Truss type robot double-track synchronous carrying device

Abstract

The utility model relates to the technical field of industrial automatic logistics conveying, and discloses a truss type robot double-track synchronous carrying device which comprises a double-beam truss, supporting tracks are fixedly arranged on the two sides of the bottom end of the double-beam truss, the supporting tracks are connected with sliding blocks in a sliding mode, the sliding blocks are fixedly connected with sliding seats, and the sliding seats are fixedly connected with the two sides of the bottom end of the double-beam truss. The sliding seats are riveted with synchronous belts for driving the sliding seats, a lifting assembly is arranged between the two sliding seats, and a synchronous driving assembly for driving the two synchronous belts is arranged at the top end of the double-beam truss; the mechanical arm is fixed to the bottom end of the lifting assembly, the lifting assembly can provide stable support for the mechanical arm, when an object is fixed, the stability of the object can be kept, the lifting assembly can control the object to ascend and descend stably, the two sliding bases can be supported through the two cross beams of the double-beam truss correspondingly, and the sliding bases can provide stable support for the lifting assembly; the synchronous driving assembly can drive the two synchronous belts to move synchronously.

Description

Technical Field

[0001] This utility model relates to the field of industrial automated logistics and conveying technology, specifically a gantry robot dual-track synchronous handling device. Background Technology

[0002] A gantry robot is a high-precision industrial robot based on a gantry structure. It typically consists of a rigid frame, a drive system, and an end effector. It can perform linear motion in two-dimensional or three-dimensional space and is widely used in machine tool loading and unloading, production line handling, and warehousing and logistics. Traditional single-track gantry robots are usually supported by a single rigid beam (main beam). Their load capacity is limited by the rigidity of the single beam and the output torque of a single drive system. When handling heavy, large, or eccentric workpieces, the single beam is prone to large downward deflection and torsional deformation, resulting in decreased positioning accuracy, poor operational stability, and even safety hazards. Dual-track robots, on the other hand, effectively distribute the load through a symmetrical support structure, enhance system stability, and ensure positioning accuracy and long-term reliability during high-speed and high-precision motion.

[0003] Existing technologies include gantry robots with a double beam structure, but they typically require two independent drive systems for control, resulting in poor synchronization, asynchrony errors, jamming or impact, complex mechanical structure, difficult installation and debugging, and extremely high requirements for track parallelism.

[0004] Therefore, there is an urgent need for a dual-track synchronous transport device with high synchronization accuracy, high rigidity, and the ability to adapt to minor installation errors. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a gantry-type robot dual-track synchronous transport device, which has the advantage of high synchronization accuracy and solves the problems mentioned in the background technology.

[0006] This utility model provides the following technical solution: a truss-type robot dual-track synchronous transport device, including a double-beam truss, with support rails fixedly provided on both sides of the bottom end of the double-beam truss, sliding blocks slidably connected to the support rails, sliding blocks fixedly connected to sliding seats, and synchronous belts riveted to the sliding seats for driving them. A lifting assembly is provided between the two sliding seats, and a synchronous drive assembly for driving the two synchronous belts is provided at the top of the double-beam truss. Support assemblies are provided on both sides of the bottom end of the double-beam truss to provide support for it, and stiffening plates are welded to both sides of the double-beam truss for reinforcement.

[0007] As a preferred technical solution of this utility model, the synchronous drive assembly includes a drive shaft and a driven shaft. Both ends of the drive shaft and both ends of the driven shaft are rotatably connected to support seats through bearings. The bottom end of the support seat is fixedly connected to the top end of the double beam truss. Synchronous wheel one is fixedly provided on both sides of the drive shaft, and synchronous wheel two is fixedly provided on both sides of the driven shaft. Synchronous wheel two is connected to synchronous wheel one through a synchronous belt.

[0008] As a preferred embodiment of this utility model, one end of the drive shaft is provided with a motor for driving it, the output shaft of the motor is fixedly connected to one end of the drive shaft, and the bottom end of the motor is fixedly mounted with a mounting base by bolts, the bottom of the mounting base being fixedly connected to one side of the double beam truss.

[0009] As a preferred technical solution of this utility model, the lifting assembly includes a first connecting plate and a second connecting plate. A support column is fixedly provided at the middle of the bottom end of the first connecting plate. The middle of the top end of the second connecting plate is fixedly connected to the bottom end of the support column. Hydraulic cylinders are fixedly installed on both sides of the top end of the second connecting plate. The telescopic rod of the hydraulic cylinder is fixedly connected to a first horizontal plate. Several vertical plates are fixedly provided at the bottom end of the first horizontal plate. The second horizontal plate is fixedly provided at the bottom end of the vertical plates. Several robot mounting holes for installing the robot are opened on the surface of the second horizontal plate.

[0010] As a preferred embodiment of this utility model, the surface of the connecting plate one has two mounting openings, the hydraulic cylinder is located inside the mounting openings, and the telescopic rod of the hydraulic cylinder is inserted and connected to the horizontal plate two.

[0011] As a preferred embodiment of this utility model, the top of the slide block is fixedly provided with a top plate, the two sides of the connecting plate one are respectively fixedly connected to one side of the two top plates, the bottom of the slide block is fixedly provided with a bottom plate, the two sides of the top of the connecting plate two are respectively fixedly connected to the bottom ends of the two bottom plates, the bottom end of the sliding block is fixedly connected to the middle of the top of the bottom plate, and the four corners of the top of the bottom plate are respectively fixedly connected to the four corners of the bottom of the top plate through cylinders.

[0012] As a preferred embodiment of this utility model, both ends of the synchronous belt are fixedly provided with connecting buckles, the top plate is riveted to the connecting buckles by rivets, and the surface of the top plate and the surface of the connecting buckles are provided with through holes for inserting and connecting with the rivets, and both ends of the rivets are provided with rivet heads.

[0013] As a preferred technical solution of this utility model, the support component includes a crossbar, with columns welded to both ends of the crossbar. The top of the column is welded to the bottom of the double beam truss, and a positioning plate is welded to the bottom of the column through a reinforcing plate. Positioning holes are provided at the four corners of the positioning plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. By fixing the robotic arm to the bottom of the lifting assembly, the lifting assembly can provide stable support for the robotic arm, maintaining the stability of the object when fixing it. The lifting assembly can control the smooth lifting and lowering of the object. The two crossbeams of the double beam truss can support two slides respectively, and the slides can provide stable support for the lifting assembly. The synchronous drive assembly can drive two synchronous belts to move synchronously, and the synchronous belts can drive the two slides to move synchronously without cumulative error. When handling heavy, large-sized or eccentric workpieces, the double beam truss effectively suppresses deformation under load. Together with the two slides, it greatly improves the load capacity and dynamic performance of the device, ensuring smooth operation and avoiding jamming and impact phenomena.

[0016] 2. The synchronous belt controls the synchronous movement of the two slides. The synchronous belt drive has a certain degree of elasticity and can adapt to minor installation errors. It can absorb minor asynchrony caused by slight unevenness of the track, thermal expansion and contraction, or installation errors, release internal stress, and reduce the difficulty of installation and debugging. Attached Figure Description

[0017] Figure 1 This is one of the structural schematic diagrams of this utility model;

[0018] Figure 2 This is the second structural schematic diagram of the present invention;

[0019] Figure 3 This is a schematic diagram of the synchronous drive component of this utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the drive shaft of this utility model;

[0021] Figure 5 This is a schematic diagram of the structure of the slide block of this utility model;

[0022] Figure 6 This is a schematic diagram of the lifting component of this utility model.

[0023] In the diagram: 1. Double-beam truss; 2. Support rail; 3. Sliding block; 4. Slide seat; 5. Synchronous belt; 6. Connecting buckle; 7. Synchronous drive assembly; 701. Drive shaft; 702. Synchronous pulley one; 703. Mounting seat; 704. Motor; 705. Driven shaft; 706. Synchronous pulley two; 707. Support seat; 8. Lifting assembly; 801. Connecting plate one; 802. Support column; 803. Connecting plate two; 804. Horizontal plate one; 805. Vertical plate; 806. Horizontal plate two; 807. Robotic arm mounting hole; 808. Hydraulic cylinder; 809. Mounting port; 9. Support assembly; 901. Crossbar; 902. Vertical column; 903. Positioning plate; 10. Top plate; 11. Base plate. Detailed Implementation

[0024] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figures 1-6 A truss-type robot dual-track synchronous transport device includes a double-beam truss 1. Support rails 2 are fixedly installed on both sides of the bottom end of the double-beam truss 1. Sliding blocks 3 are slidably connected to the support rails 2. Sliding blocks 3 are fixedly connected to sliding seats 4. Synchronous belts 5 are riveted to the sliding seats 4 to drive them. A lifting assembly 8 is provided between the two sliding seats 4. A synchronous drive assembly 7 is provided at the top of the double-beam truss 1 to drive the two synchronous belts 5. Support assemblies 9 are provided on both sides of the bottom end of the double-beam truss 1 to provide support. Ribs are welded to both sides of the double-beam truss 1 for reinforcement. By fixing the robot arm to the bottom end of the lifting assembly 8, the lifting assembly 8 can... The robotic arm provides stable support and maintains the stability of the object when it is fixed. The lifting component 8 can control the smooth lifting and lowering of the object. The two crossbeams of the double beam truss 1 can support the two slides 4 respectively. The slides 4 can provide stable support for the lifting component 8. The synchronous drive component 7 can drive the two synchronous belts 5 to move synchronously. The synchronous belts 5 can drive the two slides 4 to move synchronously without cumulative error. When handling heavy, large or eccentric workpieces, the double beam truss 1 effectively suppresses deformation under load. Together with the two slides 4, it greatly improves the load capacity and dynamic performance of the device, runs smoothly, and avoids jamming and impact.

[0026] In this embodiment, preferably, the synchronous drive assembly 7 includes a drive shaft 701 and a driven shaft 705. Both ends of the drive shaft 701 and both ends of the driven shaft 705 are rotatably connected to support seats 707 via bearings. The bottom end of the support seat 707 is fixedly connected to the top end of the double-beam truss 1. Synchronous pulleys 702 are fixedly mounted on both sides of the drive shaft 701, and synchronous pulleys 706 are fixedly mounted on both sides of the driven shaft 705. Synchronous pulleys 706 are connected to synchronous pulleys 702 via a synchronous belt 5. A motor 704 is provided at one end of the drive shaft 701 to drive it. The motor 704 outputs... The output shaft is fixedly connected to one end of the drive shaft 701. The bottom end of the motor 704 is fixedly mounted with a mounting base 703 by bolts. The bottom of the mounting base 703 is fixedly connected to one side of the double beam truss 1. The mounting base 703 can support the drive shaft 701 and the driven shaft 705. The drive shaft 701 and the driven shaft 705 can support the first synchronous pulley 702 and the second synchronous pulley 706 respectively. The motor 704 drives the drive shaft 701. The two first synchronous pulleys 702 can drive the two second synchronous pulleys 706 to rotate through the synchronous belt 5. The two synchronous belts 5 can drive the two slides 4 to move synchronously.

[0027] In this embodiment, preferably, the lifting assembly 8 includes a first connecting plate 801 and a second connecting plate 803. A support column 802 is fixedly installed at the middle of the bottom end of the first connecting plate 801. The middle of the top end of the second connecting plate 803 is fixedly connected to the bottom end of the support column 802. Hydraulic cylinders 808 are fixedly installed on both sides of the top end of the second connecting plate 803. The telescopic rod of the hydraulic cylinder 808 is fixedly connected to a first horizontal plate 804. Several vertical plates 805 are fixedly installed at the bottom end of the first horizontal plate 804. A second horizontal plate 806 is fixedly installed at the bottom end of the vertical plates 805. Several robot arm mounting holes 807 for mounting the robot arm are opened on the surface of the second horizontal plate 806. Two mounting openings 809 are opened on the surface of the first connecting plate 801. The hydraulic cylinder 808 is located inside the mounting opening 809. The telescopic rod of the hydraulic cylinder 808 is inserted and connected to the second horizontal plate 806. A top plate 10 is fixedly installed on the top of the slide block 4. The two sides of the first connecting plate 801 are respectively... The slide block 4 is fixedly connected to one side of the two top plates 10. The bottom of the slide block 4 is fixedly provided with a base plate 11. The two sides of the top of the connecting plate 2 803 are fixedly connected to the bottom ends of the two base plates 11 respectively. The bottom end of the sliding block 3 is fixedly connected to the middle of the top of the base plate 11. The four corners of the top of the base plate 11 are fixedly connected to the four corners of the bottom of the top plate 10 respectively through cylinders. The two slide blocks 4 can be connected by the horizontal plate 1 804 and the horizontal plate 2 806. The overall integrity is good and the support column 802 can provide support between the connecting plate 2 803 and the connecting plate 1 801. The connecting plate 2 803 and the connecting plate 1 801 are not easily deformed. By setting the vertical plate 805 and the horizontal plate 1 804 at the bottom of the horizontal plate 2 806, the strength of the horizontal plate 2 806 is improved. After fixing the robot, the load-bearing capacity of the horizontal plate 2 806 can be maintained. The horizontal plate 2 806 can be driven to rise and fall by the hydraulic cylinder 808, which is convenient for picking up and putting down workpieces.

[0028] In this embodiment, preferably, the support component 9 includes a crossbar 901, with columns 902 welded to both ends of the crossbar 901. The top of the column 902 is welded to the bottom of the double beam truss 1. The bottom of the column 902 is welded to a positioning plate 903 through a reinforcing plate. Positioning holes are provided at the four corners of the positioning plate 903. The column 902 can provide support for the double beam truss 1, the crossbar 901 can reinforce the column 902, and the positioning plate 903 can fix the column 902 to the ground.

[0029] In this embodiment, preferably, both ends of the synchronous belt 5 are fixedly provided with connecting buckles 6, and the top plate 10 is riveted to the connecting buckles 6 by rivets. The surface of the top plate 10 and the surface of the connecting buckles 6 are provided with through holes for the rivets to pass through and connect. Both ends of the rivets are provided with rivet heads. The synchronous belt 5 and the top plate 10 can be riveted together by the connecting buckles 6 and the rivets.

[0030] During use, the operator uses the positioning plate 903 and positioning holes of the support component 9 to reliably fix the entire device to the foundation or work platform to ensure the stability of the overall structure. According to the shape and weight of the workpiece, a suitable robot (such as a pneumatic gripper, hydraulic clamp, etc.) is selected and installed on the robot mounting hole 807 at the bottom of the lifting component 8 with bolts. The relevant air or oil circuits are connected, and the power supply and control lines of the motor 704 and hydraulic cylinder 808 are connected to ensure normal communication with the upper control system (such as PLC).

[0031] By starting the motor 704, the motor 704 drives the drive shaft 701 to rotate. Through the transmission of the first synchronous pulley 702, the synchronous belt 5 and the second synchronous pulley 706, the sliding blocks 4 on both sides and the entire lifting assembly 8 move synchronously and smoothly along the support rail 2 to the target position above the workpiece. Then, the hydraulic cylinder 808 is controlled to move, and its extension rod pushes the horizontal plate 804, the vertical plate 805 and the second horizontal plate 806 to descend as a whole, so that the robot arm reaches the workpiece gripping position. The robot arm is operated to clamp the workpiece. Then, the hydraulic cylinder 808 is controlled to retract, so that the workpiece is lifted smoothly. The motor 704 is started again, and the two synchronous belts 5 are driven to run synchronously through the synchronous drive assembly 7, which drives the two sliding blocks 4 and their suspended lifting assembly 8 and the workpiece to move synchronously along the double beam truss 1 to the unloading point.

[0032] Throughout the entire process, the combined action of the double beam truss 1 and the two slides 4 provides high rigidity and high load capacity, effectively suppresses deformation, ensures the stability of heavy object handling, and the synchronous belt 5 drive can adapt to minor installation errors or uneven tracks, absorb internal stress, run smoothly, and reduce the maintenance and debugging requirements during long-term use.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A truss-type robot dual-track synchronous transport device, comprising a double-beam truss (1), characterized in that: The double beam truss (1) has support rails (2) fixed on both sides of its bottom end. The support rails (2) are slidably connected to sliding blocks (3). The sliding blocks (3) are fixedly connected to sliding seats (4). The sliding seats (4) are riveted to synchronous belts (5) for driving them. A lifting assembly (8) is provided between the two sliding seats (4). The top of the double beam truss (1) is provided with a synchronous driving assembly (7) for driving the two synchronous belts (5). The bottom of the double beam truss (1) has support assemblies (9) on both sides to provide support. The double beam truss (1) has stiffening plates welded on both sides for reinforcement.

2. The gantry robot dual-track synchronous transport device according to claim 1, characterized in that: The synchronous drive assembly (7) includes a drive shaft (701) and a driven shaft (705). Both ends of the drive shaft (701) and both ends of the driven shaft (705) are rotatably connected to a support seat (707) via bearings. The bottom end of the support seat (707) is fixedly connected to the top end of the double beam truss (1). Both sides of the drive shaft (701) are fixedly provided with a first synchronous wheel (702), and both sides of the driven shaft (705) are fixedly provided with a second synchronous wheel (706). The second synchronous wheel (706) is connected to the first synchronous wheel (702) via a synchronous belt (5).

3. The gantry robot dual-track synchronous transport device according to claim 2, characterized in that: One end of the drive shaft (701) is provided with a motor (704) for driving it. The output shaft of the motor (704) is fixedly connected to one end of the drive shaft (701). The bottom end of the motor (704) is fixedly mounted with a mounting base (703) by bolts. The bottom of the mounting base (703) is fixedly connected to one side of the double beam truss (1).

4. The gantry robot dual-track synchronous transport device according to claim 1, characterized in that: The lifting assembly (8) includes a connecting plate one (801) and a connecting plate two (803). A support column (802) is fixedly provided at the middle of the bottom end of the connecting plate one (801). The middle of the top end of the connecting plate two (803) is fixedly connected to the bottom end of the support column (802). Hydraulic cylinders (808) are fixedly installed on both sides of the top end of the connecting plate two (803). The telescopic rod of the hydraulic cylinder (808) is fixedly connected to a horizontal plate one (804). Several vertical plates (805) are fixedly provided at the bottom end of the horizontal plate one (804). A horizontal plate two (806) is fixedly provided at the bottom end of the vertical plate (805). Several robot arm mounting holes (807) for installing the robot arm are opened on the surface of the horizontal plate two (806).

5. The gantry robot dual-track synchronous transport device according to claim 4, characterized in that: The surface of the connecting plate one (801) has two mounting ports (809), the hydraulic cylinder (808) is located inside the mounting port (809), and the telescopic rod of the hydraulic cylinder (808) is interlocked with the horizontal plate two (806).

6. The gantry robot dual-track synchronous transport device according to claim 4, characterized in that: The top of the slide (4) is fixedly provided with a top plate (10), the two sides of the connecting plate one (801) are respectively fixedly connected to one side of the two top plates (10), the bottom of the slide (4) is fixedly provided with a bottom plate (11), the two sides of the top of the connecting plate two (803) are respectively fixedly connected to the bottom of the two bottom plates (11), the bottom of the sliding block (3) is fixedly connected to the middle of the top of the bottom plate (11), and the four corners of the top of the bottom plate (11) are respectively fixedly connected to the four corners of the bottom of the top plate (10) through cylinders.

7. The gantry robot dual-track synchronous transport device according to claim 6, characterized in that: Both ends of the synchronous belt (5) are fixedly provided with connecting buckles (6). The top plate (10) is riveted to the connecting buckles (6) by rivets. Both the surface of the top plate (10) and the surface of the connecting buckles (6) are provided with through holes for inserting and connecting with the rivets. Both ends of the rivets are provided with rivet heads.

8. The gantry robot dual-track synchronous transport device according to claim 1, characterized in that: The support component (9) includes a crossbar (901), with columns (902) welded to both ends of the crossbar (901). The top of the column (902) is welded to the bottom of the double beam truss (1), and a positioning plate (903) is welded to the bottom of the column (902) through a reinforcing plate. Positioning holes are provided at the four corners of the positioning plate (903).

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