Truss manipulator convenient to install and debug

Abstract

The utility model relates to a truss manipulator convenient to installation and debugging belongs to truss manipulator technical field, this truss manipulator convenient to installation and debugging, include: manipulator body and set up in its one side X axle and Y axle, through setting up support component, can when second driver drives manipulator body to move to the end of X axle and carries out the grabbing transfer to goods, utilize the slide bar that gradually tightens in the sleeve, can provide the powerful support to X axle, can reduce the problem of the abrasion between structure and X axle deformation that causes because of the weight accumulation of manipulator body and goods, through setting up the clamping block below the slide bar in the clamping groove in the sleeve, can after the slide bar follow second driver stretch to certain length in the sleeve, utilize the clamping block cooperation clamping groove, can lock the position of slide bar to reduce the phenomenon that slide bar slips, can also improve the support effect between X axle and Y axle.

Description

Technical Field

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

[0002] A gantry robot is a fully automated industrial device based on a Cartesian X, Y, Z coordinate system, which performs functions such as workpiece position adjustment or workpiece trajectory movement.

[0003] A search revealed Chinese patent "A Truss Manipulator" (publication number CN206677950U). This utility model relates to a truss manipulator, comprising a chassis, a control board at one end of the chassis, a rotary motor mounted on the chassis, a large rack mounted on the rotary motor, the large rack meshing with a large gear, the large gear mounted on a first sliding frame, a medium gear mounted on one side of the first sliding frame, a large gear motor mounted on one side of the outer side of the first sliding frame, and a medium gear motor mounted on the other side of the first sliding frame, the medium gear meshing with a small rack. One end of the rack meshes with a pinion, which is mounted on the second slide frame. A pinion motor is mounted on one side of the second slide frame, and a lead screw is installed inside the pinion motor. The bottom of the lead screw is connected to the sleeve via a revolute joint. A sliding shaft is welded to the bottom of the second slide frame, and the sleeve is connected to the slide groove via a revolute joint. The sliding shaft is installed in the slide groove, and a clamping plate is welded to the bottom of the slide groove and fixed by the sliding shaft. The slide groove changes its angle as it slides, which allows the pinion to open and clamp the robotic arm. The control is simple. The whole structure is a truss structure, which is lightweight and easy to transport.

[0004] While the aforementioned gantry robot can facilitate the handling of goods, when the robot grabs and transfers goods at or near the end of the X-axis, the weight of the robot body and the goods increases the meshing force between the gears and racks on the X and Y axes, which can easily exacerbate wear between the gears and racks. At the same time, the long-term pressure on the end of the X-axis structure can also easily cause deformation in its middle, which will affect the smoothness of the coordinated movement between the structures. Utility Model Content

[0005] Therefore, it is necessary to provide a gantry robot that is easy to install and debug, addressing the problems of the lack of support between the X and Y axes of the aforementioned gantry robot, the increased wear between the structure due to the weight of the robot and the goods, and the deformation of the middle part of the X-axis structure.

[0006] A truss robot that is easy to install and debug includes: a robot body and an X-axis and a Y-axis disposed on one side thereto; A support component, wherein the support component is provided on one side of the X-axis and the Y-axis and is capable of supporting the X-axis; The support component includes a card plate disposed on one side of the X-axis and Y-axis, and the card plate has an inverted V-shaped design.

[0007] In one embodiment, a mounting plate is fixedly connected to the lower end of the Y-axis, a first driver is provided at the intersection of the Y-axis and the X-axis, a second driver for driving the robot body to move horizontally is provided on the surface of the X-axis, and an unwinder is provided below the second driver, with the lower end of the steel rope built into the unwinder fixedly connected to the robot body.

[0008] In one embodiment, the support assembly further includes a sleeve hinged to the lower end of the Y-axis, with a slide rod slidably connected inside the sleeve, and the upper end of the slide rod being movably connected to the second driver via a rotating shaft.

[0009] In one embodiment, the sleeve is hollow, and the inner wall of the sleeve has multiple slots with decreasing diameters from bottom to top.

[0010] In one embodiment, the lower end of the slide bar has a groove, and a push rod is fixedly connected to the lower inner part of the groove. The telescopic end of the push rod is fixedly connected to the locking plate, and both ends of the locking plate extend to the outside of the slide bar and engage with the locking groove.

[0011] In one embodiment, a sliding groove is provided on the upper inner side of the groove, and a slider is slidably connected in the sliding groove. The lower end of the slider is fixedly connected to the card plate.

[0012] In one embodiment, the entire card plate is made of stainless steel.

[0013] Beneficial effects 1. By setting up a support component, when the second driver moves the robot body to the end of the X-axis and grasps and transfers the goods, the slide bar that is gradually tightened in the sleeve can provide strong support for the X-axis, which can reduce the problem of wear between structures and X-axis deformation caused by the weight accumulation of the robot body and the goods. 2. By setting a slot in the sleeve and a locking block below the slide rod, the position of the slide rod can be locked after it has been stretched to a certain length in the sleeve with the second driver. This reduces the phenomenon of slide rod slippage and also improves the support effect between the X-axis and Y-axis. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the rear view structure of this utility model; Figure 3 This is a schematic diagram of the internal structure of the sleeve of this utility model; Figure 4 This is a schematic diagram of the card plate of this utility model.

[0016] Figure label: 1. Mounting plate; 2. Y-axis; 3. First driver; 4. X-axis; 5. Second driver; 6. Robotic arm body; 7. Support assembly; 701. Sleeve; 702. Slide bar; 703. Push rod; 704. Slider; 705. Clamping plate. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments 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. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0018] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this specification are for illustrative purposes only and do not represent the only possible implementation.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0020] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this specification belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0022] The following is combined with Figures 1-4 This invention describes a gantry robot that is easy to install and debug.

[0023] In one embodiment, a gantry robot that is easy to install and debug includes: a robot body 6 and an X-axis 4 and a Y-axis 2 disposed on one side thereto; Support component 7 is provided on one side of X-axis 4 and Y-axis 2 and can support X-axis 4; like Figure 3 and Figure 4 As shown, the support assembly 7 includes a clamping plate 705 disposed on one side of the X-axis 4 and Y-axis 2, the clamping plate 705 having an inverted V-shaped design; the sleeve 701 is a hollow design, and the inner wall of the sleeve 701 has a groove, with multiple grooves having progressively smaller diameters from bottom to top; the lower end of the slide rod 702 has a groove, and a push rod 703 is fixedly connected to the lower inner part of the groove, the telescopic end of the push rod 703 is fixedly connected to the clamping plate 705, and both ends of the clamping plate 705 extend outward to the outer side of the slide rod 702 and engage with the groove; a sliding groove is formed in the upper inner part of the groove, and a slider 704 is slidably connected in the sliding groove, the lower end of the slider 704 being fixedly connected to the clamping plate 705; the entire material of the clamping plate 705 is stainless steel; When the slide bar 702 is stretched in the sleeve 701, the clamping plate 705 at the lower end of the slide bar 702 will gradually tighten as the inner diameter of the sleeve 701 decreases. At the same time, the two sides of the clamping plate 705 also move and contact the slots of the sleeve 701. When the second drive 5 stops moving and controls the lower part of the robot body 6 to grab the goods, the weight will first accumulate at the end of the X-axis 4. At this time, the slide bar 702 will be subjected to force and displaced in the opposite direction into the sleeve 701. At this time, the two ends of the clamping plate 705 will be engaged in the nearest slot, which can lock the slide bar 702 and prevent the slide bar 702 from slipping and losing its support effect. When the second actuator 5 moves in the reverse direction, the push rod 703 pushes the clamping plate 705 upward. At this time, the clamping plate 705 will enter the groove with the inverted V-shaped design. As the push rod 703 continues to apply force, the two ends of the clamping plate 705 will gradually retract until it is disengaged from the groove. At this time, the slide rod 702 can move smoothly in the sleeve 701. At the same time, by using the above-mentioned card block and card slot, the slide bar 702 can be supported at different positions of the X-axis 4 in conjunction with the sleeve 701, which can effectively reduce the weight burden on the X-axis 4 and improve the support strength and service life of the X-axis 4. The support assembly 7 also includes a sleeve 701 hinged to the lower end of the Y-axis 2. A slide rod 702 is slidably connected inside the sleeve 701. The upper end of the slide rod 702 is movably connected to the second driver 5 through a rotating shaft. When the second actuator 5 moves from the surface of the X-axis 4 to the end of the X-axis 4, the slide bar 702 will move with the second actuator 5 and be stretched in the sleeve 701. Since the angle of the clamping plate 705 is consistent with the clamping groove, and the internal space of the sleeve 701 is tapered, as the slide bar 702 is stretched, the space between the end of the slide bar 702 and the inner wall of the sleeve 701 will gradually shrink until they fit together. At the same time, the tension between the slide bar 702 and the sleeve 701 will gradually increase. In this way, when the robot body 6 grasps the goods at the end of the X-axis 4, the friction between the slide bar 702 and the sleeve 701 can be used to provide strong support for the X-axis 4 in conjunction with the second actuator 5. This can help to share the weight of the goods on the X-axis 4, reduce the weight accumulation at the end of the X-axis 4, and also reduce the wear of the internal structure of the first actuator 3 and the deformation of the X-axis 4 caused by the force on the X-axis 4. A mounting plate 1 is fixedly connected to the lower end of Y-axis 2. A first driver 3 is provided at the junction of Y-axis 2 and X-axis 4. A second driver 5 is provided on the surface of X-axis 4 to drive the robot body 6 to move horizontally. An unwinder is provided below the second driver 5. The lower end of the steel rope built into the unwinder is fixedly connected to the robot body 6. First, the first driver 3 can drive the X-axis 4 to move vertically up and down on the surface of the Y-axis 2. The second driver 5 can drive the robot body 6 to move horizontally on the surface of the X-axis 4. When it moves to a certain position, the unwinder below the second driver 5 will move the robot body 6 downwards. Then the robot body 6 will open and grip the goods. The unwinder will rewind. Then the second driver 5 can move in the opposite direction on the surface of the X-axis 4 to transfer the goods. It should be noted that both X-axis 4 and Y-axis 2 are rods with teeth on their surfaces, such as... Figure 1 and Figure 2 As shown, the first driver 3 is located at the intersection of the X-axis 4 and the Y-axis 2, and a first motor is provided on the surface of the housing of the first driver 3. The output end of the first motor passes through the housing of the first driver 3 and is fixedly connected to a gear. The gear meshes with the Y-axis 2 and can control the vertical displacement of the X-axis 4. The second driver 5 is basically the same as the first driver 3 in principle. A housing is provided on the surface of the X-axis 4, and a second motor is provided on the surface of the housing. The output end of the second motor passes through the housing and is fixedly connected to a gear. The gear meshes with the teeth on the surface of the X-axis 4 and can drive the unwinder and the robot body 6 to move horizontally. The second motor of the second driver 5 is electrically connected to the push rod 703. When the second driver 5 needs to drive the robot body 6 to move in the direction of the first driver 3, the second motor first sends a signal to the push rod 703. Then the push rod 703 presses the card plate 705 into the groove and retracts its two ends from the slot. At this time, the second motor can start to operate and drive the robot body 6 to move. like Figure 1 and Figure 2 As shown, a turntable is provided at the lower end of the Y-axis 2. The turntable is fixed to the mounting plate 1 below, which can rotate the Y-axis 2 and the X-axis 4 so that the robot body 6 can transfer the goods in the Z-axis direction. Working principle: In actual use, the first driver 3 can drive the X-axis 4 to move vertically up and down on the surface of the Y-axis 2, and the second driver 5 can drive the robot body 6 to move horizontally on the surface of the X-axis 4. When it moves to a certain position, the unwinder below the second driver 5 lowers the robot body 6, and then the robot body 6 opens and grips the goods. The unwinder rewinds, and then the second driver 5 can move in the opposite direction on the surface of the X-axis 4 to transfer the goods. When the second driver 5 moves towards the end of the X-axis 4, the slide bar 702 will move with the second driver 5 and be tensioned in the sleeve 701. Since the angle of the card plate 705 is consistent with the card slot, and the internal space of the sleeve 701 is tapered, as the slide bar 702 is stretched, the card plate 705 will be gradually squeezed. At the same time, the tension between the slide bar 702 and the sleeve 701 will also gradually increase. In this way, when the robot body 6 grasps the goods at the end of the X-axis 4, the slide bar 702 and the sleeve 701 can work with the second driver 5 to provide strong support for the X-axis 4. This can share the weight of the goods with the X-axis 4, reduce the weight accumulation at the end of the X-axis 4, and also reduce the wear of the internal structure of the first driver 3 and the deformation of the X-axis 4 caused by the force on the X-axis 4.

[0024] It should be noted that the motor, unwinder, and push rod 703 mentioned above are all components with relatively mature existing technology. Specific models can be selected according to actual needs. At the same time, the motor, unwinder, and push rod 703 are all powered by built-in power supplies. The specific operating principles and usage steps of the motor, unwinder, and push rod 703 can be found on the webpage, and will not be elaborated here.

[0025] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0026] The above-described embodiments are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A gantry robot that is easy to install and debug, characterized in that, include: The robotic arm body (6) and the X-axis (4) and Y-axis (2) set on one side of it; Support component (7), which is provided on one side of the X-axis (4) and the Y-axis (2) and is capable of supporting the X-axis (4); The support component (7) includes a card plate (705) disposed on one side of the X-axis (4) and Y-axis (2), the card plate (705) having an inverted V-shaped design.

2. The gantry robot arm that is easy to install and debug according to claim 1, characterized in that, The lower end of the Y-axis (2) is fixedly connected to the mounting plate (1). A first driver (3) is provided at the junction of the Y-axis (2) and the X-axis (4). A second driver (5) is provided on the surface of the X-axis (4) for driving the robot body (6) to move horizontally. A unwinder is provided below the second driver (5). The lower end of the steel rope built into the unwinder is fixedly connected to the robot body (6).

3. The gantry robot arm that is easy to install and debug according to claim 1, characterized in that, The support assembly (7) also includes a sleeve (701) hinged to the lower end of the Y-axis (2), and a slide rod (702) is slidably connected inside the sleeve (701). The upper end of the slide rod (702) is movably connected to the second driver (5) through a rotating shaft.

4. The gantry robot arm that is easy to install and debug according to claim 3, characterized in that, The sleeve (701) is hollow, and the inner wall of the sleeve (701) is provided with a groove. The groove is provided in multiple ways and the diameter decreases from bottom to top.

5. The gantry robot arm that is easy to install and debug according to claim 3, characterized in that, The lower end of the slide rod (702) is provided with a groove, and a push rod (703) is fixedly connected to the lower inner part of the groove. The telescopic end of the push rod (703) is fixedly connected to the card plate (705). Both ends of the card plate (705) extend to the outside of the slide rod (702) and engage with the card groove.

6. The gantry robot arm that is easy to install and debug according to claim 5, characterized in that, A sliding groove is provided on the upper inner side of the groove, and a slider (704) is slidably connected in the sliding groove. The lower end of the slider (704) is fixedly connected to the card plate (705).

7. The gantry robot arm that is easy to install and debug according to claim 1, characterized in that, The entire material of the card plate (705) is stainless steel.

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