CN217097763U - Heavy load truss and truss robot - Google Patents
Heavy load truss and truss robot Download PDFInfo
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- CN217097763U CN217097763U CN202220714324.1U CN202220714324U CN217097763U CN 217097763 U CN217097763 U CN 217097763U CN 202220714324 U CN202220714324 U CN 202220714324U CN 217097763 U CN217097763 U CN 217097763U
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Abstract
The utility model relates to a truss robot equipment technical field provides a heavy load truss and truss robot. The heavy load truss comprises an X-axis cross beam, a Y-axis cross beam and a Z-axis vertical beam, wherein the X-axis cross beam is arranged at each of two ends of the Y-axis cross beam and can slide along the length direction of the X-axis cross beam, and the Z-axis vertical beam is connected with the Y-axis cross beam and can slide along the length direction of the Y-axis cross beam; one side of the Y-axis beam along the Y-axis direction is provided with a support guide rail arranged along the Y-axis direction; one side of the Z-axis vertical beam close to the Y-axis cross beam is provided with a Z-axis sliding plate, the Z-axis sliding plate is provided with a supporting sliding block in sliding fit with the supporting guide rail, and the supporting guide rail is used for supporting the Z-axis sliding plate along the Z-axis direction. The utility model discloses a set up the support guide rail, realize erecting the support of roof beam along Z axle direction to the Z axle, and then offset the operation in-process because the eccentric moment of eccentric production, improved the bearing capacity and the stability of equipment greatly.
Description
Technical Field
The utility model relates to a truss robot equipment technical field especially relates to a heavy load truss and truss robot.
Background
The truss robot takes Cartesian rectangular coordinate system linear motion as a main part, takes multi-freedom-degree rotating shaft motion as an auxiliary part, can be automatically controlled, can realize a multi-purpose robot with repeated programming, integrates the functions of grabbing, carrying, feeding and the like, can replace manual heavy labor to realize the mechanization and automation of production, and improves the production efficiency. Under the development trend of intelligent manufacturing, the truss robot has become one of the indispensable automation devices of the intelligent factory.
With the application development of the truss robot in the heavy industry, the requirement on the truss robot for heavy load is more and more increased. At present, a Z axis of a heavy-load truss robot is generally in a cantilever type structure, namely a Z axis vertical beam is arranged on one side of a Y axis cross beam, and in the movement process of the truss robot, the Z axis vertical beam is always in an eccentric state and can generate eccentric force. When the material load is larger or the load eccentricity is larger, the transmission parts on the Y-axis beam and the Y-axis beam are deformed greatly, the motion precision is influenced, and even the Z-axis side overturn and the like occur.
At present, the truss robot is usually in a single-beam cantilever structure, that is, a Z-axis vertical beam is installed on one side of a Y-axis cross beam, and the Z-axis direction is usually driven by a single motor, that is, the lifting of a load is provided with a driving force by a motor, and the motor is located on one side of the Z-axis vertical beam. The problem that single-drive brought is that the unilateral bearing of the vertical beam of Z axle direction is great, and the bearing capacity of equipment is lower simultaneously. The existing main mode for improving the bearing capacity of the truss robot is double-motor driving, motors are respectively located on two sides of a Z-axis vertical beam, and the mode improves the bearing capacity of equipment to a certain extent.
However, the dual-motor driving structure only improves the bearing capacity of the driving motor, and does not improve the bearing capacity of the structural member, the bearing capacity of the truss robot is determined by the driving motor and the structural member together, the bearing capacity of the driving motor is simply improved without changing the structural member, and the improvement on the bearing capacity of the whole equipment is limited; the connection of the Z-axis vertical beam and the Y-axis cross beam still belongs to a single-beam cantilever structure, and the Y-direction transmission assembly is greatly damaged in the transmission process, so that equipment is unstable, the precision of the equipment is influenced, and even the rollover risk exists under high load.
SUMMERY OF THE UTILITY MODEL
The utility model provides a heavy load truss and truss robot for when solving among the prior art operation, the Z axle is erected the roof beam and is in eccentric state, and eccentric force leads to the defect that the Z axle was turned over to the side, realizes offsetting the eccentric force of operation in-process, improves holistic bearing capacity and stability
The utility model provides a heavy load truss, which comprises an X-axis beam, a Y-axis beam and a Z-axis vertical beam, wherein the X-axis beam is respectively arranged at two ends of the Y-axis beam and can slide along the length direction of the X-axis beam, and the Z-axis vertical beam is connected with the Y-axis beam and can slide along the length direction of the Y-axis beam;
one side of the Y-axis beam along the Y-axis direction is provided with a support guide rail arranged along the Y-axis direction;
one side of the Z-axis vertical beam, which is close to the Y-axis cross beam, is provided with a Z-axis sliding plate, the Z-axis sliding plate is provided with a supporting sliding block in sliding fit with the supporting guide rail, and the supporting guide rail is used for supporting the Z-axis sliding plate along the Z-axis direction.
According to the heavy load truss provided by the utility model, the Y-axis beam comprises a Y-axis main beam and a Y-axis auxiliary beam, the Y-axis main beam is provided with a first guide rail along the Z-axis direction and near one side of the Z-axis sliding plate, and the Z-axis sliding plate is provided with a first slide block which is in sliding fit with the first guide rail;
the Y-axis auxiliary cross beam and the first guide rail are arranged on the same side of the Y-axis main cross beam, the supporting guide rail is arranged on one side of the Y-axis auxiliary cross beam in the Y-axis direction, and the Z-axis sliding plate is located above the Y-axis auxiliary cross beam.
According to the utility model provides a pair of heavy load truss, Y axle crossbeam still includes the reinforcing plate, the reinforcing plate is L shape, and the cladding in Y axle main beam deviates from one side that the roof beam was erected to the Z axle with the vice crossbeam of Y axle deviates from one side of Z axle slide.
According to the utility model provides a pair of heavy load truss, Z axle slide is L shape, Z axle slide includes the first slide that sets up along Z axle direction and the second slide that sets up along Y axle direction, first slider is located first slide is close to one side of Y axle main beam, support slider locates the second slide is close to one side of Y axle auxiliary beam.
According to the utility model provides a pair of heavy load truss, first slide deviates from one side of Y axle main beam is equipped with first motor, Y axle main beam is close to one side that the roof beam was erected to the Z axle is equipped with first rack, the output of first motor passes first slide to be equipped with first gear, first gear with first rack toothing connects.
According to the utility model provides a pair of heavy load truss, first slide is close to one side of Y axle main beam is equipped with the second motor, Z axle erects the roof beam and is equipped with the second rack that sets up along Z axle direction, the output of second motor passes first slide to be equipped with the second gear, the second gear with the meshing of second rack is connected.
According to the utility model provides a pair of heavy load truss, first slide deviates from one side of Y axle main beam is equipped with the second slider, Z axle erects the roof beam and is equipped with the second guide rail that sets up along Z axle direction, the second slider with second guide rail slidable adaptation.
According to the utility model provides a pair of heavy load truss, the both ends of Y axle crossbeam are equipped with Y axle slide respectively, the top side of X axle crossbeam is equipped with the third guide rail, Y axle slide is equipped with the third slider, the third slider with third guide rail slidable adaptation.
According to the utility model provides a pair of heavy load truss, Z axle direction is followed to the X axle crossbeam, and is close to one side of Y axle slide is equipped with the third rack, Y axle slide is equipped with the third motor, the output of third motor is equipped with the third gear, the third gear with third rack toothing.
The utility model also provides a truss robot, including driving piece, clamping jaw and as above arbitrary heavy load truss, the driving piece is located the Z axle erects on the roof beam, the clamping jaw is located the bottom of roof beam is erected to the Z axle, the output of driving piece with the clamping jaw is connected, is used for the drive the clamping jaw snatchs the work piece.
The utility model provides a heavy load truss and truss robot, including X axle crossbeam, Y axle crossbeam and Z axle vertical beam, the both ends of Y axle crossbeam are equipped with the X axle crossbeam respectively, and can slide along the length direction of X axle crossbeam, the Z axle vertical beam with the Y axle crossbeam is connected, and can slide along the length direction of Y axle crossbeam; one side of the Y-axis beam along the Y-axis direction is provided with a support guide rail arranged along the Y-axis direction; one side that Z axle erects the roof beam and is close to Y axle crossbeam is equipped with the Z axle slide, the Z axle slide be equipped with the support slide of support guide sliding adaptation, wherein, support guide is used for supporting along Z axle direction the Z axle slide through setting up support guide, realizes erecting the support of roof beam along Z axle direction to the Z axle, and then offsets the eccentric moment that the operation in-process produced because it is eccentric, has improved the bearing capacity and the stability of equipment greatly.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a heavy load truss provided by the present invention;
fig. 2 is a top view of the heavy duty truss provided by the present invention;
fig. 3 is a schematic view of an assembly structure between a Y-axis beam and a Z-axis vertical beam in the heavy load truss provided by the present invention;
fig. 4 is a side view of an assembly structure between a Y-axis beam and a Z-axis vertical beam in the heavy load truss provided by the present invention;
reference numerals:
100. a column; 110. an oblique beam; 200. an X-axis beam; 210. a third guide rail; 220. a third rack; 300. a Y-axis beam; 310. a Y-axis slide plate; 311. a third slider; 320. a Y-axis main beam; 321. a first guide rail; 322. a first rack; 330. a Y-axis auxiliary beam; 331. supporting the guide rail; 340. a reinforcing plate; 400. a Z-axis vertical beam; 410. a Z-axis slide plate; 411. a first motor; 412. a second motor; 413. a first slider; 414. a support slide block; 415. a second slider; 420. a second guide rail; 430. a second rack; 500. a clamping jaw.
Detailed Description
To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be explained that the X-axis, the Y-axis and the Z-axis related to the present invention are the X-axis, the Y-axis and the Z-axis in the rectangular spatial coordinate system.
The following describes a heavy load truss of the present invention with reference to fig. 1 to 4, which includes an X-axis beam 200, a Y-axis beam 300 and a Z-axis vertical beam 400, wherein the X-axis beam 200 is respectively disposed at two ends of the Y-axis beam 300 and can slide along the length direction of the X-axis beam 200, and the Z-axis vertical beam 400 is connected to the Y-axis beam 300 and can slide along the length direction of the Y-axis beam 300;
a support guide rail 331 arranged along the Y-axis direction is provided at one side of the Y-axis beam 300 along the Y-axis direction;
a Z-axis sliding plate 410 is arranged on one side of the Z-axis vertical beam 400 close to the Y-axis cross beam 300, the Z-axis sliding plate 410 is provided with a supporting slide block 414 in sliding fit with the supporting guide rail 331, wherein the supporting guide rail 331 is used for supporting the Z-axis sliding plate 410 along the Z-axis direction. It is understood that the truss is integrally composed of the columns 100 arranged in the Z-axis direction, the X-axis beams 200 arranged in the X-axis direction, the Y-axis beams 300 arranged in the Y-axis direction, and the Z-axis vertical beams 400 arranged in the Z-axis direction. The number of the columns 100 is four, the number of the X-axis beams 200 is two, and the number of the Y-axis beams 300 is one. The two ends of the X-axis beam 200 are respectively provided with one upright column 100 to realize stable support of the X-axis beam 200, and meanwhile, in order to enhance structural strength, an inclined beam 110 is arranged between the upright columns 100 and the X-axis beam 200, and the inclined beam 110 is positioned at the bottom side of the X-axis beam 200 to form a stable triangle, so that structural stability is improved. Two ends of the Y-axis beam 300 are slidably connected to the X-axis beam 200 disposed at the corresponding ends, respectively, so that the Y-axis beam 300 can slide on the X-axis beam 200 along the X-axis direction, and further the position of the Y-axis beam 300 in the X-axis direction can be adjusted. The Z-axis vertical beam 400 is slidably connected to the Y-axis cross beam 300, so that the Z-axis vertical beam 400 moves in the Y-axis direction, and the position of the Z-axis vertical beam 400 in the Y-axis direction is adjusted.
Further, the Y-axis beam 300 is provided with a first guide rail 321 arranged along the Y-axis direction on a side close to the Z-axis vertical beam 400 along the Z-axis direction. In this embodiment, two first guide rails 321 are disposed, and the two first guide rails 321 are disposed on the same side of the Y-axis beam 300 and are parallel to each other.
The top side of the Y-axis beam 300 along the Y-axis direction is provided with a support rail 331 arranged along the Y-axis direction, and in this embodiment, the support rail 331 is arranged in parallel with the first rail 321.
Further, a Z-axis sliding plate 410 is arranged on one side of the Z-axis vertical beam 400 close to the Y-axis cross beam 300, and the Z-axis sliding plate 410 realizes slidable connection between the Z-axis vertical beam 400 and the Y-axis cross beam 300. The Z-axis sliding plate 410 is provided with a first sliding block 413 in sliding fit with the first guide rail 321 and a supporting sliding block 414 in sliding fit with the supporting guide rail 331, the first sliding block 413 is located at one side of the Z-axis sliding plate 410, which is close to the Y-axis beam 300, along the Z-axis direction and is assembled on the first guide rail 321, in this embodiment, the first guide rail 321 corresponds to the plurality of first sliding blocks 413, so that the movement stability in the Y-axis direction is ensured, and derailment is prevented. The supporting sliding block 414 is located at the bottom side of the Z-axis sliding plate 410 and assembled on the supporting guide rail 331, the supporting guide rail 331 guides the supporting sliding block 414 in a sliding manner, and meanwhile, the supporting guide rail 331 can provide supporting force for the Z-axis sliding plate 410 along the Z-axis direction, so that eccentric moment generated by eccentricity in the operation process is offset, and the bearing capacity and stability of the equipment are greatly improved.
The support rail 331 corresponds to the plurality of support sliders 414, so that the stability of movement is ensured, and the uniformity of the support force is improved.
According to the heavy load truss provided by the utility model, the Y-axis beam 300 comprises a Y-axis main beam 320 and a Y-axis auxiliary beam 330, and the first guide rail 321 is arranged on the Y-axis main beam 320 along the Z-axis direction and is close to one side of the Z-axis sliding plate 410;
the Y-axis auxiliary beam 330 is arranged on one side of the Y-axis main beam 320 along the Z-axis direction and close to the Z-axis sliding plate 410, the supporting guide rail 331 is arranged on the top side of the Y-axis auxiliary beam 330 along the Y-axis direction, and the Z-axis sliding plate 410 is arranged above the Y-axis auxiliary beam 330. It is understood that the Y-axis beam 300 has an L-shaped structure, and specifically includes a Y-axis main beam 320 and a Y-axis sub beam 330, both disposed along the Y-axis direction. The first guide rail 321 is disposed on the Y-axis main beam 320 along the Z-axis direction and near one side of the Z-axis sliding plate 410, that is, the first guide rail 321 is disposed on a vertical side of the Y-axis main beam 320.
Further, the Y-axis auxiliary beam 330 is disposed at the lower end of the Y-axis main beam 320 near the Z-axis vertical beam 400, and the support rail 331 is disposed at the top side of the Y-axis auxiliary beam 330 along the Y-axis direction, in this embodiment, the bottom side of the Z-axis sliding plate 410 is supported and disposed at the top side of the Y-axis auxiliary beam 330, so that the Y-axis auxiliary beam 330 provides a stable support force in the Z-axis direction for the Z-axis sliding plate 410.
According to the utility model provides a pair of heavy load truss, Y axle crossbeam 300 still includes reinforcing plate 340, and reinforcing plate 340 is L shape, and the cladding deviates from one side that Z axle erected roof beam 400 and one side that Y axle auxiliary beam 330 deviates from Z axle slide 410 in Y axle main beam 320. It can be understood that, in order to reinforce the structural strength of the Y-axis beam 300, that is, to improve the connection strength between the Y-axis main beam 320 and the Y-axis sub beam 330, and to improve the supporting force of the Y-axis sub beam 330 to the Z-axis skid 410 in the vertical direction, the reinforcing plate 340 having an L shape is provided. Specifically, the reinforcing plate 340 covers a side of the Y-axis main beam 320 facing away from the Z-axis vertical beam 400 along the Z-axis direction and a side of the Y-axis auxiliary beam 330 facing away from the Z-axis sliding plate 410 along the Y-axis direction, that is, a bottom side of the Y-axis auxiliary beam 330.
According to the utility model provides a pair of heavy load truss, Z axle slide 410 are L shape, and Z axle slide 410 includes the first slide that sets up along Z axle direction and the second slide that sets up along Y axle direction, and first slide is located to first slider 413 one side that is close to Y axle main beam 320, and support slider 414 locates one side that the second slide is close to Y axle auxiliary beam 330. It will be appreciated that the Z-axis slide 410 is L-shaped and is formed by a first slide that is parallel to the Y-axis main beam 320 and is disposed along the Z-axis direction and a second slide that is parallel to the Y-axis sub beam 330 and is disposed along the Y-axis direction.
Further, the first slider 413 is disposed on a side of the first sliding plate close to the Y-axis main beam 320, that is, a vertical side of the first sliding plate, and is slidably connected to the first guide rail 321. The supporting slider 414 is disposed on a side of the second sliding plate close to the Y-axis secondary beam 330, that is, a bottom side of the second sliding plate, so as to realize sliding fit of the supporting slider 414 with the supporting guide rail 331 located on the top side of the Y-axis secondary beam 330. The first sliding plate and the second sliding plate are integrally formed, so that the overall structural strength of the Z-axis sliding plate 410 is ensured.
In this embodiment, the Z-axis sliding plate 410 and the Y-axis beam 300 are both provided with L-shaped structures.
In one embodiment, the Y-axis beam 300 is configured as an L-shaped structure, the Z-axis sliding plate 410 includes a first sliding plate, a first sliding block 413 is disposed on a vertical side of the first sliding plate, and a supporting sliding block 414 is disposed on a bottom side of the first sliding plate, so that a u-like shape is formed among the first sliding plate, the Y-axis main beam 320, and the Y-axis sub-beam 330.
In one embodiment, the Z-axis sliding plate 410 is configured as an inverted-L-shaped structure, the Y-axis beam 300 includes a Y-axis main beam 320, a first guide rail 321 is disposed on a vertical side of the Y-axis main beam 320, a support rail 331 is disposed on a top side of the Y-axis main beam 320, a first slider 413 is disposed on a vertical side of the first sliding plate, a second sliding plate is disposed on a top side of the first sliding plate, a support slider 414 is disposed on a bottom side of the second sliding plate, and the Y-axis main beam 320 is disposed below the second sliding plate, so that the Y-axis main beam 320 provides a supporting force to the second sliding plate along the Z-axis direction, and an inverted-like u shape is formed among the first sliding plate, the second sliding plate and the Y-axis main beam 320.
According to the utility model provides a pair of heavy load truss, one side that first slide deviates from Y axle main beam 320 is equipped with first motor 411, and one side that Y axle main beam 320 is close to Z axle and erects roof beam 400 is equipped with first rack 322, and first motor 411's output passes first slide to be equipped with first gear, first gear is connected with first rack 322 meshing. It can be understood that a first motor 411 is installed on one side of the first sliding plate, which is away from the Y-axis main beam 320, the first sliding plate is provided with a first through hole, and an output end of the first motor 411 passes through the first through hole and then is connected to the first gear. One side of the Y-axis main beam 320 close to the Z-axis vertical beam 400 is provided with a first rack 322 arranged along the Y-axis direction, the first gear is meshed with the first rack 322, and the first gear is driven to rotate by a first motor 411, so as to drive the Z-axis vertical beam 400 to synchronously move in the Y-axis direction.
According to the utility model provides a pair of heavy load truss, one side that first slide is close to Y axle main beam 320 is equipped with second motor 412, and Z axle erects roof beam 400 and is equipped with along the second rack 430 that Z axle direction set up, and first slide is passed to the output of second motor 412 to be equipped with the second gear, the second gear is connected with the meshing of second rack 430. It can be understood that the side of the first sliding plate close to the Y-axis main beam 320 is provided with a second motor 412, the first sliding plate is provided with a second through hole, and the output end of the second motor 412 passes through the second through hole and is connected with a second gear. The Z-axis vertical beam 400 is provided with a second rack 430 arranged along the Z-axis direction, the second gear is meshed with the second rack 430, the second gear is driven by the second motor 412 to rotate, the second rack 430 is driven to move along the Z-axis direction, and the Z-axis vertical beam 400 is driven to move along the Z-axis direction.
It should be noted that the first motor 411 drives the first gear to rotate, so as to realize that the Z-axis vertical beam 400 and the Z-axis sliding plate 410 move relative to the first rack 322, and the second motor 412 drives the second gear to rotate, so as to realize that the Z-axis vertical beam 400 moves relative to the Z-axis sliding plate 410.
According to the utility model provides a pair of heavy load truss, one side that first slide deviates from Y axle main beam 320 is equipped with second slider 415, and Z axle erects roof beam 400 and is equipped with along the second guide rail 420 that Z axle direction set up, second slider 415 and second guide rail 420 slidable adaptation. It can be understood that a second slider 415 is disposed on a side of the first sliding plate facing away from the Y-axis main beam 320, that is, the second slider 415 and the first motor 411 are located on the same side of the first sliding plate. The Z-axis vertical beam 400 is provided with a second guide rail 420, the second guide rail 420 is arranged along the Z-axis direction, the second slider 415 is slidably fitted with the second guide rail 420, that is, the second guide rail 420 can move in the Z-axis direction relative to the second slider 415, and the second guide rail 420 moves synchronously with the Z-axis vertical beam 400.
According to the utility model provides a pair of heavy load truss, the both ends of Y axle crossbeam 300 are equipped with Y axle slide 310 respectively, and X axle crossbeam 200 is equipped with third guide rail 210 along the top side of X axle direction, and Y axle slide 310 is equipped with third slider 311, third slider 311 and third guide rail 210 slidable adaptation. It can be understood that the Y-axis sliding plates 310 are respectively disposed at two ends of the Y-axis beam 300, so that the two ends of the Y-axis beam 300 are overlapped on the corresponding X-axis beam 200, and the Y-axis beam 300 slides on the X-axis relative to the X-axis beam 200. The top side of the X-axis beam 200 is provided with a third guide rail 210, and the third guide rail 210 is arranged along the X-axis direction. The Y-axis sliding plate 310 is provided with a third sliding block 311, and the third sliding block 311 is slidably matched with the third guide rail 210, so that the third guide rail 210 guides and supports the sliding process of the third sliding block 311.
According to the utility model provides a pair of heavy load truss, X axle crossbeam 200 is along Z axle direction, and the one side that is close to Y axle slide 310 is equipped with third rack 220, and Y axle slide 310 is equipped with the third motor, and the output of third motor is equipped with the third gear, third gear and the meshing of third rack 220. It can be understood that the third rack 220 is disposed on the side of the X-axis beam 200 close to the Y-axis sliding plate 310 along the Z-axis direction, that is, the third rack 220 is disposed on the vertical side of the X-axis beam 200, and the third rack 220 is located on the inner side of the X-axis beam 200. The Y-axis sliding plate 310 is provided with a third motor, the third motor is located on one side, away from the X-axis beam 200, of the Y-axis sliding plate 310, the Y-axis sliding plate 310 is provided with a third through hole, the output end of the third motor penetrates through the third through hole and then is connected with a third gear, and the third motor drives the third gear to rotate. The third gear is engaged with the third rack 220, so that the third motor drives the Y-axis beam 300 to move along the X-axis direction.
It should be noted that, in order to ensure the stability of the movement of the Y-axis beam 300 in the X-axis direction, the two X-axis beams 200 are respectively provided with the third racks 220, and the corresponding Y-axis sliding plates 310 are respectively provided with the third motors.
The utility model also provides a truss robot, including driving piece, clamping jaw 500 and as above arbitrary the heavy load truss, on the driving piece was located Z axle and is erected roof beam 400, clamping jaw 500 was located the bottom that the Z axle erected roof beam 400, the output and the clamping jaw 500 of driving piece were connected for drive clamping jaw 500 snatchs the work piece. It will be appreciated that the output of the drive member is connected to the jaws 500 to effect drive of the jaws 500 to grip the workpiece. The driving piece is installed on the Z axle erects roof beam 400, and clamping jaw 500 sets up in the bottom that the roof beam 400 was erected to the Z axle, erects the spatial position of roof beam 400 through the adjustment Z axle, realizes the adjustment to clamping jaw 500 spatial position, and then guarantees that clamping jaw 500 snatchs the accuracy of work piece, simultaneously, guarantees holistic stability, improves bearing capacity.
The utility model provides a heavy load truss and truss robot, including X axle crossbeam, Y axle crossbeam and Z axle vertical beam, the both ends of Y axle crossbeam are equipped with X axle crossbeam respectively, and can slide along the length direction of X axle crossbeam, and Z axle vertical beam is connected with Y axle crossbeam, and can slide along the length direction of Y axle crossbeam; one side of the Y-axis beam along the Y-axis direction is provided with a support guide rail arranged along the Y-axis direction; one side that the roof beam is close to the Y axle crossbeam is erected to the Z axle is equipped with the Z axle slide, the Z axle slide be equipped with the first slider of first guide rail slip adaptation and with the supporting slide of supporting guide rail slip adaptation, wherein, supporting guide is used for supporting the Z axle slide, through setting up supporting guide, the realization is erected the roof beam to the Z axle and is followed the support of Z axle direction, and then offsets the eccentric moment that the operation in-process produced because the off-centre, has improved the bearing capacity and the stability of equipment greatly.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. A heavy load truss is characterized by comprising an X-axis cross beam, a Y-axis cross beam and a Z-axis vertical beam, wherein the X-axis cross beam is arranged at each of two ends of the Y-axis cross beam and can slide along the length direction of the X-axis cross beam, and the Z-axis vertical beam is connected with the Y-axis cross beam and can slide along the length direction of the Y-axis cross beam;
one side of the Y-axis beam along the Y-axis direction is provided with a support guide rail arranged along the Y-axis direction;
one side of the Z-axis vertical beam, which is close to the Y-axis cross beam, is provided with a Z-axis sliding plate, the Z-axis sliding plate is provided with a supporting sliding block in sliding fit with the supporting guide rail, and the supporting guide rail is used for supporting the Z-axis sliding plate along the Z-axis direction.
2. The heavy load truss of claim 1, wherein the Y-axis cross beam comprises a Y-axis main cross beam and a Y-axis auxiliary cross beam, the Y-axis main cross beam is provided with a first guide rail along the Z-axis direction and on one side close to the Z-axis sliding plate, and the Z-axis sliding plate is provided with a first sliding block which is in sliding fit with the first guide rail;
the Y-axis auxiliary cross beam and the first guide rail are arranged on the same side of the Y-axis main cross beam, the supporting guide rail is arranged on one side of the Y-axis auxiliary cross beam in the Y-axis direction, and the Z-axis sliding plate is located above the Y-axis auxiliary cross beam.
3. The heavy load truss of claim 2 wherein the Y-axis cross-beam further comprises a stiffening plate, the stiffening plate being L-shaped and clad on a side of the Y-axis main cross-beam facing away from the Z-axis vertical beam and a side of the Y-axis secondary cross-beam facing away from the Z-axis skid plate.
4. The heavy load truss of claim 2, wherein the Z-axis sliding plate is L-shaped, the Z-axis sliding plate includes a first sliding plate disposed along the Z-axis direction and a second sliding plate disposed along the Y-axis direction, the first sliding block is disposed on a side of the first sliding plate close to the Y-axis main beam, and the supporting sliding block is disposed on a side of the second sliding plate close to the Y-axis auxiliary beam.
5. The heavy load truss of claim 4, wherein a side of the first sliding plate facing away from the Y-axis main beam is provided with a first motor, a side of the Y-axis main beam adjacent to the Z-axis vertical beam is provided with a first rack, an output end of the first motor penetrates through the first sliding plate, and is provided with a first gear, and the first gear is engaged with the first rack.
6. The heavy load truss of claim 4, wherein a second motor is disposed on a side of the first sliding plate close to the Y-axis main beam, the Z-axis vertical beam is provided with a second rack disposed along the Z-axis direction, an output end of the second motor passes through the first sliding plate, and a second gear is disposed, and the second gear is engaged with the second rack.
7. The heavy load truss of claim 4 wherein a side of the first sliding plate facing away from the Y-axis main beam is provided with a second sliding block, the Z-axis vertical beam is provided with a second guide rail arranged along the Z-axis direction, and the second sliding block is slidably fitted with the second guide rail.
8. The heavy load truss of any one of claims 1 to 7, wherein both ends of the Y-axis beam are respectively provided with a Y-axis sliding plate, the top side of the X-axis beam is provided with a third guide rail, and the Y-axis sliding plate is provided with a third sliding block which is slidably matched with the third guide rail.
9. The heavy load truss of claim 8, wherein the X-axis cross beam is provided with a third rack along the Z-axis direction and on a side close to the Y-axis sliding plate, the Y-axis sliding plate is provided with a third motor, an output end of the third motor is provided with a third gear, and the third gear is engaged with the third rack.
10. The truss robot is characterized by comprising a driving piece, a clamping jaw and the heavy load truss as claimed in any one of claims 1 to 9, wherein the driving piece is arranged on the Z-axis vertical beam, the clamping jaw is arranged at the bottom end of the Z-axis vertical beam, and the output end of the driving piece is connected with the clamping jaw and used for driving the clamping jaw to grab a workpiece.
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| CN202220714324.1U CN217097763U (en) | 2022-03-29 | 2022-03-29 | Heavy load truss and truss robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116117778A (en) * | 2023-04-19 | 2023-05-16 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116117778A (en) * | 2023-04-19 | 2023-05-16 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
| CN116117778B (en) * | 2023-04-19 | 2023-06-23 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
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