A gantry-type truss robot

Abstract

The utility model relates to truss robot technical field, concretely discloses a portal type truss robot, including portal frame and truss, both ends of truss set up in the upper end of corresponding portal frame, still include base mechanism, base mechanism includes slide table subassembly, rotation axis, swivel base, first servo motor, support cylinder and lock towards subassembly, slide table subassembly set up in the upper end of truss, rotation axis is connected with slide table subassembly rotation, first servo motor sets up in one side of slide table subassembly, swivel base is fixedly connected with rotation axis, support cylinder is fixedly connected with swivel base, and two groups of lock towards subassembly are fixedly connected with slide table subassembly. Can install two groups of different mechanical arms or robots on slide table subassembly, through the mode of rotation switching, can carry out quick switching, reach to different goods clamping movement's purpose, improved device use flexibility's while effectively improved the clamping efficiency of different goods.

Description

Technical Field

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

[0002] Currently, gantry robots are a type of Cartesian coordinate robot, typically composed of mechanical transmission components along the X, Y, and Z axes. Gantry robots use the X, Y, and Z Cartesian coordinate system as their basic mathematical model. Through a control system, commands are sent to drive power sources such as the first servo motor, causing ball screws, synchronous belts, and rack and pinion transmission devices to move the single-axis robotic arm along its respective axes. This allows the robot to reach any point in the XYZ three-dimensional coordinate system and achieve a controllable motion trajectory, completing various work tasks. However, gantry robots are prone to tipping over and overload affecting the reversal of the three axes when moving along the X, Y, and Z axes, as well as at the unloading end.

[0003] The prior art CN218319396U provides a gantry-type loading and unloading gantry robot, which includes a pair of symmetrically arranged gantry frames and a truss set between the two gantry frames. It also includes: a Y-axis moving mechanism, which is provided in two sets and located between the truss and the two gantry frames on both sides, for driving the truss to move relative to the gantry frames in the Y-axis direction; an X-axis moving mechanism, which is arranged along the axial direction of the truss frame, for moving in the X-axis direction of the truss frame body; a Z-axis moving mechanism, which is arranged at the free end of the X-axis moving mechanism, for providing vertical displacement; and a gripping mechanism, which is arranged below the Z-axis moving mechanism, for gripping materials.

[0004] However, in the current technology, gantry robots can only carry one set of robotic grippers when in use, which limits their use when gripping and transferring multiple types of goods, and changing grippers will affect the transfer efficiency. Utility Model Content

[0005] The purpose of this utility model is to provide a gantry robot, which aims to solve the technical problem that existing gantry robots can only carry one set of robotic grippers during operation, which limits their use when handling and transferring multiple types of goods, and that changing grippers affects the transfer efficiency.

[0006] To achieve the above objectives, this utility model employs a gantry robot, comprising a gantry and a gantry. The gantry consists of two sets, with each end of the gantry positioned at the upper end of a corresponding gantry. The gantry is adapted to the two sets of gantry. The robot also includes a base mechanism. The base mechanism comprises a slide assembly, a rotating shaft, a rotating seat, a first servo motor, a support cylinder, and a locking assembly. The slide assembly is positioned at the upper end of the gantry and is adapted to the gantry. The rotating shaft is rotatably connected to the slide assembly and is embedded within the slide assembly. The first servo motor… The machine is disposed on one side of the slide assembly, and the output end of the first servo motor is fixedly connected to one end of the rotating shaft. The rotating seat is fixedly connected to the rotating shaft and located at the end of the rotating shaft away from the first servo motor. The support cylinder is fixedly connected to the rotating seat and located on one side of the rotating seat. The support cylinder is embedded in the inner side of the slide assembly. There are two sets of locking components. The two sets of locking components are fixedly connected to the slide assembly and located on one side of the slide assembly. One end of each set of locking components passes through the slide assembly and is embedded inside the rotating seat.

[0007] The slide assembly includes a platform, a second servo motor, and a drive gear. The platform is slidably connected to the truss and located at the upper end of the truss. The second servo motor is fixedly connected to the platform and located at the upper end of the platform. The output end of the second servo motor passes through the platform and is fixedly connected to the drive gear. The drive gear is adapted to the truss.

[0008] The rotating seat includes a seat plate, an isolation plate, and mounting studs. The isolation plate is fixedly connected to the seat plate and located on one side of the seat plate. There are multiple sets of mounting studs, each set of which is fixedly connected to the seat plate and located on one side of the seat plate.

[0009] Each locking assembly includes a locking frame, a telescopic electric cylinder, and a locking pin. The locking frame is fixedly connected to the slide assembly and located on one side of the slide assembly. There are multiple sets of telescopic electric cylinders, each set of which is fixedly connected to the locking frame and located on one side of the locking frame. There are multiple sets of locking pins, each set of which is embedded inside the slide assembly and the rotating seat, and one end of each set of locking pins is fixedly connected to the output end of the corresponding telescopic electric cylinder.

[0010] The locking frame includes a frame plate and support plates. There are multiple sets of support plates. Each set of support plates is fixedly connected to the frame plate and is located on one side of the frame plate. Each set of telescopic electric cylinders is located on one side of the frame plate.

[0011] This utility model discloses a gantry robot, which consists of two sets of gantry frames supporting the gantry. The gantry moves horizontally on the two sets of gantry frames. A sliding table assembly is disposed at the upper end of the gantry and moves horizontally at the upper end of the gantry. The sliding table assembly mounts the rotating shaft, the rotating base, and the first servo motor. In use, two different robots or robotic arms are mounted on one side of the rotating base, with both robots or robotic arms facing outwards. Then, the locking assembly unlocks the rotating base, activating the first servo motor to rotate 180°, thereby driving the rotating shaft to rotate... When the rotating seat is rotated 180° and the required robot is placed at the lower end, the locking component is controlled to limit and lock the rotating seat, ensuring that the rotating seat will not wobble during use. At the same time, the support cylinder can effectively ensure the stability of the rotating seat during rotation and effectively support the rotating seat. With the above structure, two different sets of robotic arms or robots can be installed on the slide assembly. By rotating and switching, they can be quickly switched to achieve the purpose of clamping and moving different goods, which improves the flexibility of the device and effectively improves the clamping efficiency of different goods. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a structural schematic diagram of a gantry robot according to the present invention.

[0014] Figure 2 This is a front view of a gantry robot according to this utility model.

[0015] Figure 3 This is the utility model Figure 2 A cross-sectional view of the internal structure along the AA line.

[0016] 101-Gantry frame, 102-Truss, 103-Rotating shaft, 104-First servo motor, 105-Support cylinder, 106-Platform, 107-Second servo motor, 108-Drive gear, 109-Seat plate, 110-Isolation plate, 111-Mounting stud, 112-Telescopic electric cylinder, 113-Snap-fit ​​column, 114-Frame plate, 115-Support plate. Detailed Implementation

[0017] Please see Figures 1 to 3 This utility model provides a gantry robot, including a gantry 101 and a gantry 102. There are two sets of gantry 101. The two ends of each gantry 102 are respectively disposed on the upper ends of the corresponding gantry 101, and the gantry 102 is adapted to the two sets of gantry 101. It also includes a base mechanism. The base mechanism includes a slide assembly, a rotating shaft 103, a rotating seat, a first servo motor 104, a support cylinder 105, and a locking assembly. The slide assembly is disposed on the upper end of the gantry 102, and the slide assembly is adapted to the gantry 102. The rotating shaft 103 is rotatably connected to the slide assembly and is embedded inside the slide assembly. A servo motor 104 is disposed on one side of the slide assembly, and the output end of the first servo motor 104 is fixedly connected to one end of the rotating shaft 103. The rotating seat is fixedly connected to the rotating shaft 103 and is located at the end of the rotating shaft 103 away from the first servo motor 104. The support cylinder 105 is fixedly connected to the rotating seat and is located on one side of the rotating seat. The support cylinder 105 is embedded in the inner side of the slide assembly. There are two sets of locking components. The two sets of locking components are fixedly connected to the slide assembly and are located on one side of the slide assembly. One end of each set of locking components passes through the slide assembly and is embedded inside the rotating seat.

[0018] In this embodiment, the truss 102 is supported by two sets of gantry frames 101, and the truss 102 moves horizontally on the two sets of gantry frames 101. The slide assembly is disposed at the upper end of the truss 102 and moves horizontally at the upper end of the truss 102. The slide assembly mounts the rotation shaft 103, the rotary seat, and the first servo motor 104. In use, two different robots or robotic arms are mounted on one side of the rotary seat, with both robots or robotic arms facing outwards. When the device is installed on the side, the locking assembly unlocks the rotating seat and starts the first servo motor 104 to rotate 180°. This rotates the rotating shaft 103, causing the rotating seat to rotate 180°. When the robot to be used is placed at the lower end, the locking assembly is controlled to limit and lock the rotating seat, ensuring that the rotating seat will not shake during use. At the same time, the support cylinder 105 can effectively ensure the stability of the rotating seat during rotation and can effectively support the rotating seat.

[0019] Furthermore, the slide assembly includes a platform 106, a second servo motor 107, and a drive gear 108. The platform 106 is slidably connected to the truss 102 and is located at the upper end of the truss 102. The second servo motor 107 is fixedly connected to the platform 106 and is located at the upper end of the platform 106. The output end of the second servo motor 107 passes through the platform 106 and is fixedly connected to the drive gear 108. The drive gear 108 is adapted to the truss 102.

[0020] In this embodiment, the platform 106 is slidably disposed on the upper end of the truss 102, and the drive gear 108 is driven to rotate by the second servo motor 107. The drive gear 108 is adapted to the rack on the truss 102, thereby driving the platform 106 to move horizontally on the truss 102, and the platform 106 is moved left and right by the forward and reverse rotation of the second servo motor 107.

[0021] Furthermore, the rotating seat includes a seat plate 109, an isolation plate 110, and mounting studs 111. The isolation plate 110 is fixedly connected to the seat plate 109 and is located on one side of the seat plate 109. The number of mounting studs 111 is multiple sets, and each set of mounting studs 111 is fixedly connected to the seat plate 109 and is located on one side of the seat plate 109.

[0022] In this embodiment, the base plate 109 is used to install and fix the isolation plate 110 and the mounting studs 111. At the same time, the base plate 109 and the mounting studs 111 are used to install and fix the robot or robotic arm. The isolation plate 110 is used to isolate the two sets of robots or robotic arms to ensure their working gap, thereby avoiding contact and damage during operation.

[0023] Furthermore, each set of the locking assembly includes a locking frame, a telescopic electric cylinder 112, and a locking post 113. The locking frame is fixedly connected to the slide assembly and is located on one side of the slide assembly. There are multiple sets of telescopic electric cylinders 112, each set of which is fixedly connected to the locking frame and located on one side of the locking frame. There are multiple sets of locking posts 113, each set of which is embedded inside the slide assembly and the rotating seat, and one end of each set of locking posts 113 is fixedly connected to the output end of the corresponding telescopic electric cylinder 112.

[0024] In this embodiment, multiple sets of telescopic electric cylinders 112 are installed and fixed by the locking frame, and multiple sets of locking pins 113 are embedded inside the slide assembly and the rotating seat. When the rotating seat is locked, the multiple sets of telescopic electric cylinders 112 are in an extended state, and when the rotating seat is unlocked, the multiple sets of telescopic electric cylinders 112 are in a retracted state. Thus, the position of the locking pins 113 is controlled by the extension and retraction of the telescopic electric cylinders 112, thereby realizing the locking and unlocking of the rotating seat.

[0025] Furthermore, the locking frame includes a frame plate 114 and a support plate 115. The number of support plates 115 is multiple sets. Each set of support plates 115 is fixedly connected to the frame plate 114 and is located on one side of the frame plate 114. Each set of telescopic electric cylinders 112 is respectively arranged on one side of the frame plate 114.

[0026] In this embodiment, multiple sets of support plates 115 support and fix the frame plate 114, and the frame plate 114 supports the telescopic electric cylinder 112. The arrangement of multiple sets of support plates 115 can effectively improve the support strength of the frame plate 114 for the multiple sets of telescopic electric cylinders 112 and increase the support load of the frame plate 114.

[0027] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Those skilled in the art can understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present utility model are still within the scope of the utility model.

Claims

1. A gantry robot, comprising a gantry and a gantry, wherein the number of gantry is two sets, and the two ends of the gantry are respectively disposed on the upper ends of the corresponding gantry, and the gantry is adapted to the two sets of gantry, characterized in that, It also includes the base mechanism; The base mechanism includes a slide assembly, a rotating shaft, a rotating seat, a first servo motor, a support cylinder, and a locking assembly. The slide assembly is disposed at the upper end of the truss and is adapted to the truss. The rotating shaft is rotatably connected to the slide assembly and is embedded inside the slide assembly. The first servo motor is disposed on one side of the slide assembly, and its output end is fixedly connected to one end of the rotating shaft. The rotating seat is fixedly connected to the rotating shaft and is located at the end of the rotating shaft away from the first servo motor. The support cylinder is fixedly connected to the rotating seat and is located on one side of the rotating seat, and is embedded inside the slide assembly. There are two sets of locking assemblies, each fixedly connected to the slide assembly and located on one side of the slide assembly. One end of each locking assembly penetrates the slide assembly and is embedded inside the rotating seat.

2. The gantry robot as described in claim 1, characterized in that, The slide assembly includes a platform, a second servo motor, and a drive gear. The platform is slidably connected to the truss and located at the upper end of the truss. The second servo motor is fixedly connected to the platform and located at the upper end of the platform. The output end of the second servo motor passes through the platform and is fixedly connected to the drive gear. The drive gear is adapted to the truss.

3. A gantry robot as described in claim 1, characterized in that, The rotating seat includes a seat plate, an isolation plate, and mounting studs. The isolation plate is fixedly connected to the seat plate and located on one side of the seat plate. There are multiple sets of mounting studs, each set of which is fixedly connected to the seat plate and located on one side of the seat plate.

4. A gantry robot as described in claim 1, characterized in that, Each set of the locking assembly includes a locking frame, a telescopic electric cylinder, and a locking pin. The locking frame is fixedly connected to the slide assembly and located on one side of the slide assembly. There are multiple sets of telescopic electric cylinders, each set of which is fixedly connected to the locking frame and located on one side of the locking frame. There are multiple sets of locking pins, each set of which is embedded inside the slide assembly and the rotating seat, and one end of each set of locking pins is fixedly connected to the output end of the corresponding telescopic electric cylinder.

5. A gantry robot as described in claim 4, characterized in that, The locking frame includes a frame plate and support plates. There are multiple sets of support plates. Each set of support plates is fixedly connected to the frame plate and is located on one side of the frame plate. Each set of telescopic electric cylinders is located on one side of the frame plate.

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