal positioning device also includes a first encoder, which is mounted on the output shaft of the lifting motor used to drive the lifting and lowering motion of the load-bearing frame. The first encoder obtains the lifting and lowering position of the load-bearing frame based on the rotation speed of the lifting motor, which can assist in detecting the lifting and lowering stroke of the load-bearing frame, thus helping to protect the equipment and improve the accuracy and safety of control.
[0011] Furthermore, counterweight units are provided at both ends of the load-bearing frame. Each counterweight unit includes a counterweight block, a traction hinge, and multiple guide wheel seats. The counterweight block is located on the side of the truss, and one end of the traction hinge is connected to the counterweight block. Multiple guide wheel seats are provided at the upper end of the truss, and guide gears are provided on the guide wheel seats. The other end of the traction hinge is sequentially wound around the multiple guide gears and then bent and connected to the load-bearing frame. All the guide gears are engaged with the traction hinge. The longitudinal positioning device also includes a second encoder, which is fixedly connected to one of the guide gears. The second encoder obtains the distance of descent or ascent of the traction hinge based on the number of rotations of the guide gear to determine the position of the load-bearing frame. This can assist in detecting the lifting and lowering stroke of the load-bearing frame, providing multiple layers of protection, which helps protect the equipment and improves control accuracy and safety.
[0012] Furthermore, the lateral positioning device includes a laser emitter and a reflector. The laser emitter is disposed on one end face of the truss located in the feeding area, and the reflector is placed on one side of the laser emitter. A reflector is disposed on the reflector, and the laser beam from the laser emitter illuminates the reflector to obtain the distance from the laser emitter to the reflector. This allows for precise control of the truss's displacement to accurately move to the feeding area and stacking area, improving the efficiency of transfer and stacking.
[0013] Furthermore, the lateral positioning device also includes multiple information calibrators and a mirror-reflecting photoelectric sensor. The mirror-reflecting photoelectric sensor protrudes from one side of the truss, and its laser emission direction is perpendicular to the length direction of the guide rail. The multiple information calibrators are spaced apart along the length direction of the guide rail. The mirror-reflecting photoelectric sensor cooperates with the reflector on the information calibrator to obtain the position of the truss. The distance measurement accuracy of the laser emitter is calibrated by comparing the truss position obtained by the mirror-reflecting photoelectric sensor with the distance measured by the laser emitter, which can improve control accuracy and detect whether there are interfering objects between the laser emitter and the reflector.
[0014] Furthermore, the lateral positioning device includes multiple radar sensors, and the lower end of the truss is provided with two sets of support legs that slide on the guide rail. Each support leg is provided with a radar sensor at both ends, which can monitor in real time whether there are obstacles during the lateral movement of the planar transport robot, thereby improving safety.
[0015] Furthermore, the lateral positioning device includes multiple connecting plates and multiple limit switches. Two connecting plates are provided on the outer sides of both ends of the truss in the width direction, and one end of each connecting plate is connected to the lower end of the truss. A limit switch is protruding and fixedly connected to the other end of each connecting plate; the limit switch is used to sense the corresponding guide rail to prevent the planar transport robot from derailing and improve safety.
[0016] In summary, the beneficial effects of this utility model are as follows:
[0017] This invention features limiting mounting strips on the steel columns of a truss. Multiple longitudinal monitoring photoelectric sensors are fixedly installed at intervals along the height of these strips. Each photoelectric sensor corresponds to a material stacking height or a material grasping height. A corresponding sensor plate is installed on the load-bearing frame. When the corresponding longitudinal monitoring photoelectric sensor detects the sensor plate, it indicates that the load-bearing frame has reached the set position, and the control system stops the load-bearing frame. A lateral positioning device controls the travel distance of the planar transport robot along the guide rail. The longitudinal and lateral positioning devices work together to achieve spatial positioning of the planar transport robot, enabling precise material grasping and transfer to the stacking position. The design is simple, easy to install and disassemble, has a long service life, and low cost. It also improves the control accuracy and stacking efficiency of the planar transport robot. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the usage state structure of an embodiment of the spatial positioning structure of the planar transport robot of this utility model.
[0019] Figure 2 This is a schematic diagram of one embodiment of the spatial positioning structure of the planar transport robot of this utility model.
[0020] Figure 3 This is a schematic diagram of one embodiment of the limiting installation strip of this utility model.
[0021] Figure 4 This is a schematic diagram of the installation structure of one embodiment of the truss side of this utility model.
[0022] Figure 5 yes Figure 4 An enlarged schematic diagram of the C-structure.
[0023] Figure 6 This is a structural schematic diagram of one embodiment of the limiting plate of this utility model.
[0024] Figure 7 This is a schematic diagram of one embodiment of the bottom limit switch of this utility model.
[0025] Figure 8This is a schematic diagram of the installation structure of an embodiment of the second encoder of this utility model.
[0026] Figure 9 yes Figure 1 An enlarged schematic diagram of structure A in the middle.
[0027] Figure 10 yes Figure 1 An enlarged schematic diagram of the B-structure.
[0028] Explanation of the reference numerals in the figure:
[0029] 1. Spatial positioning structure of a planar handling robot; 2. Longitudinal positioning device; 21. Limiting mounting strip; 211. Mounting slot; 22. Longitudinal monitoring photoelectric sensor; 23. Sensor sheet; 24. Top limit switch; 25. Bottom limit switch; 251. Switch body; 252. Actuating lever; 253. Abutment wheel; 26. Limiting plate; 27. Second encoder; 3. Lateral positioning device; 31. Laser emitter; 32. Reflector; 321. Reflector; 33. Information calibrator; 331. Reflector; 34. Mirror photoelectric sensor; 35. First optical communicator; 36. Second optical communicator; 37. Radar sensor; 38. Connecting plate; 39. Limit switch; 4. Truss; 41. Load-bearing frame; 42. Steel column; 43. Support leg; 5. Counterweight unit; 51. Counterweight block; 52. Traction hinge; 53. Guide wheel seat; 54. Guide gear; 6. Guide rail. Detailed Implementation
[0030] 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 skilled in the art are within the protection scope of the present utility model.
[0031] Those skilled in the art should understand that, in the disclosure of this utility model, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on this utility model.
[0032] In the description of this utility model, the use of terms such as "several" means one or more, with "multiple" meaning two or more. Terms like "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of terms like "first," "second," and "third" is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, the quantity of indicated technical features, or the sequential relationship between indicated technical features.
[0033] The following is in conjunction with the appendix Figure 1-10 The embodiments of this utility model will be described in further detail below.
[0034] The spatial positioning structure 1 of the planar transport robot, the gantry 4 of the planar transport robot is slidably mounted on two guide rails 6, such as... Figure 1 , Figure 2 , Figure 3 As shown, it includes several sets of longitudinal positioning devices 2 and lateral positioning devices 3. At least one set of longitudinal positioning devices 2 is provided on each side of the truss 4. The longitudinal positioning device 2 includes a limiting mounting strip 21, several longitudinal monitoring photoelectric sensors 22, and sensing plates 23. The limiting mounting strip 21 is fixed longitudinally to the corresponding steel column 42 of the truss 4. Multiple mounting slots 211 for mounting the longitudinal monitoring photoelectric sensors 22 are spaced apart along the length of the limiting mounting strip 21. Each limiting mounting strip 21 has at least one longitudinal monitoring photoelectric sensor 22, and the height of each longitudinal monitoring photoelectric sensor 22 corresponds to the height at which the load-bearing frame 41 descends to hook materials or the height of the material stack. At least one sensing plate 23 is provided at each end of the load-bearing frame 41, and the corresponding longitudinal monitoring photoelectric sensor 22 is communicatively connected to the sensing plate 23 to determine the lifting position of the load-bearing frame 41. The lateral positioning device 3 is used to monitor the travel distance of the planar handling robot along the guide rail 6.
[0035] Limiting mounting strips 21 are installed on the steel columns 42 of the truss 4. Multiple longitudinal monitoring photoelectric sensors 22 are fixedly installed on the limiting mounting strips 21 at intervals along their height direction. Each longitudinal monitoring photoelectric sensor 22 corresponds to a material stacking height or a material gripping height. A corresponding sensing plate 23 is installed on the load-bearing frame 41. When the corresponding longitudinal monitoring photoelectric sensor 22 detects the sensing plate 23, it indicates that the load-bearing frame 41 has reached the set position, and the control system controls the load-bearing frame 41 to stop moving. The lateral positioning device 3 can control the travel distance of the planar handling robot along the guide rail 6. The longitudinal positioning device 2 and the lateral positioning device 3 work together to realize the spatial positioning of the planar handling robot to achieve accurate material gripping and transfer to the stacking position. The structure is simple, easy to install and disassemble, has a long service life, and low cost. It also improves the control accuracy of the planar handling robot and the work efficiency of handling and stacking.
[0036] In some embodiments, please refer to Figure 3Each limiting installation strip 21 has two rows of installation grooves 211 along its height direction. The two adjacent and dissimilar installation grooves 211 are staggered vertically to improve compatibility and adapt to different heights. The staggered arrangement can also ensure the load-bearing strength of the limiting installation strip 21.
[0037] The truss 4 is equipped with four steel columns 42, each with a vertically mounted limiting strip 21. Each limiting strip 21 has a corresponding number of longitudinal monitoring photocells 22, depending on actual needs. Simultaneously, the load-bearing frame 41 is also equipped with four corresponding sensor plates 23, improving equipment compatibility. If some of the longitudinal monitoring photocells 22 malfunction, the others can still perform monitoring, significantly improving safety.
[0038] In some embodiments, please refer to Figure 3 , Figure 5 , Figure 6 , Figure 7 The longitudinal positioning device 2 also includes a top limit switch 24, a bottom limit switch 25, and a limit plate 26. A top limit switch 24 is provided at the top of the limit mounting strip 21 to limit the highest position of the supporting frame 41. A bottom limit switch 25 is provided below the limit mounting strip 21 to limit the lowest descent position of the supporting frame 41. At least one limit plate 26 is provided at the corresponding position at the end of the supporting frame 41. When the limit plate 26 abuts against the top limit switch 24 or the bottom limit switch 25, the supporting frame 41 stops its lifting movement, improving safety.
[0039] Preferably, the bottom limit switch 25 and the top limit switch 24 have the same structure. The bottom limit switch 25 includes a switch body 251, a toggle lever 252, and an abutment wheel 253. The switch body 251 is fixed to the limit mounting strip 21. One end of the toggle lever 252 is hinged to the switch body 251, and the other end of the toggle lever 252 protrudes and is connected to the abutment wheel 253. One end of the limit plate 26 is fixed to the load-bearing frame 41, and the other end of the limit plate 26 is bent and inclined to abut against the abutment wheel 253. The structure is compact and the control accuracy is high.
[0040] In some embodiments, the longitudinal positioning device 2 further includes a first encoder, which is mounted on the output shaft of the lifting motor that drives the lifting movement of the load-bearing frame 41. The first encoder obtains the lifting position of the load-bearing frame 41 based on the rotation speed of the lifting motor, which can assist in detecting the lifting stroke of the load-bearing frame 41, thus protecting the equipment and improving control accuracy and safety. Moreover, when the longitudinal monitoring photoelectric sensor 22 malfunctions, the control system can also control the lifting stroke of the load-bearing frame 41 based on the feedback result of the first encoder, ensuring safety.
[0041] In some embodiments, please refer to Figure 2 , Figure 8 The load-bearing frame 41 has counterweight units 5 at both ends. Each counterweight unit 5 includes a counterweight block 51, a traction hinge 52, and multiple guide wheel seats 53. The counterweight block 51 is located on the side of the truss 4, and one end of the traction hinge 52 is connected to the counterweight block 51. Multiple guide wheel seats 53 are located at the upper end of the truss 4, and guide gears 54 are mounted on the guide wheel seats 53. The other end of the traction hinge 52 is wound around the multiple guide gears 54 in sequence and then bent and connected to the load-bearing frame 41. All guide gears 54 are engaged with the traction hinge 52 to ensure synchronous movement between the traction hinge 52 and the guide gears 54. The longitudinal positioning device 2 also includes a second encoder 27, which is fixedly connected to one of the guide gears 54. The second encoder 27 obtains the distance the traction hinge 52 descends or rises based on the number of rotations of the guide gear 54 to determine the position of the load-bearing frame 41. This assists in detecting the lifting and lowering stroke of the load-bearing frame 41, providing multiple layers of protection to protect the equipment and improve control accuracy and safety.
[0042] After the load-bearing frame 41 is lowered into place, a material detector is also installed at the lower end of the load-bearing frame 41. The material detector is used to detect whether the material in the feeding area is placed in place.
[0043] In some embodiments, please refer to Figure 1 , Figure 2 , Figure 9 The lateral positioning device 3 includes a laser emitter 31 and a reflector 32. The laser emitter 31 is located on one end face of the truss 4 in the feeding area, and the reflector 32 is placed on one side of the laser emitter 31. A reflector 321 is provided on the reflector 32. The laser from the laser emitter 31 illuminates the reflector 321 to obtain the distance between the laser emitter 31 and the reflector 321, thereby accurately controlling the displacement of the truss 4 to precisely move to the material stacking position in the feeding area and stacking area, improving the efficiency of transfer and stacking.
[0044] In some embodiments, please refer to Figure 1 , Figure 9 , Figure 10The lateral positioning device 3 also includes multiple information calibrators 33 and a mirror photoelectric sensor 34. The mirror photoelectric sensor 34 protrudes from one side of the truss 4, and its laser emission direction is perpendicular to the length direction of the guide rail 6. The multiple information calibrators 33 are spaced apart along the length direction of the guide rail 6. The mirror photoelectric sensor 34 cooperates with the reflector 331 on the information calibrator 33 to obtain the position of the truss 4. The distance measured by the laser emitter 31 is compared with the position of the truss 4 obtained by the mirror photoelectric sensor 34 to calibrate the ranging accuracy of the laser emitter 31, which can improve the control accuracy and detect whether there are interference objects between the laser emitter 31 and the reflector 321.
[0045] Specifically, when the planar transport robot moves to the position of one of the information calibrators 33, the mirror photoelectric sensor 34 emits a laser to obtain information about the set distance of the information calibrator 33. At this time, the laser emitter 31 emits a laser to measure the current distance between itself and the reflector 321, and compares the current distance measured by the laser emitter 31 with the set distance of the information calibrator 33. If the difference between the two is within a threshold range, it indicates that the laser emitter 31 is accurate in its measurement, and the planar transport robot can achieve accurate lateral positioning. If the difference between the two is outside the threshold range, it indicates that there is interference between the laser emitter 31 and the reflector 321 or that the measurement error is large, the control system alarms, and manual troubleshooting is required.
[0046] Please refer to Figure 2 , Figure 9 The lateral positioning device 3 also includes a first optical communicator 35 and a second optical communicator 36. The first optical communicator 35 is mounted on the truss 4, and the second optical communicator 36 is mounted on the upper end of the reflector 32. The first optical communicator 35 and the second optical communicator 36 can communicate wirelessly, which facilitates remote control of the planar transport robot by the operator and makes it more convenient to use.
[0047] In some embodiments, please refer to Figure 5 The lateral positioning device 3 includes multiple radar sensors 37. The lower end of the truss 4 is provided with two sets of support legs 43 that slide on the guide rail 6. Each support leg 43 has a radar sensor 37 at both ends, which can monitor in real time whether there are obstacles during the lateral movement of the planar transport robot, thereby improving safety.
[0048] In some embodiments, please refer to Figure 5 , Figure 10The lateral positioning device 3 includes multiple connecting plates 38 and multiple limit switches 39. Two connecting plates 38 are provided on the outer sides of both ends of the truss 4 in the width direction. One end of the connecting plate 38 is connected to the lower end of the truss 4. A limit switch 39 is protruding and fixedly connected to the other end of the connecting plate 38. The limit switch 39 is used to sense the corresponding guide rail 6 to prevent the planar transport robot from derailing and improve safety.
[0049] The planar transport robot can achieve lateral position control and positioning through the cooperation of the laser emitter 31 and reflector 321 in the lateral positioning device 3. Furthermore, the control accuracy is improved by using multiple information calibrators 33 and mirror photoelectric sensors 34 to calibrate errors in real time, ensuring that the planar transport robot accurately moves to the material stacking position and grasps materials in the feeding area, resulting in higher work efficiency. The longitudinal positioning device 2 can realize the lifting height of the support frame 41 to precisely control the material stacking height and the material grasping height. Simultaneously, the lifting stroke of the support frame 41 is monitored from multiple aspects, resulting in a higher safety factor.
[0050] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.
Claims
1. A spatial positioning structure for a planar transport robot, wherein the gantry (4) of the planar transport robot is slidably mounted on two guide rails (6), characterized in that, It includes several sets of longitudinal positioning devices (2) and transverse positioning devices (3); at least one set of the longitudinal positioning devices (2) is provided on both sides of the truss (4), and the longitudinal positioning device (2) includes a limiting mounting strip (21), several longitudinal monitoring photoelectric sensors (22) and a sensing plate (23); the limiting mounting strip (21) is fixed longitudinally to the corresponding steel column (42) of the truss (4); the limiting mounting strip (21) is provided with multiple mounting slots (211) for installing the longitudinal monitoring photoelectric sensors (22) at intervals along its length direction, and each of the mounting slots (211) is provided with multiple mounting slots (211) for installing the longitudinal monitoring photoelectric sensors (22). Each of the limiting installation strips (21) is provided with at least one longitudinal monitoring photoelectric sensor (22), and the height of each longitudinal monitoring photoelectric sensor (22) corresponds to the height at which the load-bearing frame (41) descends to hook the material or the height of the material stack; at least one sensor plate (23) is provided at each end of the load-bearing frame (41), and the corresponding longitudinal monitoring photoelectric sensor (22) is communicatively connected to the sensor plate (23) to determine the lifting position of the load-bearing frame (41); the lateral positioning device (3) is used to monitor the travel distance of the planar transport robot along the guide rail (6).
2. The spatial positioning structure of the planar transport robot according to claim 1, characterized in that, Each of the limiting installation strips (21) has two rows of installation slots (211) along its height direction, and the two adjacent and oppositely arranged installation slots (211) are staggered vertically.
3. The spatial positioning structure of the planar transport robot according to claim 1, characterized in that, The longitudinal positioning device (2) further includes a top limit switch (24), a bottom limit switch (25), and a limit plate (26); the top limit switch (24) is provided at the top of the limit mounting strip (21) to limit the highest position of the load-bearing frame (41); the bottom limit switch (25) is provided below the limit mounting strip (21) to limit the lowest position of the load-bearing frame (41); at least one limit plate (26) is provided at the corresponding position of the end of the load-bearing frame (41), and when the limit plate (26) abuts against the top limit switch (24) or the bottom limit switch (25), the load-bearing frame (41) stops its lifting and lowering movement.
4. The spatial positioning structure of the planar transport robot according to claim 3, characterized in that, The bottom limit switch (25) has the same structure as the top limit switch (24). The bottom limit switch (25) includes a switch body (251), a toggle lever (252), and an abutment wheel (253). The switch body (251) is fixed on the limit mounting strip (21). One end of the toggle lever (252) is hinged to the switch body (251), and the other end of the toggle lever (252) protrudes and is connected to the abutment wheel (253). One end of the limit plate (26) is fixed to the load-bearing frame (41), and the other end of the limit plate (26) is bent and inclined to abut against the abutment wheel (253).
5. The spatial positioning structure of the planar transport robot according to claim 1, characterized in that, The longitudinal positioning device (2) further includes a first encoder, which is disposed on the output shaft of the lifting motor for driving the lifting motion of the load-bearing frame (41). The first encoder obtains the lifting position of the load-bearing frame (41) based on the rotation speed of the lifting motor.
6. The spatial positioning structure of the planar transport robot according to claim 1, characterized in that, The load-bearing frame (41) is provided with counterweight units (5) at both ends. Each counterweight unit (5) includes a counterweight block (51), a traction hinge (52), and multiple guide wheel seats (53). The counterweight block (51) is located on the side of the truss (4), and one end of the traction hinge (52) is connected to the counterweight block (51). Multiple guide wheel seats (53) are provided at the upper end of the truss (4). Guide gears (54) are provided on the guide wheel seats (53), and the other end of the traction hinge (52) is wound around multiple guide wheel seats in sequence. The guide gear (54) is bent and connected to the load-bearing frame (41), and multiple guide gears (54) are meshed with the traction hinge (52); the longitudinal positioning device (2) also includes a second encoder (27), which is fixedly connected to one of the guide gears (54). The second encoder (27) obtains the distance of the descent or ascent of the traction hinge (52) based on the number of rotations of the guide gear (54) to determine the position of the load-bearing frame (41).
7. The spatial positioning structure of the planar transport robot according to claim 1, characterized in that, The lateral positioning device (3) includes a laser emitter (31) and a reflector (32); the laser emitter (31) is disposed on one end face of the truss (4) located in the feeding area, and the reflector (32) is placed on one side of the laser emitter (31); a reflector (321) is disposed on the reflector (32), and the laser of the laser emitter (31) irradiates the reflector (321) to obtain the distance from the laser emitter (31) to the reflector (321).
8. The spatial positioning structure of the planar transport robot according to claim 7, characterized in that, The lateral positioning device (3) further includes multiple information calibrators (33) and a mirror photoelectric sensor (34); the mirror photoelectric sensor (34) is protruding on one side of the truss (4), and the laser emission direction of the mirror photoelectric sensor (34) is perpendicular to the length direction of the guide rail (6); the multiple information calibrators (33) are spaced apart along the length direction of the guide rail (6), and the mirror photoelectric sensor (34) cooperates with the reflector (331) on the information calibrator (33) to obtain the position of the truss (4). The position of the truss (4) obtained by the mirror photoelectric sensor (34) is compared with the distance measured by the laser emitter (31) to calibrate the ranging accuracy of the laser emitter (31).
9. The spatial positioning structure of the planar transport robot according to claim 1, characterized in that, The lateral positioning device (3) includes multiple radar sensors (37), and the lower end of the truss (4) is provided with two sets of support feet (43) that slide on the guide rail (6), and each support foot (43) has a radar sensor (37) at both ends.
10. The spatial positioning structure of the planar transport robot according to claim 1, characterized in that, The lateral positioning device (3) includes multiple connecting plates (38) and multiple limit switches (39). Two connecting plates (38) are provided on the outer sides of both ends of the truss (4) in the width direction. One end of the connecting plate (38) is connected to the lower end of the truss (4), and the other end of the connecting plate (38) is protruding and fixedly connected to a limit switch (39). The limit switch (39) is used to sense the corresponding guide rail (6).