Truss manipulator

Abstract

The utility model relates to a truss mechanical arm, and belongs to the technical field of feeding and discharging, the truss mechanical arm comprises a first sliding rail, a sliding seat, a first linear driving mechanism, a mounting plate, a mounting seat, a second linear driving mechanism and a plurality of grabbing mechanisms, the first sliding rail, the sliding seat and the first linear driving mechanism are all mounted on a truss, and the mounting plate is connected to the sliding seat; the mounting seat is rotatably mounted on the mounting plate, two mounting surfaces are arranged on the mounting seat, the plurality of grabbing mechanisms are respectively arranged on the two mounting surfaces, the grabbing mechanisms are used for grabbing long-strip-shaped workpieces, and the second linear driving mechanism drives the mounting seat to rotate, so that the two mounting surfaces sequentially face a machine tool. According to the truss manipulator, after the machined long-strip-shaped workpieces are discharged, the mounting faces facing the machine tool are switched, then the unmachined long-strip-shaped workpieces are fed, and the feeding and discharging efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of loading and unloading technology, and in particular to a gantry robot. Background Technology

[0002] Loading and unloading are key steps in machining. The loading and unloading process involves placing the workpiece to be processed onto the machining position on the machine tool and removing the processed workpiece from the machining position. In traditional machining processes, the loading and unloading steps have many drawbacks. Loading and unloading long rod-shaped workpieces generally requires manual handling, which is difficult to automate. Manual loading and unloading also presents numerous problems such as high labor intensity, low efficiency, and significant safety hazards. Utility Model Content

[0003] Therefore, it is necessary to provide a gantry robot to solve the technical problems of high labor intensity, low efficiency and high safety hazards in manual loading and unloading in the existing technology.

[0004] To achieve the above objectives, this application provides a gantry robot, which includes:

[0005] The first slide rail is laid along the truss;

[0006] The slide block is slidably mounted on the first slide rail;

[0007] A first linear drive mechanism is mounted on the slide block, and the first linear drive mechanism is used to drive the slide block to slide on the first slide rail.

[0008] Mounting plate, connected to the slide;

[0009] The mounting base is rotatably mounted on the mounting plate. The mounting base has two mounting surfaces that are perpendicular to each other or are opposite sides of the mounting base.

[0010] A second linear drive mechanism, rotatably connected at both ends to a mounting plate and a mounting base respectively, drives the mounting base to rotate so that the two mounting surfaces sequentially face the machine tool; and

[0011] Multiple gripping mechanisms are respectively set on two mounting surfaces. The gripping mechanisms are used to grip long strip-shaped workpieces. The gripping mechanisms include two jaws and a third linear drive mechanism. The third linear drive mechanism is used to drive the two jaws to move closer or further apart.

[0012] Optionally, the first linear drive mechanism includes:

[0013] The first rack is laid along the truss;

[0014] A first rotary motor is mounted on a slide; and

[0015] The first gear is mounted on the first rotary motor and meshes with the first rack.

[0016] Optionally, the gantry robot also includes:

[0017] A second slide rail is slidably mounted on a slide block, extending in a direction perpendicular to the truss, and a mounting plate is mounted on the second slide rail; and

[0018] The fourth linear drive mechanism is mounted on the slide block and is used to drive the second slide rail to slide in a direction perpendicular to the truss.

[0019] Optionally, the fourth linear drive mechanism includes:

[0020] The second rack is laid along the second slide rail;

[0021] A second rotary motor is mounted on the slide; and

[0022] The second gear is mounted on the second rotary motor and meshes with the second rack.

[0023] Optionally, the gantry robot also includes:

[0024] A third slide rail is located at the end of the second slide rail and extends vertically. A groove adapted to the third slide rail is provided on the mounting plate, and the third slide rail is slidably disposed within the groove.

[0025] The fifth linear drive mechanism is mounted on the second slide rail and is used to drive the mounting plate to move in the vertical direction.

[0026] Optionally, the fifth linear drive mechanism is a linear motor.

[0027] Optionally, the second linear drive mechanism is a pneumatic cylinder or a hydraulic cylinder.

[0028] Optionally, two gripping mechanisms are provided on each mounting surface.

[0029] Optionally, the third linear drive mechanism is a bidirectional hydraulic cylinder, which is mounted on the mounting surface, and the two grippers are respectively mounted on the two output shafts of the third linear drive mechanism.

[0030] Optionally, a wear-resistant plate may be provided on the side of any one gripper facing the other gripper.

[0031] The beneficial effects of the gantry manipulator provided in this application are as follows: Compared with the prior art, the gantry manipulator of this application includes a first slide rail, a slide block, a first linear drive mechanism, a mounting plate, a mounting base, a second linear drive mechanism, and multiple gripping mechanisms. The first slide rail, the slide block, and the first linear drive mechanism are all mounted on the gantry. The mounting plate is connected to the slide block, and the mounting base is rotatably mounted on the mounting plate. The mounting base has two mounting surfaces, which are perpendicular to each other, or the two mounting surfaces are opposite sides of the mounting base. The multiple gripping mechanisms are respectively arranged on the two mounting surfaces. The gripping mechanisms use... For gripping long strip-shaped workpieces, the two ends of the second linear drive mechanism are rotatably connected to the mounting plate and the mounting base, respectively. The second linear drive mechanism drives the mounting base to rotate so that the two mounting surfaces face the machine tool in sequence. The gantry robot of this application can carry the unprocessed long strip-shaped workpiece to the machine tool. After unloading the processed long strip-shaped workpiece, the unprocessed long strip-shaped workpiece is loaded again by switching the mounting surfaces facing the machine tool, thereby improving loading and unloading efficiency. The gantry robot of this application can realize automatic loading and unloading, reducing the labor intensity of workers and reducing safety hazards. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A three-dimensional structural schematic diagram of the gantry robot provided in the embodiments of this application;

[0034] Figure 2 This is a schematic diagram of the internal structure of the slide of the gantry robot provided in an embodiment of this application.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. First slide rail; 2. Slide block; 3. First linear drive mechanism; 310. First rack; 320. First rotary motor; 330. First gear; 4. Mounting plate; 410. Slide groove; 5. Mounting base; 510. Mounting surface; 6. Second linear drive mechanism; 7. Gripping mechanism; 8. Second slide rail; 9. Fourth linear drive mechanism; 910. Second rack; 920. Second rotary motor; 930. Second gear; 10. Third slide rail; 11. Fifth linear drive mechanism; 12. Truss; 13. Long strip workpiece. Detailed Implementation

[0037] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0038] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0041] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0043] An embodiment of this application provides a gantry robot, which can be found in the accompanying documentation. Figure 1 and Figure 2 The truss manipulator includes a first slide rail 1, a slide block 2, a first linear drive mechanism 3, a mounting plate 4, a mounting base 5, a second linear drive mechanism 6, and multiple gripping mechanisms 7. The first slide rail 1 is laid along the truss 12. The slide block 2 is slidably mounted on the first slide rail 1. The first linear drive mechanism 3 is disposed on the slide block 2 and is used to drive the slide block 2 to slide on the first slide rail 1. The mounting plate 4 is connected to the slide block 2, and the mounting base 5 is rotatably mounted on the mounting plate 4. The mounting base 5 has two mounting surfaces 510. The two mounting surfaces 510 are perpendicular to each other, or the two mounting surfaces 510 are opposite sides of the mounting base 5; the two ends of the second linear drive mechanism 6 are rotatably connected to the mounting plate 4 and the mounting base 5 respectively. The second linear drive mechanism 6 is used to drive the mounting base 5 to rotate so that the two mounting surfaces 510 face the machine tool in sequence; multiple gripping mechanisms 7 are respectively arranged on the two mounting surfaces 510. The gripping mechanism 7 is used to grip the long strip workpiece 13. The gripping mechanism 7 includes two grippers and a third linear drive mechanism. The third linear drive mechanism is used to drive the two grippers to move closer or further apart from each other.

[0044] In this embodiment, the truss manipulator includes a first slide rail 1, a slide block 2, a first linear drive mechanism 3, a mounting plate 4, a mounting base 5, a second linear drive mechanism 6, and multiple gripping mechanisms 7. The first slide rail 1, the slide block 2, and the first linear drive mechanism 3 are all mounted on the truss 12. The mounting plate 4 is connected to the slide block 2. The mounting base 5 is rotatably mounted on the mounting plate 4. The mounting base 5 has two mounting surfaces 510, which are perpendicular to each other or are opposite sides of the mounting base 5. The multiple gripping mechanisms 7 are respectively disposed on the two mounting surfaces 510. The gripping mechanisms 7 are used to grip long... The strip-shaped workpiece 13 has its two ends rotatably connected to the mounting plate 4 and the mounting base 5, respectively. The second linear drive mechanism 6 drives the mounting base 5 to rotate so that the two mounting surfaces 510 face the machine tool in sequence. The gantry robot of this application can carry the unprocessed long strip-shaped workpiece 13 to the machine tool. After the processed long strip-shaped workpiece 13 is unloaded, the unprocessed long strip-shaped workpiece 13 can be loaded again by switching the mounting surfaces 510 facing the machine tool, thereby improving the loading and unloading efficiency. The gantry robot of this application can realize automatic loading and unloading, reducing the labor intensity of workers and reducing safety hazards.

[0045] In one embodiment, see Figure 2 The first linear drive mechanism 3 includes a first rack 310, a first rotary motor 320 and a first gear 330. The first rack 310 is laid along the truss 12, the first rotary motor 320 is mounted on the slide block 2, and the first gear 330 is mounted on the first rotary motor 320 and meshes with the first rack 310.

[0046] With the above configuration, the first rotary motor 320 drives the first gear 330 to rotate. Since the first rack 310 is mounted on the truss 12 and the first rack 310 and the first gear 330 mesh, the gear, the first rotary motor 320 and the slide 2 connected together move in a straight line.

[0047] In one embodiment, see Figure 2 The truss manipulator also includes a second slide rail 8 and a fourth linear drive mechanism 9. The second slide rail 8 is slidably mounted on the slide base 2 and extends in a direction perpendicular to the truss 12. The mounting plate 4 is mounted on the second slide rail 8. The fourth linear drive mechanism 9 is mounted on the slide base 2 and is used to drive the second slide rail 8 to slide in a direction perpendicular to the truss 12.

[0048] With the above configuration, the fourth linear drive mechanism 9 drives the second slide rail 8 to slide in a direction perpendicular to the truss 12. The mounting plate 4 is also disposed on the second slide rail 8, and the mounting seat 5 is mounted on the mounting plate 4, so that the horizontal distance between the gripping mechanism 7 on the mounting seat 5 and the truss 12 is adjustable, which can adapt to more working conditions.

[0049] In one embodiment, see Figure 2 The fourth linear drive mechanism 9 includes a second rack 910, a second rotary motor 920, and a second gear 930. The second rack 910 is laid along the second slide rail 8, the second rotary motor 920 is mounted on the slide block 2, and the second gear 930 is mounted on the second rotary motor 920 and meshes with the second rack 910.

[0050] With the above configuration, the second rotary motor 920 drives the second gear 930 to rotate. Since the second rotary motor 920 is mounted on the slide block 2 and the second rack 910 and the second gear 930 mesh, the connected second rack 910 and the second slide rail 8 move in a straight line together.

[0051] In one embodiment, see Figure 1 and Figure 2 The gantry manipulator also includes a third slide rail 10 and a fifth linear drive mechanism 11. The third slide rail 10 is located at the end of the second slide rail 8 and extends vertically. The mounting plate 4 is provided with a groove 410 adapted to the third slide rail 10, and the third slide rail 10 is slidably disposed in the groove 410. The fifth linear drive mechanism 11 is located on the second slide rail 8 and is used to drive the mounting plate 4 to move vertically.

[0052] With the above configuration, the fifth linear drive mechanism 11 drives the mounting plate 4 to slide in the vertical direction, and the mounting seat 5 is mounted on the mounting plate 4, so that the vertical distance between the gripping mechanism 7 on the mounting seat 5 and the truss 12 is adjustable, which can adapt to more working conditions.

[0053] In one embodiment, see Figure 1 and Figure 2 The fifth linear drive mechanism 11 is a linear motor.

[0054] First, linear motors, by eliminating the need for intermediate transmission mechanisms, significantly simplify their structure, reduce inertia, and improve dynamic response performance and positioning accuracy. Second, linear motors offer high precision and high acceleration, eliminating the influence of intermediate links so that the system's accuracy primarily depends on the position detection element, achieving sub-micron level precision. Furthermore, linear motors are maintenance-free, have no mechanical contact, reduce wear on components, and extend their service life.

[0055] In one embodiment, the second linear drive mechanism 6 is a pneumatic cylinder or a hydraulic cylinder, which can be selected according to actual needs, and is not limited to one specific type.

[0056] Pneumatic cylinders have advantages such as simple structure, easy installation and maintenance, low cost, and convenient air supply, while hydraulic cylinders have advantages such as strong load capacity, high precision, high speed, high sensitivity, and smooth operation.

[0057] In one embodiment, see Figure 1 and Figure 2 Each mounting surface 510 is equipped with two gripping mechanisms 7, which can grip long strip-shaped workpieces 13 more stably.

[0058] In one embodiment, the third linear drive mechanism is a bidirectional hydraulic cylinder, which is mounted on the mounting surface 510, and the two grippers are respectively mounted on the two output shafts of the third linear drive mechanism.

[0059] In one embodiment, a wear-resistant plate is provided on the side of any one gripper facing the other gripper to prevent scratching of the long strip workpiece 13.

[0060] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A gantry robot, characterized in that, include: The first slide rail is laid along the truss; The slide block is slidably mounted on the first slide rail; A first linear drive mechanism is disposed on the slide block, and the first linear drive mechanism is used to drive the slide block to slide on the first slide rail; Mounting plate, connected to the slide; The mounting base is rotatably mounted on the mounting plate. The mounting base has two mounting surfaces that are perpendicular to each other, or the two mounting surfaces are opposite sides of the mounting base. A second linear drive mechanism, rotatably connected at both ends to the mounting plate and the mounting base respectively, drives the mounting base to rotate so that the two mounting surfaces sequentially face the machine tool; and Multiple gripping mechanisms are respectively disposed on the two mounting surfaces. The gripping mechanisms are used to grip long strip-shaped workpieces. Each gripping mechanism includes two jaws and a third linear drive mechanism. The third linear drive mechanism is used to drive the two jaws to move closer or further apart from each other.

2. The gantry robot according to claim 1, characterized in that, The first linear drive mechanism includes: The first rack is laid along the truss; A first rotary motor is mounted on the slide; and The first gear is disposed on the first rotary motor and meshes with the first rack.

3. The gantry robot according to claim 1, characterized in that, The gantry manipulator also includes: A second slide rail is slidably mounted on the slide block, the second slide rail extending in a direction perpendicular to the truss, and the mounting plate is disposed on the second slide rail; and A fourth linear drive mechanism is disposed on the slide block, and the fourth linear drive mechanism is used to drive the second slide rail to slide in a direction perpendicular to the truss.

4. The gantry robot according to claim 3, characterized in that, The fourth linear drive mechanism includes: The second rack is laid along the second slide rail; A second rotary motor is mounted on the slide; and The second gear is disposed on the second rotary motor and meshes with the second rack.

5. The gantry robot according to claim 3, characterized in that, The gantry manipulator also includes: A third slide rail is disposed at the end of the second slide rail, the third slide rail extending vertically, and the mounting plate is provided with a groove adapted to the third slide rail, the third slide rail being slidably disposed within the groove; and A fifth linear drive mechanism is disposed on the second slide rail, and the fifth linear drive mechanism is used to drive the mounting plate to move along the vertical direction.

6. The gantry robot according to claim 5, characterized in that, The fifth linear drive mechanism is a linear motor.

7. The gantry robot according to claim 1, characterized in that, The second linear drive mechanism is a pneumatic cylinder or a hydraulic cylinder.

8. The gantry robot according to claim 1, characterized in that, Two gripping mechanisms are provided on each of the mounting surfaces.

9. The gantry robot according to claim 1, characterized in that, The third linear drive mechanism is a bidirectional hydraulic cylinder. The third linear drive mechanism is disposed on the mounting surface, and the two grippers are respectively disposed on the two output shafts of the third linear drive mechanism.

10. The gantry robot according to claim 1, characterized in that, A wear-resistant plate is provided on the side of any one of the grippers facing the other gripper.

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