Truss robot with end effector quick change function

Abstract

The utility model relates to the technical field of truss robots, in particular to a truss robot with an end effector quick-changing function. The clamping plate has the advantages that the clamping plate is put in from the opening in the top of the actuator mounting seat, the connecting column is fed into the push-in opening after the clamping plate is put in, and meanwhile, the inner wall of the actuator mounting seat blocks the clamping plate when the clamping plate is pushed in, so that the fixing bolt is pushed back into the guide groove, and the clamping plate is smoothly fed in; the fixed plug pins are pushed into the clamping holes under the pushing of the thrust springs to achieve locking and fixing, complete fixing is achieved through positioning limitation of the inner wall of the traveling device installation base and the clamping-in plates and locking of the fixed plug pins and the clamping holes, during disassembly, only the pull rods need to be pulled, the fixed plug pins are pulled out of the clamping holes, the clamping-in plates can be directly taken out upwards, and disassembly is completed. The whole disassembly and assembly process is easy to operate, no tightening screw is needed, the disassembly and assembly efficiency is improved, and through the box structure of the actuator installation base, the connection bearing area is greatly increased, and the structural stability after fixing is improved.

Description

A gantry robot with quick-change end effector Technical Field

[0001] This utility model relates to the field of gantry robot technology, and in particular to a gantry robot with quick-change end effector. Background Technology

[0002] As an important piece of equipment in modern industrial automation, gantry robots are based on a high-rigidity aluminum alloy or steel gantry system. They achieve X, Y, and Z-axis linkage control through servo motors driving precision gear racks or linear modules. Thanks to their modular design, these robots can achieve high-precision operations with repeatability accuracy of ±0.05mm over track spans of tens of meters, making them particularly suitable for scenarios with stringent spatial positioning requirements, such as automotive welding, precision machine tool loading and unloading, and photovoltaic panel handling.

[0003] Traditional truss systems typically use fixed installations for their end effectors, often employing bolt-type mounting structures. This makes it difficult to replace the end effectors and affects work efficiency. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a gantry robot with quick-change end effector, which effectively solves the deficiencies of the prior art.

[0005] The objective of this utility model is achieved through the following technical solution: A gantry robot with a quick-change end effector, comprising a gantry multi-axis motion module, the gantry multi-axis motion module including a sliding seat, an actuator mounting seat fixedly connected to the bottom of the sliding seat, the actuator mounting seat having a groove-shaped structure with its top and one side of the top open outwards, a push-in opening provided at the center of one side of the actuator mounting seat near the open side, the push-in opening penetrating the side and bottom center of the actuator mounting seat, a locking plate disposed on the inner wall of the actuator mounting seat, a connecting column fixedly connected to the center of the bottom surface of the locking plate, an end effector fixedly connected to the bottom of the connecting column, the width of the connecting column being the same as... The width of the push-in port is adapted to the width of the push-in plate. A guide groove is provided on the inner wall of the push-in plate. A connecting plate is slidably connected to the inner wall of the guide groove. Several fixing pins are fixedly connected to one side of the connecting plate. Several fixing pins pass through the outer wall of the push-in plate. A pull rod is fixedly connected to the middle of the side of the connecting plate away from the several fixing pins. One end of the pull rod passes through the outer wall of the push-in plate. A thrust spring is sleeved on the outer wall of the pull rod. The thrust spring is located between the connecting plate and the inner wall of the guide groove. The length of the thrust spring after reset is greater than the length of the pull rod. Several locking holes are provided at the bottom of the side of the inner wall of the actuator mounting base away from the push-in port. Several locking holes can be respectively inserted and fixed with several fixing pins.

[0006] Preferably, in any of the above embodiments, the truss multi-axis moving module further includes two electric slide rails, the sliding ends of the two electric slide rails are fixedly connected to a transverse guide rail, the sliding seat is guided and slidably connected to the transverse guide rail, a transmission rack is fixedly connected to one side of the bottom of the transverse guide rail, a servo motor is fixedly connected to one side of the sliding seat, a drive gear is fixedly connected to the output end of the servo motor, and the drive gear is meshed with the transmission rack.

[0007] The technical effect achieved by the above solution is that vertical axial sliding can be achieved by sliding the sliding seat and the transverse guide rail. The servo motor drives the drive gear to rotate, which meshes with the transmission rack to achieve sliding drive.

[0008] Preferably, in any of the above embodiments, the length of the pull rod is greater than the guide length of the guide groove, and a pull ring is fixedly connected to one end of the pull rod that passes through the outer wall of the insert plate.

[0009] The technical effect achieved by adopting the above solution is that the pull rod can remain protruding, while the connecting plate can be fully pushed back to its original position, and the pull ring facilitates the pulling operation.

[0010] Preferably, in any of the above solutions, the length of the fixed pins extending out of the outer wall of the locking plate is adapted to the wall thickness of the actuator mounting base, and a guide bevel is provided at one end of the fixed pins extending out of the outer wall of the locking plate.

[0011] The technical effects achieved by adopting the above solution are: preventing the fixing pin from protruding, improving the flatness of the outer wall of the actuator mounting base, and facilitating the insertion of the fixing pin by guiding the bevel angle, thereby improving the smoothness of insertion.

[0012] Preferably, in any of the above solutions, the length of the connecting column is greater than the depth of the inner wall of the actuator mounting base, and the connecting column is fitted against one side of the inner wall of the push-in port after the insert plate is placed into the inner wall of the actuator mounting base.

[0013] The technical effect achieved by adopting the above solution is that the connecting column has sufficient length to move upward, and at the same time, it can improve stability by fitting against one side of the inner wall of the push-in port.

[0014] This utility model has the following advantages:

[0015] 1. This gantry robot with quick-change end effector inserts a locking plate through the opening at the top of the actuator mounting base. After insertion, the connecting column is pushed into the inlet. Simultaneously, the inner wall of the actuator mounting base blocks the insertion, causing the fixing pin to be pushed back into the guide groove, allowing the locking plate to be smoothly inserted. After insertion, the fixing pin is pushed into several locking holes by the push spring, achieving locking and fixation. Complete fixation is achieved through the positioning limitation of the inner wall of the actuator mounting base and the locking plate, as well as the locking of the fixing pin and the locking holes. During disassembly, simply pull the lever to pull out the fixing pin from the locking hole, and the locking plate can be directly removed upwards to complete the disassembly. The entire disassembly and assembly process is simple to operate, requiring no tightening or loosening of screws, thus improving the efficiency of disassembly and assembly.

[0016] 2. This gantry robot with quick-change end effector greatly increases the connection and support area and improves the structural stability after fixing by using the box-type structure of the actuator mounting base. Attached Figure Description

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

[0018] Figure 2 is a structural schematic diagram of the actuator mounting base of this utility model;

[0019] Figure 3 is a schematic diagram of the internal structure of this utility model;

[0020] Figure 4 is a schematic diagram of the snap-in plate of this utility model;

[0021] Figure 5 is a schematic diagram of the internal structure of the snap-in plate of this utility model.

[0022] In the diagram: 1-truss multi-axis moving module, 101-electric slide rail, 102-transverse guide rail, 103-sliding seat, 104-transmission rack, 2-actuator mounting base, 4-connecting column, 5-end actuator, 6-servo motor, 7-clamping plate, 8-connecting plate, 9-pull rod, 10-pull ring, 11-fixing pin, 12-thrust spring, 13-clamping hole, 14-drive gear, 15-push-inlet. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0024] As shown in Figures 1 to 5, a gantry robot with a quick-change end effector includes a gantry multi-axis movement module 1. The gantry multi-axis movement module 1 includes a sliding seat 103. An actuator mounting seat 2 is fixedly connected to the bottom of the sliding seat 103. The actuator mounting seat 2 has a groove-shaped structure with its top and one side open outwards. A push-in port 15 is formed at the center of one of the open sides of the actuator mounting seat 2, penetrating the side and the middle of the bottom surface of the actuator mounting seat 2. A locking plate 7 is installed on the inner wall of the actuator mounting seat 2. A connecting post 4 is fixedly connected to the middle of the bottom surface of the locking plate 7. An end effector 5 is fixedly connected to the bottom of the connecting post 4. The width of the connecting post 4 is equal to the width of the push-in port 15. The inner wall of the insert plate 7 is provided with a guide groove, and a connecting plate 8 is slidably connected to the inner wall of the guide groove. Several fixing pins 11 are fixedly connected to one side of the connecting plate 8. The fixing pins 11 all pass through the outer wall of the insert plate 7. A pull rod 9 is fixedly connected to the middle of the side of the connecting plate 8 away from the fixing pins 11. One end of the pull rod 9 passes through the outer wall of the insert plate 7. A thrust spring 12 is sleeved on the outer wall of the pull rod 9. The thrust spring 12 is located between the connecting plate 8 and the inner wall of the guide groove. The length of the thrust spring 12 after reset is greater than the length of the pull rod 9. Several locking holes 13 are provided at the bottom of the side of the inner wall of the actuator mounting base 2 away from the push-in port 15. The locking holes 13 can be respectively inserted and fixed with the fixing pins 11.

[0025] As an optional technical solution of this utility model: the truss multi-axis moving module 1 also includes two electric slide rails 101. The sliding ends of the two electric slide rails 101 are fixedly connected to a transverse guide rail 102. The sliding seat 103 is slidably connected to the transverse guide rail 102. A transmission rack 104 is fixedly connected to one side of the bottom of the transverse guide rail 102. A servo motor 6 is fixedly connected to one side of the sliding seat 103. A drive gear 14 is fixedly connected to the output end of the servo motor 6. The drive gear 14 is meshed with the transmission rack 104. The two electric slide rails 101 can achieve axial sliding. The sliding of the sliding seat 103 and the transverse guide rail 102 can achieve vertical axial sliding. The servo motor 6 drives the drive gear 14 to rotate, thereby achieving meshing transmission with the transmission rack 104 and realizing the driving of sliding.

[0026] As an optional technical solution of this utility model: the length of the pull rod 9 is greater than the guide length of the guide groove, and the end of the pull rod 9 that passes through the outer wall of the insert plate 7 is fixedly connected to the pull ring 10, so that the pull rod 9 can remain protruding, and at the same time the connecting plate 8 can be fully pushed back to its original position. The pull ring 10 facilitates the pulling operation.

[0027] As an optional technical solution of this utility model: the length of several fixing pins 11 extending out of the outer wall of the insert plate 7 is adapted to the wall thickness of the actuator mounting base 2, and a guide angle is provided at one end of the several fixing pins 11 extending out of the outer wall of the insert plate 7, so as to prevent the fixing pins 11 from protruding, improve the flatness of the outer wall of the actuator mounting base 2, and facilitate the insertion of the fixing pins 11 by guiding the insertion through the guide angle, thereby improving the smoothness of insertion.

[0028] As an optional technical solution of this utility model: the length of the connecting column 4 is greater than the depth of the inner wall of the actuator mounting base 2. After the inserting plate 7 is placed into the inner wall of the actuator mounting base 2, the connecting column 4 is attached to one side of the inner wall of the push-in port 15, so that the connecting column 4 has sufficient length to move upward. At the same time, the attachment to one side of the inner wall of the push-in port 15 can improve stability.

[0029] The working process of this utility model is as follows: When the user uses it...

[0030] 1) Insert the snap-in plate 7 through the opening at the top of the actuator mounting base 2, and then insert the connecting column 4 into the push-in port 15;

[0031] 2) At the same time, when it is pushed in, the inner wall of the actuator mounting seat 2 blocks it, causing the fixing pin 11 to be pushed back into the guide groove, so that the locking plate 7 can be smoothly sent in. After being sent in, the fixing pin 11 is pushed into several locking holes 13 under the push of the thrust spring 12 to achieve locking and fixing.

[0032] 3) To disassemble, simply pull the lever 9 to pull the fixing pin 11 out of the clip hole 13, and you can directly lift the clip plate 7 to complete the disassembly.

[0033] In summary, this utility model allows the insert plate 7 to be inserted through the opening at the top of the actuator mounting base 2. After insertion, the connecting column 4 is pushed into the push-in port 15. Simultaneously, during the push-in process, the inner wall of the actuator mounting base 2 blocks the movement, causing the fixing pin 11 to be pushed back into the guide groove, thus allowing the insert plate 7 to be smoothly inserted. After insertion, the fixing pin 11 is pushed into several locking holes 13 under the push of the thrust spring 12, achieving locking and fixation. Complete fixation is achieved through the positioning limitation of the inner wall of the actuator mounting base 2 and the insert plate 7, as well as the locking of the fixing pin 11 and the locking holes 13. During disassembly, simply pull the pull rod 9 to pull the fixing pin 11 out of the locking holes 13, and the insert plate 7 can be directly removed upwards to complete the disassembly. The entire disassembly and assembly process is simple to operate, requiring no tightening or loosening of screws, thus improving the efficiency of disassembly and assembly. The box-like structure of the actuator mounting base 2 greatly increases the connection and support area, improving the structural stability after fixation.

[0034] 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 gantry robot with quick-change end effector, characterized in that: The system includes a truss multi-axis moving module (1), which includes a sliding seat (103). An actuator mounting seat (2) is fixedly connected to the bottom of the sliding seat (103). The actuator mounting seat (2) has a groove-shaped structure with its top and one side open outwards. A push-in port (15) is provided at the center of one of the open sides of the actuator mounting seat (2). The push-in port (15) penetrates the side and the middle of the bottom surface of the actuator mounting seat (2). A locking plate (7) is installed on the inner wall of the actuator mounting seat (2). A connecting column (4) is fixedly connected to the middle of the bottom surface of the locking plate (7). An end effector (5) is fixedly connected to the bottom of the connecting column (4). The width of the connecting column (4) matches the width of the push-in port (15). A guide groove is provided on the inner wall of the locking plate (7). A connecting plate (8) is slidably connected to the inner wall of the guide groove. A number of fixing pins (11) are fixedly connected to one side of the connecting plate (8). The fixing pins (11) all penetrate through the outer wall of the insert plate (7). A pull rod (9) is fixedly connected to the middle of the side of the connecting plate (8) away from the fixing pins (11). One end of the pull rod (9) penetrates through the outer wall of the insert plate (7). A thrust spring (12) is sleeved on the outer wall of the pull rod (9). The thrust spring (12) is located between the connecting plate (8) and the inner wall of the guide groove. The length of the thrust spring (12) after reset is greater than the length of the pull rod (9). A number of locking holes (13) are opened at the bottom of the side of the inner wall of the actuator mounting base (2) away from the push entrance (15). The locking holes (13) can be respectively inserted and fixed with the fixing pins (11).

2. A gantry robot with quick-change end effector according to claim 1, characterized in that: The truss multi-axis moving module (1) also includes two electric slide rails (101). The sliding ends of the two electric slide rails (101) are fixedly connected to a transverse guide rail (102). The sliding seat (103) is slidably connected to the transverse guide rail (102). A transmission rack (104) is fixedly connected to one side of the bottom of the transverse guide rail (102). A servo motor (6) is fixedly connected to one side of the sliding seat (103). A drive gear (14) is fixedly connected to the output end of the servo motor (6). The drive gear (14) is meshed with the transmission rack (104).

3. A gantry robot with quick-change end effector according to claim 1, characterized in that: The length of the pull rod (9) is greater than the guide length of the guide groove, and a pull ring (10) is fixedly connected to one end of the pull rod (9) that passes through the outer wall of the insert plate (7).

4. A gantry robot with quick-change end effector according to claim 1, characterized in that: The length of the fixed pins (11) extending out of the outer wall of the insert plate (7) is adapted to the wall thickness of the actuator mounting base (2), and a guide bevel is provided at one end of the fixed pins (11) extending out of the outer wall of the insert plate (7).

5. A gantry robot with quick-change end effector according to claim 1, characterized in that: The length of the connecting column (4) is greater than the depth of the inner wall of the actuator mounting base (2). After the insert plate (7) is placed into the inner wall of the actuator mounting base (2), the connecting column (4) is attached to one side of the inner wall of the push-in port (15).

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