Truss manipulator

Abstract

The utility model belongs to the technical field of mechanical equipment, and discloses a truss manipulator which comprises a supporting frame, x-axis fixing frames are symmetrically and fixedly connected to the upper portion of the supporting frame, a movable frame is slidably connected between the two sets of x-axis fixing frames, and a movable seat of a frame-shaped structure is fixedly connected to the surface of the movable frame. A z-axis moving frame is slidably connected to the interior of the moving seat, a fixing plate is mounted at the bottom end of the z-axis moving frame, and a clamping mechanism is arranged below the fixing plate; the servo motor is started to push the z-axis moving frame to move downwards, impact force can be quickly absorbed through the spring at the moment when the clamping mechanism makes contact with an object, rigid collision is converted into flexible contact, and impact damage to the mechanical arm and the object is greatly reduced; and the pressure sensor can detect the pressure change during contact with the object in the downward moving process in real time, so that the safety and the stability of the production process are improved.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical equipment technology, specifically a gantry robot. Background Technology

[0002] In the industrial production field, gantry robots, as an important automated handling device, are widely used in many aspects such as material handling and manufacturing. When traditional gantry robots perform downward operations, due to the lack of an effective buffering mechanism, they often generate a large impact force at the moment of contact with the object. This impact force may not only cause wear and deformation to the mechanical structure of the robot itself, affecting its service life and working accuracy, but also easily cause collision damage to the object being handled, reducing product quality and increasing the defect rate.

[0003] Therefore, a gantry robot is proposed to address the above problems. Utility Model Content

[0004] To address the problems mentioned in the background art, this utility model provides a gantry robot that enables precise positioning and status monitoring of objects via a monitoring camera, while utilizing a downward buffer structure to prevent collision damage to the robot and the transported objects during the downward movement operation.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a truss manipulator, including a support frame, with x-axis fixed frames symmetrically fixedly connected to the upper part of the support frame, and a movable frame slidably connected between the two sets of x-axis fixed frames. A frame-shaped movable seat is fixedly connected to the surface of the movable frame, and a z-axis movable frame is slidably connected inside the movable seat. A fixed plate is installed at the bottom end of the z-axis movable frame, and a clamping mechanism is provided below the fixed plate. Four sets of screws are symmetrically fixedly connected to the upper surface of the clamping mechanism, and the top ends of the screws penetrate the surface of the fixed plate and are connected to nuts. Springs are sleeved on the surface of the screws, and the two ends of the springs respectively abut against the fixed plate and the clamping mechanism. A slide rail C matching the movable seat is symmetrically fixedly connected to one side of the surface of the z-axis movable frame. A third rack is fixedly connected to the side of the z-axis movable frame. A servo motor is fixedly connected to one side of the surface of the z-axis movable frame, and a gear C is connected to the output end of the servo motor, which meshes with the surface of the third rack.

[0006] Preferably, the bottom surface of the clamping mechanism is symmetrically fixed with a buffer pad.

[0007] Preferably, a pressure sensor is installed between the z-axis moving frame and the fixed plate.

[0008] Preferably, the movable frame is fixedly connected to a fixed frame with an L-shaped structure on its side, and a vision camera is fixedly mounted on the surface of the fixed frame.

[0009] Preferably, a slide rail A matching the movable frame is symmetrically fixedly connected to one side of the surface of the x-axis fixed frame.

[0010] Preferably, a first rack is fixedly connected to the side of the x-axis fixing frame, and a first motor is fixedly connected to one side of the surface of the movable frame. The output end of the first motor is connected to a gear A, and this gear A meshes with the surface of the first rack.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0012] 1. This utility model is equipped with a spring and a pressure sensor. Starting the servo motor can push the Z-axis moving frame downward. The spring can quickly absorb the impact force at the moment the clamping mechanism contacts the object, transforming rigid collision into flexible contact, which greatly reduces the impact damage to the robot and the object. The pressure sensor can detect the pressure change when in contact with the object during the downward movement in real time. If the pressure exceeds the safe range, the system will immediately issue an alarm and take corresponding deceleration or stopping actions, thus providing comprehensive protection for the robot and the object and improving the safety and stability of the production process. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the structure of the mounting bracket and the vision camera in this utility model;

[0015] Figure 3 This utility model Figure 1 Enlarged view of point A in the middle;

[0016] Figure 4 This utility model Figure 1 Enlarged view of point B in the middle.

[0017] In the diagram: 1. Support frame; 2. X-axis fixed frame; 3. Moving frame; 4. Z-axis moving frame; 5. First rack; 6. First motor; 7. Fixed frame; 8. Vision camera; 10. Moving seat; 12. Third rack; 13. Servo motor; 14. Fixed plate; 15. Screw; 16. Spring; 17. Clamping mechanism; 18. Pressure sensor. Detailed Implementation

[0018] 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.

[0019] like Figures 1 to 4 As shown, this utility model provides a gantry robot, including a support frame 1. X-axis fixed frames 2 are symmetrically fixedly connected to the upper part of the support frame 1. A movable frame 3 is slidably connected between the two sets of X-axis fixed frames 2. A frame-shaped movable seat 10 is fixedly connected to the surface of the movable frame 3. A Z-axis movable frame 4 is slidably connected inside the movable seat 10. A fixed plate 14 is installed at the bottom end of the Z-axis movable frame 4. A clamping mechanism 17 is provided below the fixed plate 14. Four sets of screws 15 are symmetrically fixedly connected to the upper surface of the clamping mechanism 17, and the top ends of the screws 15 penetrate the surface of the fixed plate 14 and are connected to nuts. Springs 16 are sleeved on the surface of the screws 15, and the two ends of the springs 16 abut against the fixed plate 14 and the clamping mechanism 17, respectively. A slide rail C, matching the moving base 10, is symmetrically fixedly connected to one side of the surface of the z-axis moving frame 4. A third rack 12 is fixedly connected to the side of the z-axis moving frame 4. A servo motor 13 is fixedly connected to one side of the surface of the z-axis moving frame 4. A gear C is connected to the output end of the servo motor 13. This gear C meshes with the surface of the third rack 12. When the servo motor 13 is started, the z-axis moving frame 4 can be pushed downward through the cooperation of the gear C and the third rack 12, which drives the clamping mechanism 17 to perform a downward movement. The clamping mechanism 17 can push the screw 15 upward and compress the spring 16 to contract. At the moment of contact with the object, the impact force is quickly absorbed, and the rigid collision is transformed into a flexible contact, which greatly reduces the impact damage to the robot and the object.

[0020] It should be noted that the clamping mechanism 17 is equipped with grippers. During the handling operation, the grippers can clamp and fix the items. In conjunction with the longitudinal and vertical movement of the z-axis moving frame 4 and the x-axis fixed frame 2, the handling operation of the items can be realized.

[0021] like Figures 1 to 4 As shown, a pressure sensor 18 is installed between the z-axis moving frame 4 and the fixed plate 14. The pressure sensor 18 detects the pressure change when the robot comes into contact with the object during the downward movement in real time. The pressure sensor 18 transmits the collected pressure data to the control system in real time. Once the pressure exceeds the safe range, the system immediately issues an alarm and takes corresponding deceleration or stopping actions, thereby providing all-round protection for the robot and the object, significantly improving the safety and stability of the production process, and greatly reducing equipment maintenance costs and product losses.

[0022] The movable frame 3 is fixedly connected to an L-shaped fixed frame 7 on its side. A vision camera 8 is fixedly installed on the surface of the fixed frame 7. The vision camera 8 is connected to the control unit and can capture the position of the item to be moved in real time. This allows for the accurate calculation of the distance and position that the robotic arm needs to move, thus enabling precise gripping and handling of the item.

[0023] like Figures 1 to 4 As shown, a slide rail A matching the movable frame 3 is symmetrically fixedly connected to one side of the surface of the x-axis fixed frame 2. A first rack 5 is fixedly connected to the side of the x-axis fixed frame 2. A first motor 6 is fixedly connected to one side of the surface of the movable frame 3. A gear A is connected to the output end of the first motor 6, and this gear A meshes with the surface of the first rack 5. The stability of the device movement is improved by multiple sets of slide rails. By starting the first motor 6 and cooperating with the first rack 5, the movable frame 3 can be easily moved in the x-axis fixed frame 2 direction, realizing the horizontal movement of the movable seat 10, which facilitates the movement of the clamping mechanism 17 above the item to be transported.

[0024] Working principle and process: By starting the first motor 6 and cooperating with the first rack 5, the moving frame 3 is moved in the x-axis fixed frame 2 direction, which in turn moves the clamping mechanism 17. Then, the vision camera 8 acquires the position information of the item to be transported, and the z-axis moving frame 4 is moved above the item. Then, the servo motor 13 is started, and through the cooperation of gear C and the third rack 12, the z-axis moving frame 4 is pushed downward, which drives the clamping mechanism 17 to perform a downward movement. When in contact with the item, the clamping mechanism 17 can push the screw 15 upward and compress the spring 16, transforming rigid collision into flexible contact, which greatly reduces the impact on the machine. The system protects against impact damage to the robotic arm and the object. The object is then clamped and positioned by the clamping mechanism 17, and lifted and moved by the x-axis fixed frame 2 and z-axis moving frame 4 to achieve the handling operation. At the same time, the pressure sensor 18 detects the pressure change when in contact with the object during the downward movement in real time. The pressure sensor 18 transmits the collected pressure data to the control system in real time. Once the pressure exceeds the safe range, the system immediately issues an alarm and takes corresponding deceleration or stopping actions, thus providing comprehensive protection for the robotic arm and the object. This significantly improves the safety and stability of the production process and greatly reduces equipment maintenance costs and product losses.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0026] 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 robot, comprising a support frame (1), characterized in that: The support frame (1) is symmetrically fixedly connected to an x-axis fixed frame (2) above it. A movable frame (3) is slidably connected between the two sets of x-axis fixed frames (2). A movable seat (10) with a frame structure is fixedly connected to the surface of the movable frame (3). A z-axis movable frame (4) is slidably connected inside the movable seat (10). A fixed plate (14) is installed at the bottom of the z-axis movable frame (4). A clamping mechanism (17) is provided below the fixed plate (14). Four sets of screws (15) are symmetrically fixedly connected to the upper surface of the clamping mechanism (17). The top end of the screw (15) penetrates the surface of the fixed plate (14) and is connected to a nut. A spring (16) is sleeved on the surface of the screw (15). The two ends of the spring (16) abut against the fixed plate (14) and the clamping mechanism (17) respectively.

2. The gantry robot according to claim 1, characterized in that: The z-axis moving frame (4) has a slide rail C that matches the moving seat (10) symmetrically fixedly connected to one side of its surface. The z-axis moving frame (4) has a third rack (12) fixedly connected to its side. The z-axis moving frame (4) has a servo motor (13) fixedly connected to one side of its surface. The output end of the servo motor (13) is connected to a gear C, which meshes with the surface of the third rack (12).

3. A gantry robot according to claim 2, characterized in that: A pressure sensor (18) is installed between the z-axis moving frame (4) and the fixed plate (14).

4. A gantry robot according to claim 1, characterized in that: The movable frame (3) is fixedly connected to a fixed frame (7) with an L-shaped structure on its side, and a vision camera (8) is fixedly installed on the surface of the fixed frame (7).

5. A gantry robot according to claim 1, characterized in that: The x-axis fixed frame (2) has a slide rail A that matches the movable frame (3) symmetrically fixedly connected to one side of its surface.

6. A gantry robot according to claim 5, characterized in that: The first rack (5) is fixedly connected to the side of the x-axis fixing frame (2), and the first motor (6) is fixedly connected to one side of the surface of the moving frame (3). The output end of the first motor (6) is connected to a gear A, and the gear A meshes with the surface of the first rack (5).

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