Truss robot adaptive to complex environment

Abstract

This invention proposes a gantry robot adaptable to complex environments, comprising a base plate, support rods, and stiffening plates. A support rod is fixedly connected to the center of the top surface of the base plate, and a stiffening plate is fixedly connected to the top of the base plate. A joint is fixedly connected to the top of the support rod, and a crossbeam is fixedly connected above the joint. A track is fixedly connected to the front of the crossbeam, and a main board is movably connected to the track. A rack is fixedly connected to the front of the crossbeam. The advantages of this invention are: hydraulic outriggers dynamically compensate for ±200mm ground height differences; the floating plate reduces ground pressure by 84%; and it adapts to various environments such as hardened ground, sand, mud, and gravel. Before operation in sandy / muddy environments, the floating plate is manually installed; the robot's weight (including load) is distributed over a larger area through honeycomb holes to prevent sinking; and it adapts to all scenarios from hardened factory grounds to unstructured terrain in the field.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, and in particular to a gantry robot adapted to complex environments. Background Technology

[0002] Traditional gantry robots rely heavily on rigid legs and flat, hardened ground. However, in scenarios such as field construction and mining operations, the ground is often soft, tilted, or prone to subsidence, leading to poor robot stability and even tipping over. Existing improvements, such as widening the legs or adding counterweights, can partially enhance stability, but result in a bulky structure that cannot dynamically adapt to changes in terrain. Therefore, there is an urgent need for gantry robots that combine lightweight design, dynamic leveling capabilities, and resistance to subsidence. Utility Model Content

[0003] The purpose of this invention is to at least solve one of the aforementioned technical defects.

[0004] Therefore, one objective of this utility model is to propose a gantry robot that can adapt to complex environments, so as to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0005] To achieve the above objectives, one embodiment of the present invention provides a gantry robot adapted to complex environments, comprising a base plate, support rods, and stiffeners, wherein the support rods are fixedly connected to the middle of the top surface of the base plate, and stiffeners are fixedly connected to the top of the base plate.

[0006] The top end of the support rod is fixedly connected to a joint, and a crossbeam is fixedly connected above the joint;

[0007] A track is fixedly connected to the front of the crossbeam, a main board is movably connected to the track, a rack is fixedly connected to the front of the crossbeam, a geared motor is mounted on the front of the main board, and a gear is fixedly connected to the output end of the geared motor and the gear is movably connected to the rack.

[0008] A robotic arm is movably connected to the front of the motherboard, and a pneumatic gripper is installed at the bottom of the robotic arm.

[0009] Hydraulic cylinders are installed at the four corners of the top surface of the base plate, and the output end of the hydraulic cylinders is fixedly connected to the support legs;

[0010] The support legs can be retracted below the base plate. A float plate is detachably connected to the edge of the base plate. The bottom surface of the float plate is flush with the bottom surface of the base plate. Several honeycomb holes are formed on the float plate.

[0011] Preferably, in any of the above embodiments, the base plate is welded to the support rod, and the back of the stiffening plate is welded to the support rod.

[0012] The above technical solution is adopted: This gantry robot consists of three parts. The first part is the support part, which is composed of a base plate, support rods, stiffening plates, joints, hydraulic cylinders, support legs, and floating plate structure.

[0013] The second part is the crossbeam section, which consists of a crossbeam, rails, and rack structure;

[0014] The third part is the robot, which consists of a motherboard, a geared motor, a robotic arm, and a pneumatic gripper structure.

[0015] Preferably, in any of the above solutions, the joint is connected to the crossbeam by a number of bolts, and the track is configured as a double track.

[0016] The above technical solution uses independent hydraulic cylinders to compensate for ground drop in real time and honeycomb floating plates to disperse pressure, thus overcoming the limitations of traditional structures on the working environment.

[0017] Hydraulic telescopic outrigger system:

[0018] An independent hydraulic cylinder is installed at each of the four corners of the base plate. The outriggers can be retracted to below the base plate (retracted height ≤ 100mm), and the maximum stroke after unfolding is 300mm.

[0019] The outriggers are equipped with thin-film pressure sensors that detect ground reaction forces in real time and dynamically adjust the length of each outrigger through a PID control algorithm to compensate for ground drop differences of ±200mm.

[0020] The hydraulic system has a built-in accumulator, which can instantly increase pressure when there is a sudden load, with a response time of less than 0.2 seconds.

[0021] Honeycomb floating panel anti-sinking design:

[0022] The base plate edge is detachably connected to the floating plate via screws. The floating plate is made of 304 stainless steel. After installation, the grounding area of ​​the base plate increases from 0.8m² to 2.4m², and the grounding pressure decreases from 2.5kPa to 0.5kPa.

[0023] The floating plate has hexagonal honeycomb holes (30mm in diameter and 2mm in wall thickness), which allows mud and sand to flow into the holes in soft ground to form an "anchoring effect" and increase pull-out resistance by 50%.

[0024] Structural optimization details:

[0025] The support rods, base plate, and stiffening plate adopt a triangular welded structure to distribute the longitudinal load and increase the bending stiffness by 40%.

[0026] The robotic arm achieves lifting and lowering via a second rack on its back, and works in conjunction with a pneumatic gripper to perform operations such as grasping and placing. The gripping force is adjustable from 50 to 500 N.

[0027] Preferably, in any of the above embodiments, a second rack is installed on the back of the robotic arm, and the lifting and lowering of the robotic arm is controlled by a motor in conjunction with gears.

[0028] Terrain perception and leveling:

[0029] After the robot is deployed to the work area, the hydraulic cylinder pushes the outriggers to contact the ground, and the pressure sensor detects the force value of each outrigger.

[0030] If the pressure of a certain outrigger is lower than the set threshold (e.g., 2kN), it is determined that the ground in the corresponding area is soft, and the hydraulic cylinder is controlled to continue to extend until the pressure reaches the target.

[0031] The base plate is kept level by adjusting the four legs in a coordinated manner.

[0032] Rapid deployment of floating platforms:

[0033] Before operating in sandy / muddy environments, floats are manually installed;

[0034] The robot's weight (including load) is distributed over a larger area through honeycomb holes to prevent it from sinking.

[0035] After the operation is completed, the floating plate is removed and the compact structure is restored for transportation.

[0036] Preferably, in any of the above embodiments, the hydraulic cylinder is installed via a flange and is installed vertically.

[0037] Preferably, in any of the above embodiments, the float is connected to the base plate by screws, the support legs are integrated with pressure sensors, and the float is made of stainless steel.

[0038] All-terrain adaptive: The hydraulic outriggers dynamically compensate for ground height differences of ±200mm, and the floating plate 14 reduces ground pressure by 84%, adapting to various environments such as hardened ground, sand, mud, and gravel.

[0039] Rapid deployment capability: The floating plate assembly and disassembly time is less than 3 minutes, and the hydraulic leveling is fully automated, improving deployment efficiency by 5 times compared to the traditional pad solution.

[0040] Balancing lightweight and high strength: the honeycomb floating plate reduces weight by 30% (compared to solid steel plates), the hydraulic system accounts for only 15% of the machine's weight, and the overall weight is kept below 800kg.

[0041] Example: In an automotive welding workshop, there is a height difference on the ground caused by equipment installation (maximum 150mm). After the robot moves to the target workstation, the hydraulic system completes the leveling of the outriggers within 5 seconds, keeping the crossbeam horizontal. When the robotic arm grabs a 200kg car door assembly, the positioning error is ≤0.3mm.

[0042] Example: At a temporary material storage area on a construction site, the ground is loose sand. After installing the floating platform, the robot transports cement pipes (total weight 480kg), and the ground pressure drops from 2.1kPa to 0.5kPa. During the operation, the subsidence of the outriggers is ≤10mm.

[0043] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows:

[0044] This gantry robot, adapted to complex environments, utilizes a combination of a base plate, hydraulic cylinders, outriggers, floats, and honeycomb perforations for all-terrain self-adaptation: the hydraulic outriggers dynamically compensate for ground height differences of ±200mm, and the floats reduce ground pressure by 84%, adapting to various environments such as hardened ground, sand, mud, and gravel. Before operation in sandy / muddy environments, the floats are manually installed; the robot's weight (including load) is distributed over a larger area through the honeycomb perforations to prevent sinking; it can adapt to all scenarios, from hardened factory floors to unstructured outdoor terrain.

[0045] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0046] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0047] Figure 1 This is a first-view structural schematic diagram of the present invention;

[0048] Figure 2 This is a structural schematic diagram of the present invention from a second perspective;

[0049] Figure 3 This is a structural schematic diagram of the present invention from a third-view perspective;

[0050] Figure 4 This utility model Figure 1 A magnified structural diagram of point A in the middle.

[0051] In the diagram: 1-base plate, 2-support rod, 3-stiffening plate, 4-joint, 5-crossbeam, 6-track, 7-main board, 8-rack, 9-gear motor, 10-robotic arm, 11-pneumatic gripper, 12-hydraulic cylinder, 13-support leg, 14-floating plate, 15-honeycomb hole. Detailed Implementation

[0052] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0053] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 utility model according to the specific circumstances.

[0054] like Figure 1-4 As shown, this gantry robot adapted to complex environments includes a base plate 1, a support rod 2, and a stiffening plate 3. The support rod 2 is fixedly connected to the middle of the top surface of the base plate 1, and the stiffening plate 3 is fixedly connected to the top of the base plate 1.

[0055] The top of the support rod 2 is fixedly connected to the joint 4, and the top of the joint 4 is fixedly connected to the crossbeam 5;

[0056] A track 6 is fixedly connected to the front of the crossbeam 5, a main board 7 is movably connected to the track 6, a rack 8 is fixedly connected to the front of the crossbeam 5, a geared motor 9 is mounted on the front of the main board 7, and a gear is fixedly connected to the output end of the geared motor 9 and the gear is movably connected to the rack 8.

[0057] A robotic arm 10 is movably connected to the front of the motherboard 7, and a pneumatic gripper 11 is installed at the bottom of the robotic arm 10.

[0058] Hydraulic cylinders 12 are installed at the four corners of the top surface of the base plate 1, and the output end of the hydraulic cylinders 12 is fixedly connected to the support legs 13;

[0059] The support leg 13 can be retracted under the base plate 1. A float plate 14 is detachably connected to the edge of the base plate 1. The bottom surface of the float plate 14 is flush with the bottom surface of the base plate 1. Several honeycomb holes 15 are opened on the float plate 14.

[0060] Example 1: The base plate 1 is welded to the support rod 2, and the back of the stiffening plate 3 is welded to the support rod 2. This gantry robot consists of three parts. The first part is the support part, which is composed of the base plate 1, support rod 2, stiffening plate 3, joint 4, hydraulic cylinder 12, support leg 13, and floating plate 14.

[0061] The second part is the crossbeam 5, which consists of the crossbeam 5, the track 6, and the rack 8.

[0062] The third part is the robot, which consists of a main board 8, a geared motor 9, a robotic arm 10, and a pneumatic gripper 11.

[0063] Example 2: Joint 4 and crossbeam 5 are connected by several bolts, and track 6 is set as a double track. Ground level difference is compensated in real time by an independent hydraulic cylinder 12, and pressure is dispersed using honeycomb floating panels, overcoming the limitations of traditional structures on the working environment. Honeycomb floating panel anti-sinking design:

[0064] The base plate 1 is detachably connected to the floating plate 14 by screws. The floating plate 14 is made of 304 stainless steel. After installation, the grounding area of ​​the base plate 1 increases from 0.8m² to 2.4m², and the grounding pressure decreases from 2.5kPa to 0.5kPa.

[0065] The floating plate 14 has hexagonal honeycomb holes 15 (hole diameter 30mm, wall thickness 2mm), which allow mud and sand to flow into the holes under soft ground to form an "anchoring effect" and increase the pull-out resistance by 50%.

[0066] Structural optimization details:

[0067] The support rod 2, base plate 1, and stiffening plate 3 adopt a triangular welded structure to distribute the longitudinal load and increase the bending stiffness by 40%.

[0068] The robotic arm 10 achieves lifting and lowering via a second rack on its back, and works in conjunction with a pneumatic gripper 11 to perform grasping and placing operations. The gripping force is adjustable from 50 to 500 N. The robotic arm 10 has a second rack mounted on its back, and its lifting and lowering are controlled by a motor and gears. The hydraulic cylinder 12 is mounted vertically via a flange. The float 14 is connected to the base plate 1 with screws, and pressure sensors are integrated on the support legs 13. The float 14 is made of stainless steel.

[0069] The working principle of this utility model is as follows:

[0070] After the robot is deployed to the work area, the hydraulic cylinder 12 pushes the outriggers 13 to contact the ground, and the pressure sensor detects the force value of each outrigger.

[0071] If the pressure of a certain support leg 13 is lower than the set threshold (e.g., 2kN), it is determined that the ground in the corresponding area is soft, and the hydraulic cylinder 12 is controlled to continue to extend until the pressure reaches the standard.

[0072] The base plate 1 is always kept horizontal by adjusting the four legs 13 in a coordinated manner.

[0073] Rapid deployment of floating platforms:

[0074] Before operating in sandy / muddy environments, floats 14 are manually installed;

[0075] The robot's weight (including load) is distributed over a larger area through the honeycomb holes 15 to prevent it from sinking;

[0076] After the operation is completed, remove the floating plate 14 and restore the compact structure for transportation.

[0077] In the automotive welding workshop, there is a height difference on the ground caused by equipment installation (maximum 150mm). After the robot moves to the target workstation, the hydraulic system completes the leveling of the support leg 13 within 5 seconds, keeps the crossbeam 5 horizontal, and the positioning error of the robotic arm 10 when grabbing a 200kg car door assembly is ≤0.3mm.

[0078] At the temporary material storage area of ​​the construction site, the ground is loose sand. After the floating plate 14 is installed, the robot moves the cement pipe (total weight 480kg), and the ground pressure drops from 2.1kPa to 0.5kPa. During the operation, the sinking of the outrigger is ≤10mm.

[0079] Compared with the prior art, the present invention has the following advantages:

[0080] This gantry robot, adapted to complex environments, utilizes a combination of a base plate 1, hydraulic cylinders 12, outriggers 13, floating plates 14, and honeycomb holes 15 for all-terrain self-adaptation. The hydraulic outriggers 13 dynamically compensate for ground height differences of ±200mm, while the floating plates 14 reduce ground pressure by 84%, adapting to various environments including hardened ground, sand, mud, and gravel. Before operation in sandy / muddy environments, the floating plates 14 are manually installed. The robot's weight (including load) is distributed over a larger area through the honeycomb holes 15, preventing sinking. It is suitable for operations in all scenarios, from hardened factory floors to unstructured outdoor terrain.

Claims

1. A gantry robot adapted to complex environments, characterized in that, Includes a base plate (1), a support rod (2), and a stiffening plate (3). The support rod (2) is fixedly connected to the middle of the top surface of the base plate (1), and the stiffening plate (3) is fixedly connected to the top of the base plate (1). The top end of the support rod (2) is fixedly connected to a joint (4), and a crossbeam (5) is fixedly connected above the joint (4). The front of the crossbeam (5) is fixedly connected to a track (6), and a main board (7) is movably connected to the track (6). The front of the crossbeam (5) is fixedly connected to a rack (8), and a geared motor (9) is mounted on the front of the main board (7). The output end of the geared motor (9) is fixedly connected to a gear, and the gear is movably connected to the rack (8). The front of the motherboard (7) is movably connected to a robotic arm (10), and a pneumatic gripper (11) is installed at the bottom of the robotic arm (10). Hydraulic cylinders (12) are installed at the four corners of the top surface of the base plate (1), and the output end of the hydraulic cylinders (12) is fixedly connected to the support legs (13). The support leg (13) can be retracted under the base plate (1). A float plate (14) is detachably connected to the edge of the base plate (1). The bottom surface of the float plate (14) is flush with the bottom surface of the base plate (1). Several honeycomb holes (15) are opened on the float plate (14).

2. A gantry robot adaptable to complex environments as described in claim 1, characterized in that: The base plate (1) is welded to the support rod (2), and the back of the stiffening plate (3) is welded to the support rod (2).

3. A gantry robot adapted to complex environments as described in claim 2, characterized in that: The joint (4) is connected to the crossbeam (5) by several bolts, and the track (6) is set as a double track.

4. A gantry robot adapted to complex environments as described in claim 3, characterized in that: The back of the robotic arm (10) is equipped with a second rack, and the lifting and lowering of the robotic arm (10) is controlled by a motor in conjunction with gears.

5. A gantry robot adapted to complex environments as described in claim 4, characterized in that: The hydraulic cylinder (12) is installed via a flange. The hydraulic cylinder (12) is installed vertically. The support leg (13) integrates a pressure sensor.

6. A gantry robot adapted to complex environments as described in claim 5, characterized in that: The float plate (14) is connected to the base plate (1) by screws, and the float plate (14) is made of stainless steel.

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