A truss manipulator device capable of realizing multi-station cooperative operation

Abstract

The utility model provides a kind of truss manipulator device that can realize multi-station collaborative operation, it is related to mechanical equipment technical field, and it includes: fixed stand;The fixed stand is provided with four;The top surface of four fixed stands is fixedly connected with truss main body;The top surface of truss main body is fixedly connected with two groups Y axis guide rails symmetrically;The outside of two groups Y axis guide rails is slidably connected with one Y axis slide base;The top surface of two Y axis slide bases is fixedly connected with one fixed seat;The front end surface of fixed seat is fixedly connected with two X axis guide rails symmetrically;The outside of two X axis guide rails is slidably connected with one X axis slide base.In the process of Y axis slide base and X axis slide base movement, will pass through a series of transmission and make lubricating grease through grease tube extrusion to be applied to Y axis guide rail and X axis guide rail and lubricate, solve the need staff regularly lubricating Y axis guide rail and X axis guide rail to reduce friction loss, the problem that operation is more complicated.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to a gantry robot device that can realize multi-station collaborative operation. Background Technology

[0002] In large factories, there are often many large materials that need to be moved back and forth. In order to facilitate the efficient handling, positioning and operation of materials, workers usually use gantry robot devices. Existing gantry robot devices are usually composed of gantry, support columns, Y-axis slide, X-axis slide, Y-axis guide rail, X-axis guide rail, vertical slide and mechanical claw.

[0003] For example, utility model application CN202121077105.9 discloses a truss manipulator, specifically a truss manipulator. A set of longitudinal sliding columns is fixedly installed on one side of the top of the support frame. Each longitudinal sliding column has a first sliding seat on one side of its top. A transverse sliding column is connected to one side of the top of each first sliding seat. A second sliding seat is provided on one side of the outer wall of each transverse sliding column. A vertical sliding column is fixedly installed on one side of the outer wall of each second sliding seat. A third sliding seat is provided on one side of the outer wall of each vertical sliding column. A mechanical gripper is fixedly installed on one side of the outer wall of the third sliding seat. The truss manipulator described in this utility model enables the entire device to achieve more stable and efficient loading and unloading, improves the safety of personnel during loading and unloading, effectively improves the work efficiency of personnel, enhances the practicality of the overall device, and brings better application prospects.

[0004] However, in the case of traditional truss manipulator devices, in order to ensure stable positioning accuracy and repeatability, operators usually need to lubricate the Y-axis and X-axis guide rails regularly to reduce friction loss. This operation is relatively cumbersome, especially in multi-station large truss scenarios, where operators need to frequently climb and move to different positions to work, which makes the labor intensity of the operators high and the use inconvenient. Utility Model Content

[0005] In view of this, the present invention provides a gantry robot device capable of multi-station collaborative operation, which has a grease reservoir and a grease outlet pipe for automatically lubricating the Y-axis and X-axis guide rails. During the movement of the Y-axis slide and the X-axis slide, the first and second planar cams periodically squeeze the control guide rod, causing the control guide rod to drive the second rack to slide. As the second rack slides, it drives the auxiliary gear meshing with it to rotate. As the auxiliary gear rotates, it drives the first rack to move. As the first rack moves, it drives the control pressure rod to move. As the control pressure rod moves, it drives the control pressure plate to slide in the first and second grease reservoirs and stretch the connecting spring. As the control pressure plate slides, it applies pressure to the grease in the first and second grease reservoirs, squeezing the grease through the grease outlet pipe and applying it to the Y-axis and X-axis guide rails for lubrication.

[0006] This utility model provides a truss manipulator device capable of multi-station collaborative operation, specifically comprising: fixed columns; four fixed columns in total; a truss body fixedly connected to the top surface of the four fixed columns; two sets of Y-axis guide rails symmetrically fixedly connected to the top surface of the truss body; a Y-axis slide block slidably connected to the outside of each of the two sets of Y-axis guide rails; a fixed seat fixedly connected to the top surface of the two Y-axis slide blocks; two X-axis guide rails symmetrically fixedly connected to the front surface of the fixed seat; an X-axis slide block slidably connected to the outside of the two X-axis guide rails; a vertical slide block slidably connected to the front of the X-axis slide block; and a mechanical claw body disposed at the lower part of the vertical slide block.

[0007] Furthermore, a Y-axis drive motor is bolted to the top surface of the Y-axis slide on the left; a Y-axis control gear is coaxially fixed to the end of the Y-axis drive motor shaft; a Y-axis control rack is fixedly connected to the left side of the top surface of the truss body; the Y-axis control rack meshes with the Y-axis control gear.

[0008] Furthermore, an X-axis drive motor is bolted to the left side of the X-axis slide; an X-axis control gear is coaxially fixed to the end of the output shaft of the X-axis drive motor; an X-axis control rack is fixedly connected to the front end face of the fixed seat; the X-axis control rack meshes with the X-axis control gear.

[0009] Furthermore, a vertical drive motor is bolted to the rear of the X-axis slide; a vertical control gear is coaxially fixed to the end of the output shaft of the vertical drive motor; a vertical control rack is fixedly connected to the rear of the vertical slide; the vertical control rack meshes with the vertical control gear.

[0010] Furthermore, a first grease reservoir is fixedly connected to the top surface of each of the two Y-axis slides; a second grease reservoir is fixedly connected to the front surface of the X-axis slide; a control lever is slidably connected inside each of the two first and second grease reservoirs; a control plate is fixedly connected to the bottom surface of each of the three control levers; the three control plates are slidably connected inside the two first and second grease reservoirs respectively; a set of connecting springs is fixedly connected to the top surface of each of the three control plates; grease inlets are fixedly connected to the top surfaces of both first and second grease reservoirs; air inlets are fixedly connected to the top surfaces of both first and second grease reservoirs; and the exterior of the three air inlets... Each is fixedly connected with a one-way valve; the bottom surfaces of the two first grease reservoirs and the second grease reservoir are both fixedly connected with grease outlet pipes; a first rack is fixedly connected to the outside of each of the three control levers; an auxiliary gear is rotatably connected to the rear of each of the two first grease reservoirs and the rear of each of the second grease reservoirs; the three first racks mesh with the three auxiliary gears respectively; a second rack is slidably connected to the rear of each of the two first grease reservoirs and the rear of each of the second grease reservoirs; the three second racks mesh with the three auxiliary gears respectively; control guide rods are fixedly connected to the outside of each of the three second racks; two first planar cams are symmetrically fixedly connected to the outside of the truss body; a second planar cam is fixedly connected to the bottom surface of the fixed seat.

[0011] Furthermore, two sets of first rigid seats are symmetrically and fixedly connected to the top surface of the truss body; a first buffer block is fixedly connected to the inner side of each of the two sets of first rigid seats; two second rigid seats are symmetrically and fixedly connected to the outside of the fixed seats; a second buffer block is fixedly connected to the inner side of each of the two second rigid seats.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] During the movement of the Y-axis and X-axis slides, this invention causes the first and second planar cams to periodically compress the control guide rods. Subsequently, through a series of transmissions, pressure is applied to the grease in the first and second grease reservoirs. The end of the grease outlet is aligned with the sliding contact surface of the Y-axis and X-axis guides. Under pressure, the grease is evenly applied to the guide surface for lubrication, reducing wear on the Y-axis and X-axis guides, extending the service life of the Y-axis and X-axis guides and the Y-axis and X-axis slides, and making the movement of the Y-axis and X-axis guides smoother, reducing mechanical vibration and operating noise, improving the stability of equipment operation, ensuring the accuracy and smoothness of movement, reducing the frequency of downtime maintenance, reducing the labor intensity of workers, and effectively improving the convenience of the gantry robot device.

[0014] The first and second buffer blocks can absorb kinetic energy when the Y-axis slide and X-axis slide impact the end of the guide rail due to inertial overtravel. At the same time, the damping characteristics of the first and second buffer blocks can attenuate high-frequency impact vibrations. The rigid limit of the first and second rigid seats can prevent the Y-axis slide and X-axis slide from derailing, eliminate the impact sound of rigid collisions, reduce noise, and effectively improve the practicality of the gantry robot device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments will be briefly described below.

[0016] In the attached diagram:

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

[0018] Figure 2 This is a utility model Figure 1 A magnified structural diagram at point A.

[0019] Figure 3 This is a utility model Figure 1 A magnified structural diagram at point B.

[0020] Figure 4 This is a utility model Figure 1 A magnified structural diagram at point C.

[0021] Figure 5 This is an isometric structural diagram of the fixing base of this utility model.

[0022] Figure 6 This is a utility model Figure 5 A magnified structural diagram at point D.

[0023] Figure 7 This is a cross-sectional structural diagram of the Y-axis slide of this utility model.

[0024] Figure 8 This is an isometric structural diagram of the control pressure plate of this utility model.

[0025] Figure 9 This is a schematic diagram of the isometric structure of the X-axis guide rail of this utility model.

[0026] Figure 10 This is a utility model Figure 9 Enlarged structural diagram at point E.

[0027] Figure 11 This is a utility model Figure 9 A magnified structural diagram at point F.

[0028] Figure 12This is an isometric structural diagram of the X-axis slide of this utility model.

[0029] Figure 13 This is a utility model Figure 12 A magnified structural diagram at point G.

[0030] List of reference numerals

[0031] 1. Fixed column; 101. Truss main body; 102. Y-axis guide rail; 103. Y-axis slide; 104. Y-axis drive motor; 105. Y-axis control gear; 106. Y-axis control rack; 107. First planar cam; 108. First grease reservoir; 109. Control guide rod; 110. Auxiliary gear; 111. First rack; 112. Control pressure rod; 113. Control pressure plate; 114. Connecting spring; 115. Grease inlet; 116. Air inlet; 117. Grease outlet pipe; 118. Fixed base ; 119, X-axis guide rail; 120, X-axis control rack; 121, X-axis drive motor; 122, second grease reservoir; 123, X-axis control gear; 124, X-axis slide; 125, vertical slide; 126, vertical drive motor; 127, mechanical claw body; 128, vertical control gear; 129, vertical control rack; 130, first rigid seat; 131, first buffer block; 132, second rigid seat; 133, second buffer block; 134, second planar cam; 135, second rack. Detailed Implementation

[0032] To make the objectives, solutions, and advantages of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise stated, the terms used herein have their ordinary meanings in the art. The same reference numerals in the drawings represent the same parts.

[0033] Example 1:

[0034] This utility model proposes a gantry robot device capable of multi-station collaborative operation. Please refer to [reference needed]. Figures 1 to 13 Includes: fixed column 1;

[0035] There are four fixed columns 1 in total; the top surfaces of the four fixed columns 1 are fixedly connected to the truss body 101; the top surfaces of the truss body 101 are symmetrically fixedly connected to two sets of Y-axis guide rails 102; each of the two sets of Y-axis guide rails 102 is slidably connected to a Y-axis slide block 103; the top surfaces of the two Y-axis slide blocks 103 are fixedly connected to a fixed seat 118; the front surfaces of the fixed seat 118 are symmetrically fixedly connected to two X-axis guide rails 119; the outside of the two X-axis guide rails 119 is slidably connected to an X-axis slide block 124; the front part of the X-axis slide block 124 is slidably connected to a vertical slide block 125; the lower part of the vertical slide block 125 is provided with a mechanical claw body 127.

[0036] A Y-axis drive motor 104 is bolted to the top surface of the left Y-axis slide 103; a Y-axis control gear 105 is coaxially fixed to the end of the shaft of the Y-axis drive motor 104; a Y-axis control rack 106 is fixedly connected to the left side of the top surface of the truss body 101; the Y-axis control rack 106 meshes with the Y-axis control gear 105.

[0037] An X-axis drive motor 121 is bolted to the left side of the X-axis slide 124; an X-axis control gear 123 is coaxially fixed to the end of the output shaft of the X-axis drive motor 121; an X-axis control rack 120 is fixedly connected to the front end face of the fixed seat 118; the X-axis control rack 120 meshes with the X-axis control gear 123.

[0038] A vertical drive motor 126 is bolted to the rear of the X-axis slide 124; a vertical control gear 128 is coaxially fixed to the end of the output shaft of the vertical drive motor 126; a vertical control rack 129 is fixedly connected to the rear of the vertical slide 125; the vertical control rack 129 meshes with the vertical control gear 128.

[0039] A first grease reservoir 108 is fixedly connected to the top surface of each of the two Y-axis slide blocks 103; a second grease reservoir 122 is fixedly connected to the front surface of the X-axis slide block 124; a control pressure rod 112 is slidably connected inside each of the two first grease reservoirs 108 and the second grease reservoir 122; a control pressure plate 113 is fixedly connected to the bottom surface of each of the three control pressure rods 112; the three control pressure plates 113 are slidably connected inside the two first grease reservoirs 108 and the second grease reservoir 122 respectively; a set of connecting springs 114 is fixedly connected to the top surface of each of the three control pressure plates 113; grease inlets 115 are fixedly connected to the top surfaces of the two first grease reservoirs 108 and the second grease reservoir 122; air inlets 116 are fixedly connected to the top surfaces of the two first grease reservoirs 108 and the second grease reservoir 122; and the exterior of each of the three air inlets 116 is fixedly... A one-way valve is connected; grease outlet pipes 117 are fixedly connected to the bottom surfaces of the two first grease tanks 108 and the second grease tank 122; a first rack 111 is fixedly connected to the outside of each of the three control levers 112; an auxiliary gear 110 is rotatably connected to the rear of each of the two first grease tanks 108 and the rear of each of the second grease tank 122; the three first racks 111 mesh with the three auxiliary gears 110 respectively; a second rack 135 is slidably connected to the rear of each of the two first grease tanks 108 and the rear of each of the second grease tank 122; the three second racks 135 mesh with the three auxiliary gears 110 respectively; control guide rods 109 are fixedly connected to the outside of each of the three second racks 135; two first planar cams 107 are symmetrically fixedly connected to the outside of the truss body 101; a second planar cam 134 is fixedly connected to the bottom surface of the fixed seat 118.

[0040] The specific usage and function of this embodiment are as follows: The truss body 101 is supported by the fixed column 1. By starting the Y-axis drive motor 104, the Y-axis drive motor 104 drives the Y-axis control gear 105 to rotate. During the rotation of the Y-axis control gear 105, the meshing between the Y-axis control gear 105 and the Y-axis control rack 106 causes the Y-axis slide 103 to slide along the Y-axis guide rail 102, thereby driving the fixed seat 118 to move and controlling the mechanical claw body 127 to move along the Y-axis. By starting the X-axis drive motor 121, the X-axis control... Gear 123 rotates. During the rotation of X-axis control gear 123, the meshing between X-axis control gear 123 and X-axis control rack 120 drives X-axis slide 124 to slide along X-axis guide rail 119, controlling the mechanical gripper body 127 to move along the X-axis. By starting vertical drive motor 126, vertical drive motor 126 drives vertical control gear 128 to rotate. During the rotation of vertical control gear 128, the meshing between vertical control gear 128 and vertical control gear 125 drives vertical slide 125 to slide along X-axis slide 124, controlling the mechanical gripper body 127 to move vertically. The movement, and then the multi-directional movement of the mechanical gripper body 127, enables multi-station collaborative operation. During the movement of the Y-axis slide 103 and the X-axis slide 124, the first planar cam 107 and the second planar cam 134 periodically press the control guide rod 109, causing the control guide rod 109 to drive the second rack 135 to slide. As the second rack 135 slides, it drives the auxiliary gear 110 meshing with it to rotate. As the auxiliary gear 110 rotates, it drives the first rack 111 to move. As the first rack 111 moves, it drives the control pressure rod 112 to move. The movement of the pressure rod 112 will cause the control plate 113 to slide in the first grease tank 108 and the second grease tank 122 respectively and stretch the connecting spring 114. As the control plate 113 slides, it will apply pressure to the grease in the first grease tank 108 and the second grease tank 122. The end of the grease outlet pipe 117 is aligned with the sliding contact surface of the Y-axis guide rail 102 and the X-axis guide rail 119. Under the pressure, the grease is evenly applied to the surface of the guide rail for lubrication. The grease can be easily replenished through the grease inlet 115. The air inlet 116 is set to prevent negative pressure from being generated in the first grease tank 108 and the second grease tank 122.

[0041] Example 2:

[0042] Based on Example 1, please refer to Figure 3 and Figure 11It includes: a first rigid seat 130, a first buffer block 131, a second rigid seat 132, and a second buffer block 133. Two sets of first rigid seats 130 are symmetrically and fixedly connected to the top surface of the truss body 101. A first buffer block 131 is fixedly connected to the inner side of each of the two sets of first rigid seats 130. Two second rigid seats 132 are symmetrically and fixedly connected to the outer side of the fixed seat 118. A second buffer block 133 is fixedly connected to the inner side of each of the two second rigid seats 132.

[0043] The specific usage and function of this embodiment are as follows: the first buffer block 131 and the second buffer block 133 can absorb kinetic energy when the Y-axis slide 103 and the X-axis slide 124 impact the end of the guide rail due to inertial overtravel. At the same time, the damping characteristics of the first buffer block 131 and the second buffer block 133 can attenuate high-frequency impact vibration. The rigid limit of the first rigid seat 130 and the second rigid seat 132 can prevent the Y-axis slide 103 and the X-axis slide 124 from derailing.

[0044] The following points should be noted in this article:

[0045] 1. The accompanying drawings of this embodiment only involve the structures involved in this embodiment; other structures can refer to the general design.

[0046] 2. Where there is no conflict, this embodiment and the features in the embodiment can be combined with each other to obtain new embodiments.

[0047] The above are merely specific implementations of this embodiment, but the protection scope of this embodiment is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this embodiment should be included within the protection scope of this embodiment. Therefore, the protection scope of this embodiment should be determined by the protection scope of the claims.

Claims

1. A gantry robot device capable of multi-station collaborative operation, comprising: Fixed column (1); four fixed columns (1) are provided in total; the top surfaces of the four fixed columns (1) are fixedly connected to a truss body (101); characterized in that two sets of Y-axis guide rails (102) are symmetrically fixedly connected to the top surfaces of the truss body (101); a Y-axis slide block (103) is slidably connected to the outside of each of the two sets of Y-axis guide rails (102); a fixed seat (118) is fixedly connected to the top surfaces of the two Y-axis slide blocks (103); two X-axis guide rails (119) are symmetrically fixedly connected to the front surfaces of the fixed seat (118); an X-axis slide block (124) is slidably connected to the outside of the two X-axis guide rails (119); the X-axis slide block (124) A vertical slide block (125) is slidably connected to the front of the X-axis slide block (124); a mechanical claw body (127) is provided at the lower part of the vertical slide block (125); a first grease reservoir (108) is fixedly connected to the top surface of each of the two Y-axis slide blocks (103); a second grease reservoir (122) is fixedly connected to the front surface of the X-axis slide block (124); a control pressure rod (112) is slidably connected to each of the two first grease reservoirs (108) and the second grease reservoir (122); a control pressure plate (113) is fixedly connected to the bottom surface of each of the three control pressure rods (112); the three control pressure plates (113) are slidably connected to the two first grease reservoirs (108) and the second grease reservoir (122) respectively. Inside; a set of connecting springs (114) are fixedly connected to the top surfaces of the three control pressure plates (113); grease inlets (115) are fixedly connected to the top surfaces of the two first grease tanks (108) and the second grease tank (122); air inlets (116) are fixedly connected to the top surfaces of the two first grease tanks (108) and the second grease tank (122); one-way valves are fixedly connected to the outside of the three air inlets (116); grease outlet pipes (117) are fixedly connected to the bottom surfaces of the two first grease tanks (108) and the second grease tank (122); a first rack (111) is fixedly connected to the outside of the three control pressure rods (112); the two first grease tanks An auxiliary gear (110) is rotatably connected to the rear of (108) and the rear of the second grease tank (122); three first racks (111) mesh with three auxiliary gears (110) respectively; a second rack (135) is slidably connected to the rear of the two first grease tanks (108) and the rear of the second grease tank (122); three second racks (135) mesh with three auxiliary gears (110) respectively; control guide rods (109) are fixedly connected to the outside of the three second racks (135); two first planar cams (107) are symmetrically fixedly connected to the outside of the truss body (101); a second planar cam (134) is fixedly connected to the bottom end face of the fixed seat (118).

2. The gantry robot device capable of multi-station collaborative operation as described in claim 1, characterized in that: A Y-axis drive motor (104) is bolted to the top surface of the Y-axis slide (103) on the left side; a Y-axis control gear (105) is coaxially fixed to the end of the shaft of the Y-axis drive motor (104); a Y-axis control rack (106) is fixedly connected to the left side of the top surface of the truss body (101); the Y-axis control rack (106) meshes with the Y-axis control gear (105).

3. The gantry robot device capable of multi-station collaborative operation as described in claim 1, characterized in that: An X-axis drive motor (121) is bolted to the left side of the X-axis slide (124); an X-axis control gear (123) is coaxially fixed to the end of the output shaft of the X-axis drive motor (121); an X-axis control rack (120) is fixedly connected to the front end face of the fixed seat (118); the X-axis control rack (120) meshes with the X-axis control gear (123).

4. The gantry robot device capable of multi-station collaborative operation as described in claim 1, characterized in that: A vertical drive motor (126) is bolted to the rear of the X-axis slide (124); a vertical control gear (128) is coaxially fixed to the end of the output shaft of the vertical drive motor (126); a vertical control rack (129) is fixedly connected to the rear of the vertical slide (125); the vertical control rack (129) meshes with the vertical control gear (128).

5. The gantry robot device capable of multi-station collaborative operation as described in claim 1, characterized in that: The top surface of the truss body (101) is symmetrically and fixedly connected with two sets of first rigid seats (130); the inner side of each of the two sets of first rigid seats (130) is fixedly connected with a first buffer block (131); the outside of the fixed seat (118) is symmetrically and fixedly connected with two second rigid seats (132); the inner side of each of the two second rigid seats (132) is fixedly connected with a second buffer block (133).

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