A three-axis truss-type gripping robot

Abstract

The utility model relates to mechanical hand anti -vibration technical field, specifically disclose a three -axis truss type snatch mechanical hand, include: support column, support column has a plurality of, support column lower end both sides fixedly connected with connecting plate, support column below is provided with base, and base is connected with support column through connecting plate screw thread, moving mechanism, moving mechanism is located the top of support column, and moving mechanism makes gantry type heavy whole supporting car loader function carries out X axial and Y axial movement, vibration suppression mechanism, vibration suppression mechanism is located moving mechanism inside, and vibration suppression mechanism includes moment motor, link coupling, harmonic reducer, and harmonic reducer is located moving mechanism inside, adopts moment motor linkage harmonic reducer and constitutes vibration suppression mechanism, on one hand, the high rigidity transmission of harmonic reducer and the quick response of moment motor can jointly act, make Z axis shake and inhibit time shorten, promote the precision of grabbing, on the other hand, the gear gap wear of harmonic reducer is not, can also reduce the maintenance cost of shutdown.

Description

Technical Field

[0001] This utility model relates to the field of vibration damping technology for robotic arms, specifically a three-axis truss-type gripping robotic arm. Background Technology

[0002] The three-axis gantry-type gripper is mainly used in the field of industrial automation to achieve efficient and precise material handling and assembly operations. Through the coordinated motion of the X, Y, and Z axes, the gripper can accurately position itself in three-dimensional space to complete tasks such as gripping, handling, flipping, and loading / unloading workpieces. Its modular design facilitates installation and debugging, supports multi-station operation, significantly improves production efficiency, and reduces labor costs. At the same time, it is suitable for CNC machine tools, machining centers, and other scenarios to achieve flexible manufacturing, especially in high-precision assembly and harsh environment operations.

[0003] However, existing three-axis gantry gripping robots may vibrate during operation due to uneven distribution of the total mass of the gripped object or the large mass of the object, and the inertial force generated during sudden stops or speed changes. To address this, we propose a three-axis gantry gripping robot. Utility Model Content

[0004] The purpose of this invention is to provide a three-axis truss-type gripping robot to solve the problems mentioned in the background art, such as uneven distribution of the total mass of the gripping device and the load, and torsional vibration of the truss caused by inertial torque during sudden stops or speed changes.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a three-axis truss-type gripping robot, including a number of support columns, with connecting plates fixedly connected to both sides of the lower end of the support columns, and a base provided below the support columns, the base being threadedly connected to the support columns via the connecting plates; a moving mechanism located above the support columns, enabling the gantry-type heavy-duty pallet loading machine to move along the X and Y axes; and a vibration damping mechanism located inside the moving mechanism, comprising a torque motor, a coupling, and a harmonic reducer, the harmonic reducer being located inside the moving mechanism, the vibration damping mechanism reducing the time of sudden stop swaying.

[0006] The moving mechanism includes two crossbeams located above the support column. Two No. 1 slide rails are fixedly connected to the inner side of the two crossbeams. Two sliders are slidably connected to one end of the two No. 1 slide rails. A vertical beam is fixedly connected to the outer side of the two sliders.

[0007] Two No. 2 slide rails are fixedly connected above the vertical beam. Limit blocks are fixedly connected above both ends of the two No. 2 slide rails. A sliding plate is slidably connected above the No. 2 slide rails.

[0008] The vibration damping mechanism includes a motor bracket fixedly connected above the slide plate, a torque motor fixedly connected above the motor bracket, and a motor shaft rotatably connected to the output end of the torque motor.

[0009] The end of the motor shaft furthest from the torque motor is fixedly connected to the coupling.

[0010] The harmonic reducer includes a wave generator fixedly connected to the end of the coupling away from the torque motor, a flexible wheel fixedly connected to the outside of the wave generator, and a steel wheel rotatably connected to the outside of the flexible wheel.

[0011] The slide is fixedly connected to a partition on one side, the coupling is located inside the partition, a lifting device is fixedly connected to one side of the partition, and a robotic arm is fixedly connected below the lifting device.

[0012] This invention has at least the following beneficial effects: A vibration damping mechanism is constructed by linking a torque motor with a harmonic reducer. When the robot arm's Z-axis comes to a sudden stop, the load's inertial force is transmitted to the sliding plate through the lifting device, causing longitudinal vibration of the sliding plate. This vibration causes the meshing teeth of the flexible wheel and the steel wheel to misalign due to inertial force, forcing the flexible wheel to undergo elastic deformation. The deformation of the flexible wheel acts in the opposite direction on the wave generator, which transmits the reverse resistance to the motor shaft of the torque motor through a coupling. Based on the principle of electromagnetic induction, the torque motor spontaneously generates a reverse electromotive force when the rotor is displaced, forming a damping torque opposite to the vibration direction, quickly counteracting the inertial sway of the robot arm's Z-axis. On the one hand, the high rigidity transmission of the harmonic reducer and the rapid response of the torque motor work together to shorten the Z-axis sway suppression time and improve gripping accuracy. On the other hand, the harmonic reducer has no gear backlash wear, which also reduces downtime maintenance costs. 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 top view schematic diagram of the structure of this utility model;

[0015] Figure 3 for Figure 2 Enlarged structural diagram at point A in the middle;

[0016] Figure 4 for Figure 2 Schematic diagram of the cross-sectional structure of a medium harmonic reducer.

[0017] In the diagram: 1. Support column; 11. Connecting plate; 12. Base; 2. Moving mechanism; 21. Crossbeam; 22. No. 1 slide rail; 23. Slider; 24. Vertical beam; 25. No. 2 slide rail; 26. Slide plate; 27. Limiting block; 3. Vibration damping mechanism; 31. Motor bracket; 32. Torque motor; 33. Motor shaft; 34. Coupling; 35. Harmonic reducer; 351. Wave generator; 352. Flexible wheel; 353. Steel wheel; 36. Partition plate; 37. Lifting device; 38. Robot arm. 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] Please see Figure 1-4 This utility model provides a technical solution: a three-axis truss-type gripping robot, including a support column 1, of which there are several support columns 1, with connecting plates 11 fixedly connected to both sides of the lower end of the support column 1, and a base 12 provided below the support column, the base 12 being threadedly connected to the support column 1 through the connecting plates 11; a moving mechanism 2, located above the support column 1, enabling the gantry-type heavy-duty pallet loading machine to move along the X and Y axes; and a vibration damping mechanism 3, located inside the moving mechanism 2, including a torque motor 32, a coupling 34, and a harmonic reducer 35, the harmonic reducer 35 being located inside the moving mechanism 2, the vibration damping mechanism 3 reducing the time of sudden stop shaking.

[0020] The moving mechanism 2 includes two crossbeams 21 located above the support column 1. Two first slide rails 22 are fixedly connected to the inner side of the two crossbeams 21. Two sliders 23 are slidably connected to one end of the two first slide rails 22. A vertical beam 24 is fixedly connected to the outer side of the two sliders 23.

[0021] Two second slide rails 25 are fixedly connected above the vertical beam 24. Limiting blocks 27 are fixedly connected above both ends of the two second slide rails 25. A sliding plate 26 is slidably connected above the second slide rails 25.

[0022] The vibration damping mechanism 3 includes a motor bracket 31 fixedly connected above the slide plate 26, a torque motor 32 fixedly connected above the motor bracket 31, and a motor shaft 33 rotatably connected to the output end of the torque motor 32.

[0023] The end of the motor shaft 33 away from the torque motor 32 is fixedly connected to the coupling 34.

[0024] The harmonic reducer 35 includes a wave generator 351 fixedly connected to the end of the coupling 34 away from the torque motor 32. A flexible wheel 352 is fixedly connected to the outside of the wave generator 351, and a steel wheel 353 is rotatably connected to the outside of the flexible wheel 352.

[0025] A partition 36 is fixedly connected to one side of the slide plate 26. A coupling 34 is located inside the partition 36. A lifting device 37 is fixedly connected to one side of the partition 36. A robotic arm 38 is fixedly connected below the lifting device 37.

[0026] Two parallel crossbeams 21 are symmetrically fixedly installed on the top of the support column 1. A first slide rail 22 is bolted to the inner wall of each crossbeam 21. The two first slide rails 22 extend longitudinally along the crossbeams 21. Two sliders 23 slide on each first slide rail 22. A vertical beam 24 is fixedly connected to the outer side of each slider 23 by fasteners, allowing the vertical beam 24 to move laterally along the first slide rail 22 with the sliders 23. Two parallel, vertically upward second slide rails 25 are welded to the top of the vertical beam 24. Limit blocks 27 are fixedly installed above both ends of each second slide rail 25. The limiting block 27 is fixed to the end of the second slide rail 25 by screws. The slide plate 26 is slidably connected above the second slide rail 25. The bottom of the slide plate 26 is provided with a groove structure that matches the second slide rail 25. The slide plate 26 can slide longitudinally along the second slide rail 25, and its sliding stroke is limited by the limiting block 27. When the driving vertical beam 24 moves laterally, the slider 23 slides along the first slide rail 22, driving the vertical beam 24 and the second slide rail 25 above it to move laterally as a whole. The slide plate 26 slides longitudinally on the second slide rail 25. The limiting block 27 is used to prevent the slide plate 26 from falling off the second slide rail 25 to ensure the safety of the movement.

[0027] The torque motor 32 controls the lifting device 37. The motor shaft 33 of the torque motor 32 is connected to the harmonic reducer 35 through the coupling 34. When the robot arm 38 stops suddenly on the Z-axis, the load inertial force is transmitted to the slide plate 26 through the lifting device 37, causing the slide plate 26 to vibrate longitudinally. The vibration causes the meshing teeth of the flexible wheel 352 and the steel wheel 353 to misalign due to inertial force, forcing the flexible wheel 352 to undergo elastic deformation. The deformation of the flexible wheel 352 acts in the opposite direction to the wave generator 351. The wave generator 351 transmits the reverse resistance to the motor shaft 33 of the torque motor 32 through the coupling 34. Based on the principle of electromagnetic induction, the torque motor 32 spontaneously generates a reverse electromotive force when the rotor is displaced, forming a damping torque opposite to the direction of vibration. This significantly shortens the Z-axis sway decay time, eliminates vibration interference, improves the repeatability of the robot arm 38, adapts to precision grasping scenarios, and does not rely on sensors or complex control systems. Pure mechanical coupling achieves high-reliability vibration suppression and reduces maintenance costs.

[0028] 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.

[0029] 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 three-axis gantry-type gripping robot, comprising: Support column (1), there are several support columns (1), the lower ends of the support column (1) are fixedly connected to the two sides of the support column (1), the support column is provided with a base (12), and the base (12) is threadedly connected to the support column (1) through the connecting plate (11); Its characteristic is that it further includes: The moving mechanism (2) is located above the support column (1) and enables the gantry heavy-duty pallet loading machine to move along the X-axis and Y-axis. Vibration damping mechanism (3) is located inside the moving mechanism (2). The vibration damping mechanism (3) includes a torque motor (32), a coupling (34), and a harmonic reducer (35). The harmonic reducer (35) is located inside the moving mechanism (2). The vibration damping mechanism (3) can reduce the time of sudden stop shaking.

2. The three-axis gantry-type gripping robot according to claim 1, characterized in that: The moving mechanism (2) includes two crossbeams (21) located above the support column (1). Two first slide rails (22) are fixedly connected to the inner side of the two crossbeams (21). Two sliders (23) are slidably connected to one end of the two first slide rails (22). A vertical beam (24) is fixedly connected to the outer side of the two sliders (23).

3. The three-axis truss-type gripping robot according to claim 2, characterized in that: Two second slide rails (25) are fixedly connected above the vertical beam (24). Limiting blocks (27) are fixedly connected above both ends of the two second slide rails (25). A sliding plate (26) is slidably connected above the second slide rail (25).

4. The three-axis gantry-type gripping robot according to claim 3, characterized in that: The vibration damping mechanism (3) includes a motor bracket (31) fixedly connected above the slide plate (26), and a torque motor (32) fixedly connected above the motor bracket (31). The output end of the torque motor (32) is rotatably connected to a motor shaft (33).

5. The three-axis gantry-type gripping robot according to claim 4, characterized in that: The end of the motor shaft (33) away from the torque motor (32) is fixedly connected to the coupling (34).

6. The three-axis gantry-type gripping robot according to claim 5, characterized in that: The harmonic reducer (35) includes a wave generator (351) fixedly connected to the end of the coupling (34) away from the torque motor (32). A flexible wheel (352) is fixedly connected to the outside of the wave generator (351), and a steel wheel (353) is rotatably connected to the outside of the flexible wheel (352).

7. The three-axis gantry-type gripping robot according to claim 6, characterized in that: A partition (36) is fixedly connected to one side of the slide plate (26), the coupling (34) is located inside the partition (36), a lifting device (37) is fixedly connected to one side of the partition (36), and a robot arm (38) is fixedly connected below the lifting device (37).

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