Truss manipulator

Abstract

The utility model provides a truss manipulator which comprises two X-axis bodies which are arranged in parallel up and down, and X-axis sliding blocks are arranged on the side faces of the two X-axis bodies in a sliding mode. The Z-axis body is connected to the two X-axis sliding blocks, a Z-axis sliding block is arranged on the Z-axis body in a sliding mode, and a braking mechanism is arranged on one side of the Z-axis body; the Y-axis body is connected to the Z-axis sliding block, and a Y-axis sliding block is arranged on the Y-axis body; the X-axis body, the Z-axis body and the Y-axis body are respectively and independently provided with a driving mechanism used for driving the X-axis sliding block, the Z-axis sliding block and the Y-axis sliding block to move. The brake mechanism comprises a shaft body and a clamping device, the shaft body is fixedly arranged on one side of the Z-axis body, and the clamping device is fixedly arranged on the Z-axis sliding block and is in sliding connection with the shaft body. The utility model aims to provide a truss manipulator which is expected to prevent a Z-axis sliding block from falling and improve the use safety of equipment.

Description

A truss robot Technical Field

[0001] This utility model relates to the field of transportation technology, specifically to a gantry robot. Background Technology

[0002] Currently, gantry robots are widely used in automated manufacturing and assembly, due to their advantages of high speed, low cost, ease of maintenance, and ease of repair. Common gantry robots typically consist of X-axis and Z-axis components, and depending on the specific application, Y-axis and C-axis components may also be included. The Z-axis transmission structure often uses rack and pinion drives. However, current gantry robots frequently struggle to prevent the Z-axis slider from falling due to rack tooth breakage or gear tooth breakage. A falling Z-axis slider inevitably results in a severe collision, damaging expensive fixtures or tooling. Summary of the Invention

[0003] The purpose of this invention is to provide a gantry robot to prevent the Z-axis slider from falling and improve the safety of equipment use.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A gantry robot, comprising:

[0006] The X-axis body consists of two parallel X-axis bodies, one above the other, with X-axis sliders slidably mounted on the sides of both X-axis bodies.

[0007] Z-axis body, the Z-axis body is connected to two X-axis sliders, and the Z-axis slider is slidably disposed on the Z-axis body. A braking mechanism is disposed on one side of the Z-axis body.

[0008] The Y-axis body is connected to the Z-axis slider, and a Y-axis slider is provided on the Y-axis body; the X-axis body, Z-axis body and Y-axis body are each independently provided with a drive mechanism for driving the X-axis slider, Z-axis slider and Y-axis slider to move.

[0009] The braking mechanism includes a shaft and a clamping device. The shaft is fixedly mounted on one side of the Z-axis body, and the clamping device is fixedly mounted on the Z-axis slider and is slidably connected to the shaft.

[0010] Furthermore, the braking mechanism also includes a shaft end fixing angle steel, a shaft end sleeve, and a slider angle steel. The shaft end sleeve is fixedly mounted on the shaft end fixing angle steel, and the shaft end fixing angle steel is connected to one side of the Z-axis body by screws. The two ends of the shaft body are inserted into the two shaft end sleeves. The slider angle steel is connected to the Z-axis slider by screws, and a clamping device is mounted on the slider angle steel. The clamping device is inserted into the shaft body.

[0011] Furthermore, the clamping device includes a clamping housing, a piston, and clamps. The clamping housing is a hollow structure with clamps installed inside. The clamping surfaces of the clamps are located on both sides of the shaft, and springs are installed on the outside of the clamps. The piston is slidably installed in the clamping housing and is located at the end of the spring. When the piston is pressed onto the clamps, the clamping surfaces of the clamps clamp the shaft. The piston is connected to a cylinder.

[0012] Furthermore, the clamping housing is also provided with a nitrile rubber seal, which contacts the shaft.

[0013] Furthermore, a fixing baffle is also provided on the Z-axis body, and the fixing baffle is connected to the lower or middle part of the Z-axis body by screws.

[0014] Furthermore, the two X-axis bodies are connected by a synchronous rotating shaft.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] The gantry manipulator of this invention is equipped with a braking mechanism on its Z-axis body. When the machine is stopped in an emergency, the safety door circuit is cut off, or the compressed air pressure drops, the clamping device releases air and clamps the shaft body with a clamp, so that the braking device automatically prevents the slider of the Z-axis and the components installed on the slider of the Z-axis from falling. The braking device prevents falling by stopping suddenly or cutting off pressure, thereby improving the stability of the device. Attached Figure Description

[0017] Figure 1 is a schematic diagram of the structure of this utility model.

[0018] Figure 2 is a schematic diagram of the present invention from another direction.

[0019] Figure 3 is a schematic diagram of the braking mechanism.

[0020] Figure 4 is a schematic diagram of the braking mechanism position.

[0021] Figure 5 is a schematic diagram of the clamping device.

[0022] In the diagram, 1-X-axis body, 2-Y-axis body, 3-Z-axis body, 4-X-axis slider, 5-Y-axis slider, 6-Z-axis slider, 7-synchronous rotating shaft, 8-brake mechanism, 81-shaft end fixing angle steel, 82-shaft end sleeve, 83-shaft body, 84-slider angle steel, 85-clamping device, 851-nitrile rubber seal, 852-clamping housing, 853-piston, 854-clamp, 855-spring, 86-cylinder. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0025] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Please refer to Figures 1-2. This utility model provides a gantry robot, comprising:

[0027] X-axis body 1, wherein there are two X-axis bodies 1 arranged in parallel, one above the other, and X-axis sliders 4 are slidably arranged on the sides of both X-axis bodies 1, and the two X-axis sliders 4 move synchronously.

[0028] Z-axis body 3 is connected to two X-axis sliders 4, so that Z-axis body 3 can move along the X-axis direction, and Z-axis slider 6 is slidably arranged on Z-axis body 3. A braking mechanism is provided on one side of Z-axis body 3.

[0029] Y-axis body 2, which is connected to Z-axis slider 6, so that Y-axis body 2 can move along Z-axis direction. Y-axis slider 5 is provided on Y-axis body 2, and clamping mechanism is provided on Y-axis slider 5 as needed.

[0030] The cooperation of the X-axis body 1, Y-axis body 2 and Z-axis body 3 enables the gripping of materials from different directions.

[0031] The X-axis body 1, Z-axis body 3 and Y-axis body 2 are each independently provided with a drive mechanism for driving the X-axis slider 4, Z-axis slider 6 and Y-axis slider 5 to move.

[0032] The drive mechanism can be either screw-driven or belt-driven. In this embodiment, belt-driven is used. Specifically, a servo motor drives a toothed belt to rotate. The X-axis slider 4, Z-axis slider 6, and Y-axis slider 5 are respectively connected to the toothed belt. It is worth noting that when driven in this way, proximity switches need to be set at both ends of the X-axis body 1, Z-axis body 3, and Y-axis body 2 so that the slider stops or moves in the opposite direction when it moves to the end. Since there are two X-axis bodies 1, in order to enable the two X-axis bodies 1 to be driven synchronously, the two X-axis bodies 1 are connected by a synchronous rotating shaft 7.

[0033] Referring to Figures 3-4, the braking mechanism 8 includes a shaft 83 and a clamping device 85. The shaft 83 is fixedly disposed on one side of the Z-axis body 3, and the clamping device 85 is fixedly disposed on the Z-axis slider 6 and is slidably connected to the shaft 83. During normal use, the clamping device 85 can slide along the direction of the shaft 83. When in the braking state, the clamping device 85 is clamped on the shaft 83, thereby preventing the Z-axis slider 6 and the Y-axis body 2 mounted on the Z-axis slider 6 from falling off.

[0034] The braking mechanism further includes a shaft end fixing angle steel 81, a shaft end sleeve 82, and a slider angle steel 84. The shaft end sleeve 82 is fixedly mounted on the shaft end fixing angle steel 81, and the shaft end fixing angle steel 81 is connected to one side of the Z-axis body 3 by screws. The two ends of the shaft body 83 are inserted into the two shaft end sleeves 82. The slider angle steel 84 is connected to the Z-axis slider 6 by screws, and a clamping device 85 is mounted on the slider angle steel 84. The clamping device 85 is inserted into the shaft body 83.

[0035] Referring to Figure 5, specifically, the clamping device 85 includes a clamping housing 852, a piston 853, and a clamp 854. The clamping housing 852 is a hollow structure, and the clamp 854 is disposed in the clamping housing 852. The clamping surfaces of the clamp 854 are located on both sides of the shaft 83, and a spring 855 is disposed on the outside of the clamp 854. The piston 853 is slidably disposed in the clamping housing 852, and the piston 853 is located at the end of the spring 855. When the piston 853 is pressed on the clamp 854, the clamping surfaces of the clamp 854 clamp the shaft 83. The piston 853 is connected to the cylinder 86.

[0036] In actual use, if the emergency stop button is pressed, the door circuit is interrupted, or the machine's working pressure drops, the piston 853 is pushed by the cylinder 86, causing the piston 853 to press against the clamp 854. The clamp 854 clamps the shaft 83 with a static clamping force not exceeding 5000N, fixing the Z-axis slider 6 and the Y-axis body 2 mounted on the Z-axis slider 6 to prevent them from falling. If the above fault is eliminated and the machine is restarted, the piston 853 will be released from the clamp 854 by the supplied compressed air, and the shaft 83 will be released again.

[0037] In addition, a nitrile rubber seal 851 is provided on the clamping housing 852. The nitrile rubber seal 851 contacts the shaft 83 to prevent the clamping device 85 from being affected by external factors such as dirt or grease falling from the shaft 83.

[0038] In some implementations, a fixing baffle 9 is also provided on the Z-axis body 3. The fixing baffle 9 is connected to the lower or middle part of the Z-axis body 3 by screws, as shown in Figure 5. The installation position of the fixing baffle 9 is at point A or point B. In normal operation mode, the fixing baffle 9 is located at position A on the lower shaft end fixing angle steel 81, and at this position, the fixing baffle 9 does not provide support. When performing maintenance, disassembly, transportation, or installation operations, the fixing baffle 9 must be fixed with bolts to position B below the slider angle steel 84. The Z-axis body 3 is thus mechanically fixed and will not fall. After the operation is completed, the fixing baffle 9 is reinstalled at point A.

[0039] Although the present invention has been described herein with reference to several illustrative embodiments, it should be understood that those skilled in the art can devise many other modifications and implementations that fall within the scope and spirit of the principles disclosed herein. More specifically, various modifications and improvements can be made to the components or layout of the subject matter arrangement within the scope of the disclosure, drawings, and claims. Besides modifications and improvements to the components or layout, other uses will be apparent to those skilled in the art.

Claims

1. A gantry robot, characterized in that, include: X-axis body (1), wherein two X-axis bodies (1) are arranged parallel to each other, one above the other, and X-axis sliders (4) are slidably arranged on the sides of both X-axis bodies (1); Z-axis body (3), wherein the Z-axis body (3) is connected to the two X-axis sliders (4), and a Z-axis slider (6) is slidably arranged on the Z-axis body (3), and a braking mechanism is provided on one side of the Z-axis body (3); Y-axis body (2), wherein the Y-axis body (2) is connected to the Z-axis slider (6), and a braking mechanism is provided on the Y-axis body (2). Y-axis slider (5); The X-axis body (1), Z-axis body (3) and Y-axis body (2) are each independently provided with a drive mechanism for driving the X-axis slider (4), Z-axis slider (6) and Y-axis slider (5) to move; The braking mechanism (8) includes a shaft (83) and a clamping device (85). The shaft (83) is fixedly provided on one side of the Z-axis body (3). The clamping device (85) is fixedly provided on the Z-axis slider (6) and is slidably connected to the shaft (83).

2. The gantry robot according to claim 1, characterized in that: The braking mechanism further includes a shaft end fixing angle steel (81), a shaft end sleeve (82), and a slider angle steel (84). The shaft end sleeve (82) is fixedly mounted on the shaft end fixing angle steel (81), and the shaft end fixing angle steel (81) is connected to one side of the Z-axis body (3) by screws. The two ends of the shaft body (83) are inserted into the two shaft end sleeves (82). The slider angle steel (84) is connected to the Z-axis slider (6) by screws, and the clamping device (85) is mounted on the slider angle steel (84). The clamping device (85) is inserted into the shaft body (83).

3. A gantry robot according to claim 1 or 2, characterized in that: The clamping device (85) includes a clamping housing (852), a piston (853), and a clamp (854). The clamping housing (852) is a hollow structure and the clamp (854) is provided in the clamping housing (852). The clamping surface of the clamp (854) is located on both sides of the shaft (83), and a spring (855) is provided on the outside of the clamp (854). The piston (853) is slidably disposed in the clamping housing (852) and the piston (853) is located at the end of the spring (855). When the piston (853) is pressed on the clamp (854), the clamping surface of the clamp (854) clamps the shaft (83). The piston (853) is connected to the cylinder (86).

4. A gantry robot according to claim 3, characterized in that: The clamping housing (852) is also provided with a nitrile rubber seal (851), which is in contact with the shaft (83).

5. A gantry robot according to claim 1, characterized in that: The Z-axis body (3) is also provided with a fixed baffle (9), which is connected to the lower or middle part of the Z-axis body (3) by screws.

6. A gantry robot according to claim 1, characterized in that: The two X-axis bodies (1) are connected by a synchronous rotating shaft (7).

Images