CN220534222U

CN220534222U - Stable truss robot

Info

Publication number: CN220534222U
Application number: CN202322156809.0U
Authority: CN
Inventors: 方涵; 方明峰; 李怀强
Original assignee: Nanjing Haozhi Intelligent Equipment Manufacturing Co ltd
Current assignee: Nanjing Haozhi Intelligent Equipment Manufacturing Co ltd
Priority date: 2023-08-11
Filing date: 2023-08-11
Publication date: 2024-02-27
Anticipated expiration: 2033-08-11

Abstract

The utility model discloses a stable truss robot, which belongs to the field of truss robots and comprises two cross beams which are parallel to each other, wherein supporting legs are arranged at two ends of the two cross beams, X-axis sliding rails are arranged on one sides of the two cross beams which are close to each other, sliding blocks are arranged on the two X-axis sliding rails, a Y-axis sliding rail is arranged between one sides of the two sliding blocks which are close to each other, a Z-axis hydraulic cylinder is arranged on the upper surface of the Y-axis sliding rail along the vertical direction, supporting rods are arranged on the lower surfaces of the two sliding blocks, rolling mechanisms for touching the ground are arranged at the lower ends of the two supporting rods, each rolling mechanism comprises a rotating seat fixedly arranged at the lower ends of the supporting rods, each rotating seat is of a concave structure with a downward opening, and a main roller is rotatably arranged at the opening.

Description

Stable truss robot

Technical Field

The utility model relates to the field of truss robots, in particular to a stable truss robot.

Background

The truss robot is a gantry robot based on a rectangular coordinate system, generally, servo motors are respectively arranged on an X axis, a Y axis and a Z axis for driving, and the truss robot has the characteristics of multiple degrees of freedom, automatic control and repeated programming;

according to patent search, the Chinese patent with publication number of CN216328301U discloses a stable truss robot, which comprises a cross beam, wherein two vertical plates are fixed at the bottom of the cross beam, horizontal plates are fixed at opposite sides of the two vertical plates, a movable block is slidably arranged at the bottom of the cross beam, a winch is fixed at the bottom of the movable block, articles are clamped by the two clamping plates, the winch drives a rope to retract and release, the articles are transported to the horizontal plates, the feeding and the discharging of the articles are facilitated, a cylinder drives a lifting block to descend to drive the lifting plate to descend to drive a sloping plate and a friction plate to descend, the friction plate is propped against the ground, and stable support is provided for the whole robot, so that the robot is more stable;

however, when the load is carried by the patent, the friction plate is lowered through the air cylinder to touch the ground to support the vertical plates, the span of the cross beam between the two vertical plates is large, the bearing position of the cross beam is inconvenient to support, and the problem that metal fatigue is easy to occur to the cross beam is caused.

Disclosure of Invention

Technical problem to be solved

Aiming at the problems in the prior art, the utility model aims to provide a stable truss robot which can realize that the bearing position of a cross beam is convenient to support, and the supporting point is correspondingly changed along with the change of the position of a material so as to relieve the metal fatigue in the cross beam.

Technical proposal

In order to solve the problems, the utility model adopts the following technical scheme.

The utility model provides a stable form truss robot, includes two crossbeams that are parallel to each other, two the landing leg is all installed at the both ends of crossbeam, two X axle slide rail is all installed to one side that is close to each other of crossbeam, two all be provided with the slider on the X axle slide rail, two install the Y axle slide rail between one side that the slider is close to each other, the Z axle pneumatic cylinder is installed along vertical direction to the upper surface of Y axle slide rail, two the lower surface of slider all is provided with the bracing piece, two the lower extreme of bracing piece all is provided with the rolling mechanism who touches the ground, conveniently supports the bearing position of crossbeam, and the supporting point correspondingly changes along with the change of material position to alleviate the inside metal fatigue of crossbeam.

Further, the rolling mechanism comprises a rotating seat fixedly arranged at the lower end of the supporting rod, the two rotating seats are of concave structures with downward openings, main rollers are rotatably arranged at the openings, the main rollers at the openings of the two rotating seats are in contact with the ground to run, rolling friction is generated between the main rollers and the ground, and the blocking effect of the ground friction caused in the running process of the supporting rod can be relieved.

Further, two the upper ends of bracing piece and the lower surface that corresponds the slider are all through being provided with diaphragm fixed connection between, two the upper surface of diaphragm is all rotated and is installed two at least vice gyro wheels, can the downward stay correspond the diaphragm, make the diaphragm right corresponding slider.

Further, two the lateral plate is kept away from the equal perpendicular welding of one side of slider has the curb plate, two the equal perpendicular welding of upper surface of curb plate has the roof, two the equal sliding connection of lower surface of roof is in the upper surface of adjacent crossbeam, and curb plate and roof upwards support and correspond the lateral plate, and the lateral plate can further right the slider.

Further, the widths of the two top plates are smaller than the width of the cross beam, so that the top plates are vertically aligned with the auxiliary rollers below as much as possible, and the cross beam is clamped by matching with the corresponding auxiliary rollers.

Further, a main screw rod is installed on the outer side of one of the cross beams, one end of the main screw rod penetrates through the Y-axis sliding rail through threads and is provided with a gear motor, the gear motor is started to rotate forwards or reversely, and the Y-axis sliding rail is pushed to slide along the two X-axis sliding rails through threads.

Advantageous effects

Compared with the prior art, the utility model has the advantages that:

(1) During the operation of this scheme, assemble the output of Z axle pneumatic cylinder with anchor clamps, by controller control Y axle slide rail and Z axle pneumatic cylinder, remove anchor clamps and be close to the material, carry out the load, follow X axle, Y axle and Z axle removal material again, Y axle slide rail drives the bracing piece translation that corresponds slider and slider below, can utilize slider and bracing piece to support corresponding crossbeam, conveniently support the bearing position of crossbeam, the strong point changes along with the change of material position is corresponding to alleviate the inside metal fatigue of crossbeam.

(2) When two bracing pieces of this scheme translate, drive and correspond the translation of rotation seat, promote the main gyro wheel of two rotation seat openings departments and advance along the ground, take place rolling friction with ground, can alleviate the frictional retarding effect in ground that the bracing piece was advanced in-process and receive to the rotation seat of concave structure can right corresponding main gyro wheel, reduces the main gyro wheel of off tracking.

Drawings

FIG. 1 is a schematic diagram of a front view of the present utility model;

FIG. 2 is a schematic cross-sectional view of the present utility model;

FIG. 3 is an enlarged schematic view of the structure of FIG. 1A according to the present utility model;

fig. 4 is an enlarged schematic view of the structure of fig. 2B according to the present utility model.

The reference numerals in the figures illustrate:

1. a cross beam; 2. a support leg; 3. an X-axis sliding rail; 4. a slide block; 5. a Y-axis sliding rail; 6. a Z-axis hydraulic cylinder; 7. a support rod; 8. a rotating seat; 9. a main roller; 10. a cross plate; 11. an auxiliary roller; 12. a side plate; 13. a top plate; 14. a main screw rod; 15. a gear motor.

Detailed Description

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model; it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present utility model are within the protection scope of the present utility model.

Examples:

referring to fig. 1-4, a stable truss robot includes two parallel beams 1, two ends of the two beams 1 are both provided with supporting legs 2 through bolts, one of the supporting legs 2 is provided with a controller for controlling the operation of the whole robot, one side of the two beams 1, which is close to each other, is provided with an X-axis sliding rail 3 through welding, two X-axis sliding rails 3 are provided with sliding blocks 4, one side of the two sliding blocks 4, which is close to each other, is provided with a Y-axis sliding rail 5 through bolts, an auxiliary screw rod and a servo motor for driving the auxiliary screw rod are rotatably arranged on the Y-axis sliding rail 5, the technical scheme is that in the prior art, the upper surface of the Y-axis sliding rail 5 is provided with a Z-axis hydraulic cylinder 6 along the vertical direction through bolts, the output end of the Z-axis hydraulic cylinder 6 extends vertically downwards, the lower surfaces of the two sliding blocks 4 are respectively provided with a supporting rod 7, the lower ends of the two supporting rods 7 are respectively provided with a rolling mechanism for touching the ground, each supporting leg 2 is firstly arranged at a designated position, when the device works, the clamp is assembled to the output end of the Z-axis hydraulic cylinder 6, the controller controls the Y-axis sliding rail 5 to move along the X-axis sliding rail 3, the Z-axis hydraulic cylinder 6 moves along the Y-axis sliding rail 5, the output end of the Z-axis hydraulic cylinder 6 stretches for a designated distance, the clamp is moved to be close to a material to clamp the material for carrying out loading, then the material is moved along the X-axis, the Y-axis and the Z-axis, the Y-axis sliding rail 5 drives the corresponding sliding block 4 and the supporting rods 7 below the sliding block 4 to translate, the two supporting rods 7 are touched the ground through the rolling mechanisms, the corresponding cross beam 1 can be supported by the sliding block 4 and the supporting rod 7, the bearing position of the cross beam 1 is conveniently supported, and the supporting point correspondingly changes along with the change of the position of the material, to relieve metal fatigue inside the beam 1.

Referring to fig. 1 and 3, the rolling mechanism includes a rotating seat 8 fixedly installed at the lower end of a supporting rod 7 through bolts, the two rotating seats 8 are of concave structures with downward openings, main rollers 9 are installed at the openings through rotation of a rotating shaft, when the two supporting rods 7 translate, the corresponding rotating seats 8 are driven to translate, the main rollers 9 at the openings of the two rotating seats 8 are pushed to move along with the ground, rolling friction is generated between the corresponding rotating seats and the ground, the blocking effect of the ground friction suffered by the supporting rods 7 in the advancing process can be relieved, the rotating seats 8 of the concave structures can straighten the corresponding main rollers 9, and the main rollers 9 with reduced deviation are reduced.

Referring to fig. 2 and 4, the upper ends of the two support rods 7 and the lower surfaces of the corresponding slide blocks 4 are fixedly connected through a transverse plate 10, the lower surfaces of the two transverse plates 10 are welded at the upper ends of the corresponding support rods 7, at least two auxiliary rollers 11 are rotatably installed on the upper surfaces of the two transverse plates 10, the upper surfaces of the two transverse plates 10 are welded at the upper ends of the corresponding support rods 7, the corresponding transverse plates 10 are driven to move when the two slide blocks 4 translate, the transverse plates 10 drive the corresponding auxiliary rollers 11 to roll along the lower surfaces of the adjacent transverse beams 1, the corresponding transverse plates 10 can be supported downwards, and the transverse plates 10 are enabled to centralize the corresponding slide blocks 4.

Referring to fig. 2 and 4, the side of two transverse plates 10 far away from the sliding block 4 is vertically welded with side plates 12, the upper surfaces of the two side plates 12 are vertically welded with top plates 13, the lower surfaces of the two top plates 13 are slidably connected with the upper surfaces of the adjacent transverse beams 1 through sliding grooves, when the transverse plates 10 travel, the corresponding side plates 12 and the top plates 13 are driven to translate along the transverse beams 1, the top plates 13 slide against the upper surfaces of the corresponding transverse beams 1, the side plates 12 and the top plates 13 support the corresponding transverse plates 10 upwards, and the transverse plates 10 can further straighten the sliding block 4.

Referring to fig. 2 and 4, the width of each of the top plates 13 is smaller than the width of the cross beam 1, so that the top plates 13 are aligned vertically with the sub-rollers 11 below as much as possible, and clamp the cross beam 1 in cooperation with the corresponding sub-rollers 11.

Referring to fig. 1, a main screw rod 14 is rotatably installed on the outer side of one beam 1 through a bearing seat, one end of the main screw rod 14 penetrates through a Y-axis sliding rail 5 through threads and is provided with a gear motor 15, the outer side of the gear motor 15 is fixedly connected to the outer sides of adjacent supporting legs 2 through bolts, when the Y-axis sliding rail 5 is pushed to slide along two X-axis sliding rails 3 in the forward direction through threads by starting the gear motor 15 during operation, and conversely, the main screw rod 14 is reversely rotated, and the Y-axis sliding rail 5 is pushed to slide along two X-axis sliding rails 3 in the reverse direction through threads.

Working principle: during operation, the fixture is assembled to the output end of the Z-axis hydraulic cylinder 6, the controller controls the Y-axis sliding rail 5 to advance along the X-axis sliding rail 3, the Z-axis hydraulic cylinder 6 advances along the Y-axis sliding rail 5, the output end of the Z-axis hydraulic cylinder 6 stretches for a specified distance, the fixture is moved to be close to a material to clamp the material for carrying out loading, the material is moved along the X-axis, the Y-axis and the Z-axis, the Y-axis sliding rail 5 drives the corresponding sliding block 4 and the supporting rod 7 below the sliding block 4 to translate, the two supporting rods 7 are grounded through the rolling mechanism, the corresponding cross beam 1 can be supported by the sliding block 4 and the supporting rod 7, the bearing position of the cross beam 1 is conveniently supported, and the supporting point correspondingly changes along with the change of the position of the material so as to relieve the metal fatigue inside the cross beam 1.

When the two support rods 7 translate, the corresponding rotating seats 8 are driven to translate, the main rollers 9 at the openings of the two rotating seats 8 are pushed to move along the ground, rolling friction is generated between the main rollers and the ground, the blocking effect of the ground friction born by the support rods 7 in the moving process can be relieved, the corresponding main rollers 9 can be righted by the rotating seats 8 with concave structures, and the main rollers 9 with deviation are reduced.

The above description is only of the preferred embodiments of the present utility model; the scope of the utility model is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present utility model, and the technical solution and the improvement thereof are all covered by the protection scope of the present utility model.

Claims

1. Stable truss robot, including two crossbeam (1) that are parallel to each other, its characterized in that: the landing leg (2) are all installed at both ends of crossbeam (1), two X axle slide rail (3) are all installed to one side that is close to each other of crossbeam (1), two all be provided with slider (4) on X axle slide rail (3), two install Y axle slide rail (5) between one side that slider (4) are close to each other, Z axle pneumatic cylinder (6) are installed along vertical direction to the upper surface of Y axle slide rail (5), two the lower surface of slider (4) all is provided with bracing piece (7), two the lower extreme of bracing piece (7) all is provided with the rolling mechanism who touches the ground.

2. The stabilized truss robot of claim 1 wherein: the rolling mechanism comprises rotating seats (8) fixedly arranged at the lower ends of the supporting rods (7), the two rotating seats (8) are of concave structures with downward openings, and main rollers (9) are rotatably arranged at the openings.

3. The stabilized truss robot of claim 1 wherein: the upper ends of the two supporting rods (7) are fixedly connected with the lower surfaces of the corresponding sliding blocks (4) through transverse plates (10), and at least two auxiliary rollers (11) are rotatably arranged on the upper surfaces of the transverse plates (10).

4. A stabilized truss robot as in claim 3 wherein: one side, far away from the sliding block (4), of each transverse plate (10) is vertically welded with a side plate (12), the upper surfaces of the two side plates (12) are vertically welded with top plates (13), and the lower surfaces of the two top plates (13) are slidably connected with the upper surfaces of the adjacent transverse beams (1).

5. The stabilized truss robot of claim 4 wherein: the width of the two top plates (13) is smaller than the width of the cross beam (1).

6. The stabilized truss robot of claim 1 wherein: one of the cross beams (1) is provided with a main screw rod (14) at the outer side, and one end of the main screw rod (14) penetrates through the Y-axis sliding rail (5) through threads and is provided with a gear motor (15).