CN110861067A - Modularization truss robot - Google Patents
Modularization truss robot Download PDFInfo
- Publication number
- CN110861067A CN110861067A CN201810985551.6A CN201810985551A CN110861067A CN 110861067 A CN110861067 A CN 110861067A CN 201810985551 A CN201810985551 A CN 201810985551A CN 110861067 A CN110861067 A CN 110861067A
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- Prior art keywords
- axis
- axle
- truss robot
- plate
- rack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of logistics transportation, and particularly relates to a modular truss robot. Including the stand subassembly, the X axle crossbeam, Z axle motor board, the roof beam is erected to the Z axle, X axle actuating mechanism and Z axle actuating mechanism, wherein the X axle crossbeam sets up on the stand subassembly, Z axle motor board and X axle crossbeam sliding connection, the roof beam is erected to the Z axle, X axle actuating mechanism and Z axle actuating mechanism all set up on Z axle motor board, and the Z axle erects the roof beam and can follow the Z axle and remove, X axle actuating mechanism is used for driving Z axle motor board and slides along the X axle crossbeam, Z axle actuating mechanism is used for driving the Z axle and erects the roof beam and slide along the Z to. The invention realizes the modular design and the modular production of the truss robot, reduces the design difficulty of the truss robot, can purchase outsourcing products in batches, reduces the cost, reduces the purchase period, improves the product quality and reduces the supply period.
Description
Technical Field
The invention belongs to the technical field of logistics transportation, and particularly relates to a modular truss robot.
Background
Domestic current truss robot equipment has received use place, equipment and has put, the product variety is various, factor limitations such as automatic action complicacy, leads to truss robot most all to be nonstandard design, and the design degree of difficulty is big, the cycle length. The purchase period of the purchased products is long and the cost is high. Non-standard products are difficult to form batch production, and the quality of the products is uneven. Finally, the product supply period is very long, and the market demand of high-speed expansion at the present stage cannot be met.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a modular truss robot, so as to implement modular design and modular production of the truss robot, and reduce the design difficulty of the truss robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a modularization truss robot, including the stand subassembly, the X axle crossbeam, Z axle motor board, the roof beam is erected to the Z axle, X axle actuating mechanism and Z axle actuating mechanism, wherein the X axle crossbeam sets up on the stand subassembly, Z axle motor board and X axle crossbeam sliding connection, the roof beam is erected to the Z axle, X axle actuating mechanism and Z axle actuating mechanism all set up on Z axle motor board, and the Z axle erects the roof beam and can follow the Z axle and remove, X axle actuating mechanism is used for driving Z axle motor board and slides along the X axle crossbeam, Z axle actuating mechanism is used for driving the Z axle and erects the roof beam and slide along the Z to.
The upper end of the stand column assembly is provided with two opposite grooves along the X direction, one side of the X-axis beam is provided with a side plate, and the upper end and the lower end of the side plate are connected with the two grooves on the stand column assembly in an inserting mode and fixedly connected through bolts.
The upper end of the upright post component is provided with a cushion block, the outer side of the cushion block is detachably connected with a clamping block, and the groove is formed between the cushion block and the clamping block.
The X-axis beam is formed by sequentially connecting a plurality of standard beam modules.
And two adjacent standard beam modules are connected through beam connecting back plates and beam connecting side plates which are respectively positioned on two sides.
And a Z-axis track is arranged on the Z-axis motor plate along the Z-axis direction, the Z-axis vertical beam is in sliding connection with the Z-axis track, and an anti-falling mechanism for locking the Z-axis vertical beam is arranged on the Z-axis motor plate.
The Z-axis driving mechanism comprises a Z-axis driving motor, a Z-axis gear and a Z-axis rack, wherein the Z-axis rack is arranged on the Z-axis vertical beam, the Z-axis driving motor is arranged on the Z-axis motor plate, and the Z-axis gear is arranged on an output shaft of the Z-axis driving motor and is meshed with the Z-axis rack.
Prevent weighing down the mechanism including locking rack, adjusting bolt, fastening bolt and fixed plate, wherein the fixed plate with Z axle motor board is connected, the locking rack set up in the fixed plate with between the Z axle rack, adjusting bolt and fastening bolt connect respectively the both sides of fixed plate, fastening bolt is used for fixing the locking rack, adjusting bolt is used for the adjustment the locking rack with interval between the Z axle rack, through the locking rack with the meshing of Z axle rack realizes the locking of Z axle vertical beam.
A rectangular guide rail is arranged on the X-axis beam along the X axis, and the Z-axis motor plate travels on the rectangular guide rail through the roller assemblies.
The roller assembly comprises a mounting plate, and a main bearing wheel, an auxiliary bearing wheel and an adjusting wheel which are rotatably arranged on the mounting plate, wherein the main bearing wheel is positioned above the rectangular guide rail, and the auxiliary bearing wheel and the adjusting wheel are respectively positioned at two sides of the rectangular guide rail.
The invention has the advantages and beneficial effects that:
1. the invention is composed of a set of X-axis cross beams and a set of Z-axis vertical beams, the motion mechanism adopts a linear motion pair, and can perform synchronous, differential and complementary motions, and the whole framework has good rigidity and can run very stably.
2. The invention can be used for automatic loading and unloading transportation of workpieces in the machining industry and can also be applied to automatic logistics transportation of workpieces in the whole production line. The linear motion in the horizontal X direction and the vertical Z direction is mainly adopted, so that workpieces can be loaded and unloaded within the range of the equipment, the working efficiency is greatly improved, the labor intensity of workers is reduced, and the safety of the workers is guaranteed.
3. The X-axis beam and the support upright column are connected at the joint in a clamping manner by the clamping blocks, and the support upright column can be connected at any position of the X-axis beam, so that the adjustment is convenient.
4. The X-axis beam is in a modular design and is assembled by a plurality of beam modules with standard lengths, so that the problems that the lengths of the X-axis beams are different due to different strokes, products are difficult to process, and the quality is difficult to control are solved.
5. The transmission mechanism on the X-axis beam adopts a mode of a rectangular guide rail and a bearing, and the outer ring of the bearing rolls on the surface of the rectangular guide rail, so that the linear motion of the equipment is realized.
6. This send adopts a set of rack latch mechanism, can pin Z axle vertical beam under the condition of disconnection drive, prevents that Z axle vertical beam from falling.
7. The invention has reliable structure, convenient installation and stable operation, is suitable for large-scale popularization in the industry, can be used for a long time after being installed once, can replace manual labor in the production process, improves the unmanned and automatic level of production, reduces the production operation management cost of enterprises and effectively improves the product competitiveness.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is a right side view of FIG. 1;
FIG. 4 is an enlarged view of FIG. 3 at B;
FIG. 5 is a schematic view of the construction of the idler assembly of the present invention;
FIG. 6 is a schematic view of the structure of the joint of the modular beam of the present invention;
FIG. 7 is a schematic structural view of the fall arrest mechanism of the present invention.
In the figure: the device comprises a vertical column assembly, an X-axis cross beam, a Z-axis motor plate, a Z-axis vertical beam, a Z-axis driving mechanism, an X-axis driving mechanism, a Z-axis driving mechanism, a falling prevention mechanism, a cushion block, a clamping block, a roller assembly, a rectangular guide rail, a main bearing wheel, a secondary bearing wheel, an adjusting wheel, a first standard cross beam module, a beam connecting back plate, a beam connecting side plate, a second standard cross beam module, a locking rack, a Z-axis rack, an adjusting bolt, a fastening bolt, a fixing plate and a clamping block, wherein the vertical beam is 1, the X-axis cross beam is 2, the Z-axis motor plate is 3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the modular truss robot provided by the invention comprises an upright component 1, an X-axis cross beam 2, a Z-axis motor plate 3, a Z-axis vertical beam 4, an X-axis driving mechanism 5 and a Z-axis driving mechanism 6, wherein the X-axis cross beam 2 is arranged on the upright component 1, the Z-axis motor plate 3 is connected with the X-axis cross beam 2 in a sliding manner, the Z-axis vertical beam 4, the X-axis driving mechanism 5 and the Z-axis driving mechanism 6 are all arranged on the Z-axis motor plate 3, the Z-axis vertical beam 4 can move along the Z-axis, the X-axis driving mechanism 5 is used for driving the Z-axis motor plate 3 to slide along the X-axis cross beam 2, and the Z-axis driving mechanism 6 is used for driving the Z-axis vertical beam 4 to slide.
The upper end of the stand column component 1 is provided with two opposite grooves along the X direction, one side of the X-axis beam 2 is provided with a side plate, and the upper end and the lower end of the side plate are connected with the two grooves on the stand column component 1 in an inserting mode and are fixedly connected through bolts.
As shown in fig. 3-4, the upper end of the pillar assembly 1 is provided with a cushion block 8, the outer side of the cushion block 8 is detachably connected with a clamping block 9, and a groove is formed between the cushion block 8 and the clamping block 9. The side plates of the X-axis beam 2 are inserted into the X-axis beam 2, and the cushion blocks 8 and the clamping blocks 9 are connected together through a plurality of fastening bolts, so that the X-axis beam 2 is clamped and fixed. Through the rectangle recess between stand subassembly 1 and the X axle crossbeam 2, can change the relative position of the two wantonly along X axle direction for adapt to different installation sites, even equipment fixed use also can carry out position adjustment many times after a period in order to adapt to site environment's change.
As shown in fig. 6, the X-axis beam 2 is designed in a modular manner and is formed by connecting a plurality of standard beam modules in sequence. Two adjacent standard beam modules are connected through beam connecting back plates 16 and beam connecting side plates 17 which are respectively positioned at two sides.
In the embodiment of the invention, the length of the standard beam module is 5m, 2m and 1m, and the standard beam module can be combined into a beam module with any length. As shown in fig. 6, the first standard beam module 15 and the second standard beam module 18 are connected through the beam connecting back plate 16 and the beam connecting side plate 17, and the connecting surface of the joint of each beam module is a finish machining surface, so that the use requirement of the equipment can be met.
A Z-axis track is arranged on the Z-axis motor plate 3 along the Z-axis direction, the Z-axis vertical beam 4 is in sliding connection with the Z-axis track, and an anti-falling mechanism 7 used for locking the Z-axis vertical beam 4 is arranged on the Z-axis motor plate 3.
As shown in fig. 2 and 7, the Z-axis driving mechanism 6 includes a Z-axis driving motor, a Z-axis gear and a Z-axis rack 20, wherein the Z-axis rack 20 is disposed on the Z-axis vertical beam 4, the Z-axis driving motor is disposed on the Z-axis motor plate 3, and the Z-axis gear is disposed on an output shaft of the Z-axis driving motor and engaged with the Z-axis rack 20.
The anti-falling mechanism 7 comprises a locking rack 19, an adjusting bolt 21, a fastening bolt 22 and a fixing plate 23, wherein the fixing plate 23 is connected with the Z-axis motor plate 3, the locking rack 19 is arranged between the fixing plate 23 and the Z-axis rack 20, the adjusting bolt 21 and the fastening bolt 22 are respectively connected to two sides of the fixing plate 23, the fastening bolt 22 is used for fixing the locking rack 19, the adjusting bolt 21 is used for adjusting the distance between the locking rack 19 and the Z-axis rack 20, and the locking of the Z-axis vertical beam 4 is realized through the meshing of the locking rack 19 and the Z-axis rack 20.
When the anti-falling mechanism 7 needs to be used, the locking bolt 22 is loosened, the adjusting bolt 21 is tightened, the locking rack 19 is meshed with the Z-axis rack 20 on the Z-axis vertical beam 4, and then the locking bolt 22 is tightened, so that the position of the locking rack 19 is fixed. Thus, the locking function is completed, and the Z-axis vertical beam 4 cannot fall to hurt people.
As shown in fig. 4, a rectangular guide rail 11 is arranged on the X-axis beam along the X-axis, the Z-axis motor plate 3 travels on the rectangular guide rail 11 through a roller assembly 10, and the roller assembly 10 is installed above the rectangular guide rail 11.
As shown in fig. 5, the roller assembly 10 includes a mounting plate, and a main bearing wheel 12, an auxiliary bearing wheel 13 and an adjusting wheel 14 rotatably disposed on the mounting plate, wherein the main bearing wheel 12 is located above the rectangular guide rail 11, and the auxiliary bearing wheel 13 and the adjusting wheel 14 are respectively located at two sides of the rectangular guide rail 11. The main bearing wheel 12 is in contact with the upper surface of the rectangular guide rail 11 to bear all the gravity of the Z-axis motor plate 3 and the Z-axis vertical beam 4. The auxiliary bearing wheel 13 and the adjusting wheel 14 are respectively contacted with two side surfaces of the rectangular guide rail 11 and are used for bearing the side tilting force of the Z-axis motor plate 3 and the Z-axis vertical beam 4.
The stand subassembly 1 mountable is on the subaerial of factory construction region, and Z axle motor board 3 passes through X axle actuating mechanism 5 and moves along the X axial, and Z axle motor board 3 drives Z axle and erects roof beam 4 and move along the X axial. The Z-axis vertical beam 4 is moved in the Z-axis direction by the drive of the Z-axis drive mechanism 6. The anti-falling mechanism 7 is arranged on the Z-axis motor plate 3, and when the equipment stops running for a long time or is maintained, the anti-falling mechanism 7 can be used for locking the Z-axis vertical beam 4 to prevent the Z-axis vertical beam 4 from falling to hurt people.
The modular truss robot provided by the invention realizes modular design and modular production of the truss robot, reduces the design difficulty of the truss robot, can purchase outsourced products in batches, reduces the cost, reduces the purchase period, improves the product quality and reduces the supply period.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a modularization truss robot, a serial communication port, including stand subassembly (1), X axle crossbeam (2), Z axle motor board (3), Z axle erects roof beam (4), X axle actuating mechanism (5) and Z axle actuating mechanism (6), wherein X axle crossbeam (2) set up on stand subassembly (1), Z axle motor board (3) and X axle crossbeam (2) sliding connection, Z axle erects roof beam (4), X axle actuating mechanism (5) and Z axle actuating mechanism (6) all set up on Z axle motor board (3), and Z axle erects roof beam (4) and can follow the Z axle and remove, X axle actuating mechanism (5) are used for driving Z axle motor board (3) and slide along X axle crossbeam (2), Z axle actuating mechanism (6) are used for driving Z axle and erect roof beam (4) and slide along the Z to.
2. The modular truss robot as claimed in claim 1, wherein the upper end of the column assembly (1) is provided with two opposite grooves along the X direction, one side of the X-axis beam (2) is provided with a side plate, and the upper end and the lower end of the side plate are inserted into the two grooves on the column assembly (1) and fixedly connected through bolts.
3. The modular truss robot as claimed in claim 2, wherein a cushion block (8) is provided at the upper end of the upright post assembly (1), a clamping block (9) is detachably connected to the outer side of the cushion block (8), and the groove is formed between the cushion block (8) and the clamping block (9).
4. The modular truss robot as claimed in claim 1, wherein the X-axis beam (2) is formed by connecting a plurality of standard beam modules in sequence.
5. The modular truss robot as claimed in claim 4, wherein adjacent two of the standard beam modules are connected by a beam connecting back plate (16) and a beam connecting side plate (17) respectively located at two sides.
6. The modular truss robot as claimed in claim 1, wherein a Z-axis track is arranged on the Z-axis motor plate (3) along the Z-axis direction, the Z-axis vertical beam (4) is connected with the Z-axis track in a sliding manner, and a falling prevention mechanism (7) for locking the Z-axis vertical beam (4) is arranged on the Z-axis motor plate (3).
7. The modular truss robot as claimed in claim 6, wherein the Z-axis driving mechanism (6) comprises a Z-axis driving motor, a Z-axis gear and a Z-axis rack (20), wherein the Z-axis rack (20) is disposed on the Z-axis vertical beam (4), the Z-axis driving motor is disposed on the Z-axis motor plate (3), and the Z-axis gear is disposed on an output shaft of the Z-axis driving motor and engaged with the Z-axis rack (20).
8. The modular truss robot as claimed in claim 7, wherein the fall protection mechanism (7) comprises a locking rack (19), an adjusting bolt (21), a fastening bolt (22) and a fixing plate (23), wherein the fixed plate (23) is connected with the Z-axis motor plate (3), the locking rack (19) is arranged between the fixed plate (23) and the Z-axis rack (20), the adjusting bolt (21) and the fastening bolt (22) are respectively connected to two sides of the fixing plate (23), the fastening bolt (22) is used for fixing the locking rack (19), the adjusting bolt (21) is used for adjusting the distance between the locking rack (19) and the Z-axis rack (20), the locking of the Z-axis vertical beam (4) is realized by the meshing of the locking rack (19) and the Z-axis rack (20).
9. The modular truss robot as claimed in claim 1, wherein a rectangular guide rail (11) is provided on the X-axis beam along the X-axis, and the Z-axis motor plate (3) runs on the rectangular guide rail (11) through a roller assembly (10).
10. The modular truss robot as claimed in claim 9, wherein the roller assembly (10) comprises a mounting plate, and a main bearing wheel (12), a sub bearing wheel (13) and an adjusting wheel (14) rotatably disposed on the mounting plate, wherein the main bearing wheel (12) is located above the rectangular guide rail (11), and the sub bearing wheel (13) and the adjusting wheel (14) are respectively located at two sides of the rectangular guide rail (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810985551.6A CN110861067A (en) | 2018-08-28 | 2018-08-28 | Modularization truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810985551.6A CN110861067A (en) | 2018-08-28 | 2018-08-28 | Modularization truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110861067A true CN110861067A (en) | 2020-03-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810985551.6A Withdrawn CN110861067A (en) | 2018-08-28 | 2018-08-28 | Modularization truss robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN110861067A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894777A (en) * | 2021-03-05 | 2021-06-04 | 云南利恒优联智能设备有限公司 | Truss robot with multi-degree-of-freedom stable movement function |
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| CN108340929A (en) * | 2018-02-24 | 2018-07-31 | 北京林业大学 | The sleeping terraced double-driving forestry mountainous region gyrocar track of one kind |
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| CN206084557U (en) * | 2016-10-25 | 2017-04-12 | 天津信熙缘科技有限公司 | Machine tool feeding and discharging system adopting truss manipulator |
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Application publication date: 20200306 |
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