CN118906036A - Double-machine truss robot - Google Patents

Abstract

The invention belongs to the technical field of truss robots, in particular to a double-machine truss robot, which comprises a cross beam, wherein the upper end surface of the cross beam is connected with a first sliding rail, the inner side of the first sliding rail is connected with an adjusting plate in a sliding way, the inner side of the adjusting plate is connected with a rack in a sliding way, the lower end of the rack is fixedly connected with a mounting plate, the middle part of the lower end surface of the mounting plate is rotationally provided with a connecting frame, the lower end of the connecting frame is fixedly connected with a frame body, and a box body positioning mechanism for clamping a box body for containing wine bottles is arranged on the frame body; according to the invention, under the cooperation of the box body positioning mechanism and the gap expanding type adjusting mechanism, when the box body filled with the wine bottles is carried and piled, the displaced wine bottles can be moved to the upper part of the original placing position and aligned with the gap of the placing position, and the wine bottles are placed down, so that the wine bottles are reset, and the situation that the wine bottles roll in the box body and collide with other wine bottles due to accidental displacement is avoided, and further the wine bottles are broken is avoided.

Description

A dual-machine truss robot

Technical Field

The invention belongs to the technical field of truss robots, in particular to a dual-machine truss robot.

Background Art

A truss robot, also known as a gantry robot or a rectangular coordinate robot, is an automated device that uses a truss structure. It is usually composed of a truss structure, a guide rail, a drive device, a transmission device, a control system, and an operating panel. This type of robot can perform precise point or trajectory motion on the three rectangular coordinate systems of X, Y, and Z to complete various industrial automation tasks. In the wine production industry, truss robots are often used to grab, place, and stack boxes containing wine bottles to improve the automation level of the packaging line.

The patent with announcement number CN216883958U discloses a truss robot, including: an X-axis double beam, a Y-axis double beam and a Z-axis longitudinal beam assembly. The Y-axis double beam is slidably connected between the X-axis double beams, and the Y-axis double beam can move in the horizontal direction along the X-axis double beam. The Z-axis longitudinal beam assembly is slidably connected between the Y-axis double beams, and the Z-axis longitudinal beam assembly can move in the horizontal direction along the Y-axis double beam, or/and, the Z-axis longitudinal beam assembly can move up and down along the vertical direction. As a result, the bending moment of the X-axis double beam when the Y-axis double beam moves horizontally along the X-axis double beam can be reduced, and the bending moment of the Y-axis double beam when the Z-axis longitudinal beam assembly moves horizontally along the Y-axis double beam can be reduced, thereby greatly improving the bearing capacity of the X-axis double beam and the Y-axis double beam. In addition, in the truss robot with this structural setting, the force balance of the X-axis double beam and the Y-axis double beam is better, and thus the hoisting safety and stability of the entire truss robot are higher.

However, the above technical solution still has the following deficiencies in practical application:

When the above-mentioned truss robot is used in the wine production industry, it is usually necessary to transport and stack boxes containing wine bottles. Some boxes are made of plastic and have no box covers on top. The wine bottles are neatly arranged in the boxes. When the truss robot transports and stacks such boxes, a wine bottle that was originally placed vertically may slide upward and become flat or tilted. This may be because the wine bottles are not placed firmly enough due to careless operation during the loading process. As a result, when the truss robot drives the box to move, the box is subjected to external force, causing the wine bottles to shift. When the wine bottles shift, they may roll inside the box and collide with other wine bottles, causing the wine bottles to break and cause losses. In addition, if the end of the wine bottle extends to the outside of the box, then when the box is stacked, the upper and lower boxes will not fit together, affecting the smooth progress of the stacking work.

To this end, the present invention provides a dual-machine truss robot.

Summary of the invention

In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background technology, the present invention proposes a dual-machine truss robot.

The technical solution adopted by the present invention to solve the technical problem is: a dual-machine truss robot, including a crossbeam, a first slide rail is slidably connected to the upper end surface of the crossbeam, an adjustment plate is slidably connected to the inner side of the first slide rail, a rack is slidably connected to the inner side of the adjustment plate, a mounting plate is fixedly connected to the lower end of the rack, a connecting frame is rotatably provided at the middle part of the lower end surface of the mounting plate, a frame is fixedly connected to the lower end of the connecting frame, and a box positioning mechanism for clamping a box containing wine bottles is provided on the frame;

The box positioning mechanism comprises a sliding rod three slidably connected to the middle of both sides of the frame, one end of the sliding rod three is fixedly connected to a clamping plate one, both the front and rear sides of the clamping plate one are slidably connected to sliding rods four, and one end of the sliding rod four is fixedly connected to the clamping plate two;

The frame is also provided with a gap expansion type adjustment mechanism for straightening an overturned wine bottle, the gap expansion type adjustment mechanism includes a second slide rail slidably connected to the upper end surface of the frame, a slider is slidably connected to the upper side of the second slide rail, a second slide rod is slidably connected to the left side of the slider, an adjustment frame is fixedly connected to the lower end of the second slide rod, a fixed plate is rotatably provided at the middle part of the lower end surface of the adjustment frame, an adjustment ring is rotatably provided at the lower side of the fixed plate, and clamping blocks are slidably connected to the front and rear sides of the adjustment ring.

Preferably, threaded rods are rotatably provided at both ends of the rear side of the upper end surface of the beam, and the threaded rod is threadedly connected to one end of the slide rail, and a motor is fixedly connected to the left end of the rear side of the upper end surface of the beam, and the output end of the motor is fixedly connected to the left end of the threaded rod.

Preferably, threaded rods 2 are rotatably provided at both the front and rear ends of the slide rail 1, the threaded rods 2 are threadedly connected to the adjustment plate, the rear end surface of the slide rail 1 is fixedly connected to motor 2, and the output end of motor 2 is fixedly connected to the rear end of threaded rod 2.

Preferably, a gear is rotatably provided on one side of the adjustment plate, and the gear is meshed with the tooth block on the front side of the rack, a motor four is fixedly connected to the front side of the left end face of the adjustment plate, and the output end of the motor four is fixedly connected to the gear, and a motor three is fixedly connected to the middle part of the lower side of the mounting plate, and the output end of the motor three is fixedly connected to the connecting frame.

Preferably, the middle parts of the left and right end surfaces of the frame are fixedly connected with electric push rods 2, the piston ends of the electric push rods 2 are fixedly connected with a fixing frame, the lower end of the fixing frame is fixedly connected with a clamping plate 1, a connecting rod 1 is rotatably provided on one side of the clamping plate 2, a threaded block is rotatably provided on one end of the connecting rod 1, the threaded block is threadedly connected with a threaded rod 6, the lower end of the threaded rod 6 is rotatably provided on the fixing frame, the upper end of the threaded rod 6 is rotatably provided on the fixing frame, the upper end surface of the fixing frame is fixedly connected with a motor 10, and the output end of the motor 10 is fixedly connected to the upper end of the threaded rod 6.

Preferably, a threaded rod three is threadedly connected to the lower end of the front side of the slide rail two, and both ends of the threaded rod three are rotatably set on the frame. A motor five is fixedly connected to the right end of the front side of the frame, and the output end of the motor five is fixedly connected to the right end of the threaded rod three. An electric push rod one is fixedly connected to the left side of the upper end surface of the slider, and the piston end of the electric push rod one is fixedly connected to the middle part of the upper end surface of the adjusting frame.

Preferably, a motor eleven is fixedly connected to the middle part of the lower side of the adjustment frame, the output end of the motor eleven is fixedly connected to the upper end of the fixed plate, the right end of the slider is threadedly connected to a threaded rod four, both ends of the threaded rod four are rotatably set on the slide rail two, the upper end of the front side of the slide rail two is fixedly connected to a motor six, and the output end of the motor six is fixedly connected to the front end of the threaded rod four.

Preferably, two-way threaded rods are rotatably provided at both the front and rear ends of the adjusting ring, and both the front and rear sides of the two-way threaded rods are threadedly connected to the clamping block, one end of the rear side of the adjusting ring is fixedly connected to a motor eight, and the output end of the motor eight is fixedly connected to the rear end of the two-way threaded rod, one side of the rear end surface of the fixing plate is fixedly connected to a motor seven, and the output end of the motor seven is fixedly connected to the adjusting ring.

Preferably, a support plate is fixedly connected to the right side of the upper end surface of the fixed plate, a sliding rod 1 is fixedly connected to one end of the upper side of the support plate, a lower end of the sliding rod is fixedly connected to the fixed plate, the sliding rod 1 is slidably connected to a sliding column, one end of the sliding column is threadedly connected to a threaded rod 5, the upper end of the threaded rod 5 is rotatably set on the support plate, the lower end of the threaded rod 5 is rotatably set on the fixed plate, a motor 9 is fixedly connected to one side of the upper end surface of the support plate, and the output end of the motor 9 is fixedly connected to the upper end of the threaded rod 5.

Preferably, an adjusting column is fixedly connected to the middle part of the lower end surface of the sliding column, a sliding sleeve is sleeved and slidably connected on the adjusting column, a plurality of connecting rods 2 are rotatably provided on the sliding sleeve, an expansion plate is rotatably provided at one end of the connecting rods 2, the expansion plate is plugged and slidably connected to the adjusting column, and the plurality of expansion plates are plugged and slidably connected to each other, an electric push rod 3 is fixedly connected to the left side of the lower end surface of the sliding column, and the piston end of the electric push rod 3 is fixedly connected to the left side of the upper end surface of the sliding sleeve.

The beneficial effects of the present invention are as follows:

1. A dual-machine truss robot described in the present invention drives the threaded rod one to rotate through the motor one, the motor two drives the threaded rod two to rotate, and the motor four drives the gear to rotate, so that the frame can be moved in the directions of the X, Y, and Z axes, so that the box to be clamped is in the frame, and the motor three drives the frame to rotate, so that the angle of the clamping plate one can be adjusted, so that the clamping plate one can be parallel to the edge of one side of the box, and then the electric push rod two is started to drive the clamping plate one to move, so that the clamping plates one on both sides are close to each other to clamp the box, and at the same time, the motor ten drives the threaded rod six to rotate, so that the threaded block can be raised and lowered, and the connecting rods one on both sides are used to drive the clamping plate two and the sliding rod four to move, so that the clamping plates two on both sides are also fitted with the edge of the box, so as to complete the clamping of the box, and then repeat the above-mentioned frame orientation adjustment operation to transport the clamped box to the specified position. At the same time, under the action of the clamping plates one and the clamping plates two, the stability of the box during transportation is also guaranteed.

2. The dual-machine truss robot described in the present invention can, under the cooperation of the box positioning mechanism and the gap expansion adjustment mechanism, when carrying and stacking boxes containing wine bottles, when a wine bottle is moved out from the gap between multiple arranged wine bottles due to external force, and the wine bottle leans against the edge of the box or is placed flat on multiple wine bottles, the orientation and angle of the adjustment ring are adjusted, and the bottle mouth is clamped by two clamping blocks, and then the adjustment ring is driven to move, so that the wine bottle is moved above the original placement position and aligned with the gap at the placement position, and then the two clamping blocks are driven away from each other, and the wine bottle is put down to restore the wine bottle to its original position, thereby avoiding the wine bottle from rolling inside the box due to accidental displacement and colliding with other wine bottles, thereby causing the wine bottle to break. Moreover, it also avoids the situation that the ends of the wine bottles extend to the outside of the box body, which makes the upper and lower boxes unable to fit together and affects the smooth stacking work. Moreover, when the remaining wine bottles occupy the position of the wine bottles to be reset, the wine bottles can be pushed by driving the adjustment column to move to the original placement position of the wine bottles, and aligning the expansion plate with the gap, so that the expansion plate extends into the gap, and then multiple expansion plates are moved radially at the same time to provide placement space for the wine bottles to be reset, so that the wine bottles can be placed smoothly, thereby avoiding the situation that after the wine bottles are moved from the original placement position, there is a gap in their placement position, and the remaining wine bottles move to the gap due to external force and occupy the original placement position of the wine bottles, resulting in the reset work cannot be carried out normally, thereby ensuring the normal reset of the wine bottles.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be further described below in conjunction with the accompanying drawings.

Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention;

FIG2 is a schematic diagram of a partial three-dimensional structure of a frame;

FIG3 is a partial enlarged view of point A in FIG2;

FIG4 is a schematic diagram of a partial three-dimensional structure of a fixed plate;

Figure 5 is a schematic diagram of a partial three-dimensional structure of the beam;

FIG6 is a partial enlarged view of point B in FIG5;

FIG7 is a schematic diagram of a partial three-dimensional structure of a splint;

FIG8 is a schematic diagram of a partial three-dimensional structure of an adjustment ring;

FIG9 is a schematic diagram of a partial three-dimensional structure of an adjustment column;

FIG10 is a schematic diagram of a partial three-dimensional structure of a support plate;

FIG. 11 is a partial enlarged view of point C in FIG. 10 .

In the figure: 1, beam; 2, threaded rod 1; 3, slide rail 1; 4, threaded rod 2; 5, motor 1; 6, motor 2; 7, slide rod 1; 8, rack; 9, adjustment plate; 10, mounting plate; 11, motor 3; 12, motor 4; 13, gear; 14, connecting frame; 15, frame; 16, threaded rod 3; 17, motor 5; 18, threaded rod 4; 19, motor 6; 20, slider; 21, electric push rod 1; 22, slide rod 2; 23, adjustment frame; 24, fixing plate; 25, slide rail 2; 26, motor 11; 27. Slide rod three; 28. Motor seven; 29. Adjusting ring; 30. Clamping block; 31. Motor eight; 32. Bidirectional threaded rod; 33. Threaded rod five; 34. Clamp plate one; 35. Clamp plate two; 36. Connecting rod one; 37. Support plate; 38. Sliding column; 39. Electric push rod three; 40. Adjusting column; 41. Expansion plate; 42. Sliding sleeve; 43. Connecting rod two; 44. Motor nine; 45. Motor ten; 46. Fixed bracket; 47. Threaded rod six; 48. Threaded block; 49. Electric push rod two; 50. Slide rod four.

DETAILED DESCRIPTION

The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Please refer to Figures 1 to 11. The present invention provides a technical solution: a dual-machine truss robot, including a crossbeam 1, a slide rail 3 is slidably connected to the upper end surface of the crossbeam 1, an adjustment plate 9 is slidably connected to the inner side of the slide rail 3, a rack 8 is slidably connected to the inner side of the adjustment plate 9, a mounting plate 10 is fixedly connected to the lower end of the rack 8, a connecting frame 14 is rotatably provided at the middle part of the lower end surface of the mounting plate 10, a frame 15 is fixedly connected to the lower end of the connecting frame 14, and a box positioning mechanism for clamping a box containing wine bottles is provided on the frame 15;

The box positioning mechanism includes a sliding rod 3 27 slidably connected to the middle of both sides of the frame 15, one end of the sliding rod 3 27 is fixedly connected to a clamping plate 1 34, and both the front and rear sides of the clamping plate 1 34 are slidably connected to sliding rods 4 50, and one end of the sliding rod 4 50 is fixedly connected to the clamping plate 2 35;

The frame 15 is also provided with a gap expansion type adjustment mechanism for straightening the overturned wine bottle, and the gap expansion type adjustment mechanism includes a slide rail 25 slidably connected to the upper end surface of the frame 15, a slider 20 is slidably connected to the upper side of the slide rail 25, a slide bar 22 is slidably connected to the left side of the slider 20, an adjustment frame 23 is fixedly connected to the lower end of the slide bar 22, a fixing plate 24 is rotatably provided in the middle of the lower end surface of the adjustment frame 23, an adjustment ring 29 is rotatably provided on the lower side of the fixing plate 24, and clamping blocks 30 are slidably connected to the front and rear sides of the adjustment ring 29.

In this embodiment, as shown in Figures 1-3 and Figures 5-7, threaded rods 2 are rotatably provided at both ends of the rear side of the upper end surface of the beam 1, the threaded rod 2 is threadedly connected to one end of the slide rail 3, and a motor 5 is fixedly connected to the left end of the rear side of the upper end surface of the beam 1, and the output end of the motor 5 is fixedly connected to the left end of the threaded rod 2.

The front and rear ends of the slide rail 3 are rotatably provided with threaded rods 4, the threaded rods 4 are threadedly connected to the adjustment plate 9, the rear end surface of the slide rail 3 is fixedly connected to the motor 6, and the output end of the motor 6 is fixedly connected to the rear end of the threaded rod 4.

A gear 13 is rotatably provided on one side of the adjustment plate 9, and the gear 13 is meshed with the front tooth block of the rack 8. A motor 4 12 is fixedly connected to the front side of the left end of the adjustment plate 9, and the output end of the motor 4 12 is fixedly connected to the gear 13. A motor 3 11 is fixedly connected to the middle part of the lower side of the mounting plate 10, and the output end of the motor 3 11 is fixedly connected to the connecting frame 14.

The middle parts of the left and right end surfaces of the frame 15 are fixedly connected with electric push rods 2 49, the piston end of the electric push rods 2 49 is fixedly connected with a fixing frame 46, the lower end of the fixing frame 46 is fixedly connected to the clamping plate 1 34, a connecting rod 1 36 is rotatably provided on one side of the clamping plate 2 35, a threaded block 48 is rotatably provided on one end of the connecting rod 1 36, the threaded block 48 is threadedly connected with a threaded rod 6 47, the lower end of the threaded rod 6 47 is rotatably provided on the fixing frame 46, the upper end of the threaded rod 6 47 is rotatably provided on the fixing frame 46, the upper end surface of the fixing frame 46 is fixedly connected with a motor 10 45, and the output end of the motor 10 45 is fixedly connected to the upper end of the threaded rod 6 47.

Specifically, the motor 15 drives the threaded rod 12 to rotate, the motor 26 drives the threaded rod 24 to rotate, and the motor 412 drives the gear 13 to rotate, so that the frame 15 can be moved in the X, Y, and Z axis directions, so that the box to be clamped is located at the frame 15, and the motor 31 drives the frame 15 to rotate, so that the angle of the clamping plate 34 can be adjusted, so that the clamping plate 34 can be parallel to the edge of one side of the box, and then the electric push rod 249 is started to drive the clamping plate 34 to move, so that the clamping plates 34 on both sides are close to each other. The box is clamped, and at the same time, the motor 10 45 is used to drive the threaded rod 6 47 to rotate, so that the threaded block 48 can be raised and lowered, and the connecting rod 1 36 on both sides is used to drive the clamping plate 2 35 and the sliding rod 4 50 to move, so that the clamping plates 2 35 on both sides are also fitted with the edge of the box, and the box can be clamped. Then, the above-mentioned frame 15 orientation adjustment operation is repeated to move the clamped box to the specified position. At the same time, under the action of the clamping plates 1 34 and the clamping plates 2 35, the stability of the box during transportation is also guaranteed.

In this embodiment, as shown in Figures 2, 4, 8-11, the lower end of the front side of the slide rail 25 is threadedly connected to a threaded rod 3 16, both ends of the threaded rod 3 16 are rotatably set on the frame 15, the right end of the front side of the frame 15 is fixedly connected to a motor 5 17, the output end of the motor 5 17 is fixedly connected to the right end of the threaded rod 3 16, and the left side of the upper end surface of the slider 20 is fixedly connected to an electric push rod 1 21, and the piston end of the electric push rod 1 21 is fixedly connected to the middle part of the upper end surface of the adjustment frame 23.

A motor 11 26 is fixedly connected to the middle part of the lower side of the adjustment frame 23, and the output end of the motor 11 26 is fixedly connected to the upper end of the fixed plate 24. The right end of the slider 20 is threadedly connected to a threaded rod 4 18, and both ends of the threaded rod 4 18 are rotatably arranged on the slide rail 25. A motor 6 19 is fixedly connected to the upper end of the front side of the slide rail 25, and the output end of the motor 6 19 is fixedly connected to the front end of the threaded rod 4 18;

Two-way threaded rods 32 are rotatably provided at both front and rear ends of the adjusting ring 29, and the front and rear sides of the two-way threaded rod 32 are threadedly connected to the clamping block 30, and one end of the rear side of the adjusting ring 29 is fixedly connected to a motor eight 31, and the output end of the motor eight 31 is fixedly connected to the rear end of the two-way threaded rod 32, and one side of the rear end surface of the fixing plate 24 is fixedly connected to a motor seven 28, and the output end of the motor seven 28 is fixedly connected to the adjusting ring 29.

A support plate 37 is fixedly connected to the right side of the upper end surface of the fixed plate 24, a sliding rod 7 is fixedly connected to one end of the upper side of the support plate 37, the lower end of the sliding rod 7 is fixedly connected to the fixed plate 24, the sliding rod 7 is slidably connected to a sliding column 38, one end of the sliding column 38 is threadedly connected to a threaded rod 5 33, the upper end of the threaded rod 5 33 is rotatably set on the support plate 37, and the lower end of the threaded rod 5 33 is rotatably set on the fixed plate 24, a motor 9 44 is fixedly connected to one side of the upper end surface of the support plate 37, and the output end of the motor 9 44 is fixedly connected to the upper end of the threaded rod 5 33.

An adjusting column 40 is fixedly connected to the middle part of the lower end surface of the sliding column 38, a sliding sleeve 42 is sleeved and slidably connected on the adjusting column 40, a plurality of connecting rods 43 are rotatably provided on the sliding sleeve 42, an expansion plate 41 is rotatably provided on one end of the connecting rod 43, the expansion plate 41 is plugged and slidably connected to the adjusting column 40, and the plurality of expansion plates 41 are plugged and slidably connected to each other, an electric push rod 39 is fixedly connected to the left side of the lower end surface of the sliding column 38, and the piston end of the electric push rod 39 is fixedly connected to the left side of the upper end surface of the sliding sleeve 42.

Specifically, when the truss robot is used in the wine production industry, it is usually necessary to carry boxes containing wine bottles. Some boxes are made of plastic and have no box covers on top. The wine bottles are neatly arranged in the boxes. When the existing truss robots carry and stack such boxes, a wine bottle that was originally placed vertically may slide upward and become flat or tilted. This may be because the wine bottles are not placed firmly enough due to careless operation during the loading process. As a result, when the truss robot drives the box to move, the box is subjected to external force and causes the wine bottles to shift. When the wine bottles shift, they may roll inside the box and collide with other wine bottles, resulting in the wine bottles breaking and causing losses. In addition, if the end of the wine bottle extends to the outside of the box, then when the box is stacked, the upper and lower boxes will not fit together, affecting the smooth progress of the stacking work.

Therefore, in order to solve the above problems, when the present embodiment is in use, after the box containing the wine bottles is fixed by the box positioning mechanism, when a wine bottle is moved out from the gap between the multiple arranged wine bottles due to external force, the wine bottle may be in a state of leaning against the edge of the box, or flat on the multiple wine bottles. At this time, according to the position of the bottle mouth, the motor 5 17, the motor 6 19, the electric push rod 1 21, the motor 11 26, and the motor 7 28 can be started to rotate the threaded rod 3 16 and the threaded rod 4 18 respectively, the adjustment frame 23 can be raised and lowered, and the fixing plate 24 and the adjustment ring 29 can be rotated to move the adjustment ring 29 in the X, Y, and Z axis directions, and the angle of the adjustment ring 29 can be adjusted to adjust the adjustment ring 29. 9 is set at the mouth of the wine bottle, and then the motor 8 31 is used to drive the bidirectional threaded rod 32 to rotate, so that the two clamping blocks 30 are close to each other to clamp the mouth of the wine bottle, and then the above-mentioned adjustment ring 29 is repeated. The position and angle adjustment operation is moved to move the wine bottle above the original placement position and align it with the gap of the placement position, and then the two clamping blocks 30 are driven away from each other, and the wine bottle is put down to reset the wine bottle, thereby avoiding the wine bottle from rolling inside the box due to accidental displacement and colliding with other wine bottles, and then the wine bottle is broken. In addition, it also avoids the end of the wine bottle extending to the outside of the box, which makes the upper and lower boxes unable to fit together, affecting the smooth progress of the stacking work;

Furthermore, since a wine bottle will have a gap at its original placement position after it is moved from its original placement position, the remaining wine bottles may move to the gap due to external force and occupy the original placement position of the wine bottle. At this time, when the adjusting ring 29 resets the wine bottle, the bottom of the wine bottle to be reset will abut against the mouths of the remaining wine bottles, resulting in the inability to reset the bottle normally. Furthermore, when the mouths of the remaining wine bottles are forcibly squeezed to achieve placement, the wine bottle may also break. Therefore, after the adjusting ring 29 clamps the wine bottle, the adjusting column 40 is first moved to the original placement position of the wine bottle, and the expansion plate 41 is aligned with the gap. Then, the motor 9 44 is used to drive the threaded rod 5 33 to rotate, so that the sliding column 38 is lowered, and the expansion plate 41 is extended into the gap. Then, the electric push rod 39 is started to drive the sliding sleeve 42 to descend, so that the plurality of wine bottles can be placed in the same position. The second connecting rod 43 rotates at the same time and drives the expansion plate 41 to slide on the adjustment column 40, so that multiple expansion plates 41 move radially at the same time to push the wine bottle, providing a placement space for the wine bottle to be reset. In addition, since the expansion plates 41 are plugged into each other and slidably connected, when the expansion plates 41 move radially, the expansion plates 41 will also slide relatively, but there will be no gap between the expansion plates 41, avoiding a pushing dead angle; when there is a large enough reset gap between the wine bottles, the adjustment ring 29 can be driven to put the wine bottle into the gap; thereby avoiding the situation that after the wine bottle is moved out of the original placement position, there is a gap in its placement position, and the remaining wine bottles move to the gap due to external force and occupy the original placement position of the wine bottle, resulting in the reset work cannot be carried out normally, thereby ensuring the normal reset work of the wine bottle;

Therefore, with the cooperation of the box positioning mechanism and the gap expansion adjustment mechanism, when a wine bottle is moved out from the gap between multiple arranged wine bottles due to external force, and the wine bottle leans against the edge of the box or is placed flat on multiple wine bottles, the position and angle of the adjustment ring 29 are adjusted, and the bottle mouth is clamped by two clamping blocks 30, and then the adjustment ring 29 is driven to move, so that the wine bottle is moved above the original placement position and aligned with the gap at the placement position, and then the two clamping blocks 30 are driven away from each other, and the wine bottle is put down to restore the wine bottle, thereby avoiding the wine bottle from rolling inside the box due to accidental displacement and colliding with other wine bottles, thereby causing the wine bottle to break, and also avoiding the end of the wine bottle from extending outside the box. The upper and lower boxes cannot fit together, which affects the smooth stacking work. Moreover, when the remaining wine bottles occupy the position of the wine bottles to be reset, the adjusting column 40 can be driven to move to the original placement position of the wine bottles, and the expansion plate 41 is aligned with the gap, so that the expansion plate 41 extends into the gap, and then multiple expansion plates 41 are moved radially at the same time to push the wine bottles, so as to provide a placement space for the wine bottles to be reset, so that the wine bottles can be placed smoothly, thereby avoiding the situation that after the wine bottles are moved from the original placement position, there is a gap in their placement position, and the remaining wine bottles move to the gap due to external force and occupy the original placement position of the wine bottles, resulting in the failure of the reset work, thereby ensuring the normal reset of the wine bottles.

Working principle: by driving the threaded rod 12 to rotate through the motor 15, driving the threaded rod 24 to rotate through the motor 26, and driving the gear 13 to rotate through the motor 412, the frame 15 can be moved in the X, Y, and Z axis directions, so that the box to be clamped is located at the frame 15, and by driving the frame 15 to rotate through the motor 31, the angle of the clamping plate 134 can be adjusted, so that the clamping plate 134 can be parallel to one side edge of the box, and then the electric push rod 249 is started to drive the clamping plate 134 to move, so that the clamping plates 134 on both sides are close to each other to clamp the box, and at the same time, the motor 1045 drives the threaded rod 647 to rotate, so that the threaded block 48 can be raised and lowered, and the connecting rods 136 on both sides are used to drive The second clamping plate 35 and the sliding rod 4 50 move so that the second clamping plates 35 on both sides also fit with the edge of the box body, thereby completing the clamping of the box body. Then, the above-mentioned frame 15 orientation adjustment operation is repeated to carry the clamped box body to the specified position. At the same time, under the action of the first clamping plate 34 and the second clamping plate 35, the stability of the box body during transportation is also guaranteed. After the box body containing wine bottles is fixed by the box body positioning mechanism, when a wine bottle is moved out of the gap between multiple arranged wine bottles due to external force, the wine bottle may be in a state of leaning against the edge of the box body, or flat on top of multiple wine bottles. At this time, the motor 5 17, the motor 6 19, and the electric push rod 1 can be started according to the position of the bottle mouth. The motor 21, the motor 11, the motor 26, and the motor 7, 28, respectively rotate the threaded rod 3, the threaded rod 4, 18, the adjusting frame 23 rises and falls, the fixing plate 24 and the adjusting ring 29 rotate, so that the adjusting ring 29 moves in the X, Y, and Z axis directions, and the angle of the adjusting ring 29 can be adjusted, so that the adjusting ring 29 is sleeved on the bottle mouth of the wine bottle, and then the motor 8, 31, drives the bidirectional threaded rod 32 to rotate, so that the two clamping blocks 30 are close to each other to clamp the bottle mouth of the wine bottle, and then repeats the above-mentioned position and angle adjustment operation of the adjusting ring 29, so that the wine bottle is moved to the top of the original placement position and aligned with the gap of the placement position, and then drives the two clamping blocks 30 away from each other to move the wine bottle. When the wine bottle is put down, it can be reset, thus avoiding the situation that the wine bottle rolls inside the box due to accidental displacement and collides with other wine bottles, which may cause the wine bottle to break. It also avoids the situation that the end of the wine bottle extends to the outside of the box, which makes it impossible for the upper and lower boxes to fit together, affecting the smooth stacking work. In addition, after the wine bottle is moved out from its original placement position, there will be a gap in its placement position, and the other wine bottles may move to the gap due to external force and occupy the original placement position of the wine bottle. At this time, when the adjusting ring 29 resets the wine bottle again, the bottom of the wine bottle to be reset will be against the mouth of the other wine bottles, resulting in the inability to reset the work normally and Moreover, when forcibly squeezing the mouths of other wine bottles to achieve placement, the wine bottles may also break. Therefore, after the adjusting ring 29 clamps and fixes the wine bottles, the adjusting column 40 is first moved to the original placement position of the wine bottles, and the expansion plate 41 is aligned with the gap. Then, the motor 9 44 is used to drive the threaded rod 5 33 to rotate, so that the sliding column 38 is lowered, and the expansion plate 41 is extended into the gap. Then, the electric push rod 3 39 is started to drive the sliding sleeve 42 to descend, so that multiple connecting rods 2 43 can be rotated at the same time, and the expansion plate 41 can be driven to slide on the adjusting column 40, so that multiple expansion plates 41 can move radially at the same time to push the wine bottles, so as to provide a placement space for the wine bottles to be reset, and, Since the expansion plates 41 are plugged into and slidably connected to each other, when the expansion plates 41 move radially, the expansion plates 41 will also slide relatively, but no gap will appear between the expansion plates 41, thereby avoiding pushing dead angles; when there is a sufficiently large reset gap between the wine bottles, the adjustment ring 29 can be driven to put the wine bottle into the gap; thereby avoiding the situation where, after the wine bottle is moved out from its original placement position, a gap appears at its placement position, and the remaining wine bottles move to the gap due to external force and occupy the original placement position of the wine bottle, resulting in the inability to perform the reset work normally, thereby ensuring the normal performance of the wine bottle reset work; thereby, under the cooperation of the box positioning mechanism and the gap expansion adjustment mechanism, the wine bottle can be reset normally. When a wine bottle is moved out of the gap between the arranged wine bottles due to external force, and the wine bottle leans against the edge of the box or is placed flat on top of the wine bottles, the position and angle of the adjustment ring 29 are adjusted, and the two clamping blocks 30 are used to clamp the bottle mouth, and then the adjustment ring 29 is driven to move, so that the wine bottle is moved above the original placement position and aligned with the gap of the placement position, and then the two clamping blocks 30 are driven away from each other, and the wine bottle is put down to restore the wine bottle, thereby preventing the wine bottle from rolling inside the box due to accidental displacement and colliding with other wine bottles, thereby causing the wine bottle to break. In addition, it also prevents the end of the wine bottle from extending to the outside of the box, causing the upper and lower boxes to be unable to fit. When the remaining wine bottles occupy the positions of the wine bottles to be reset, the adjusting column 40 can be driven to move to the original placement position of the wine bottles, and the expansion plate 41 can be aligned with the gap, so that the expansion plate 41 can be extended into the gap, and then the multiple expansion plates 41 can be moved radially at the same time to push the wine bottles, so as to provide placement space for the wine bottles to be reset, so that the wine bottles can be placed smoothly, thereby avoiding the situation that after the wine bottles are moved out from the original placement position, there is a gap in the placement position, and the remaining wine bottles move to the gap due to external force and occupy the original placement position of the wine bottles, resulting in the failure of the reset work, thereby ensuring the normal reset of the wine bottles.

The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims (10)

1. A dual-machine truss robot, comprising a crossbeam (1), characterized in that: the upper end surface of the crossbeam (1) is slidably connected to a slide rail (3), the inner side of the slide rail (3) is slidably connected to an adjustment plate (9), the inner side of the adjustment plate (9) is slidably connected to a rack (8), the lower end of the rack (8) is fixedly connected to a mounting plate (10), a connecting frame (14) is rotatably provided at the middle part of the lower end surface of the mounting plate (10), the lower end of the connecting frame (14) is fixedly connected to a frame (15), and the frame (15) is provided with a box positioning mechanism for clamping a box for holding wine bottles; The box body positioning mechanism comprises a sliding rod three (27) slidably connected to the middle of both sides of the frame body (15), one end of the sliding rod three (27) is fixedly connected to a clamping plate one (34), the front and rear sides of the clamping plate one (34) are both slidably connected to sliding rod four (50), and one end of the sliding rod four (50) is fixedly connected to the clamping plate two (35); The frame (15) is also provided with a gap expansion type adjustment mechanism for straightening a tilted wine bottle, the gap expansion type adjustment mechanism comprising a second slide rail (25) slidably connected to the upper end surface of the frame (15), a slider (20) being slidably connected to the upper side of the second slide rail (25), a second slide bar (22) being slidably connected to the left side of the slider (20), an adjustment frame (23) being fixedly connected to the lower end of the second slide bar (22), a fixed plate (24) being rotatably provided at the middle part of the lower end surface of the adjustment frame (23), an adjustment ring (29) being rotatably provided at the lower side of the fixed plate (24), and a clamping block (30) being slidably connected to the front and rear sides of the adjustment ring (29). 2. A dual-machine truss robot according to claim 1, characterized in that: threaded rods (2) are rotatably provided at both ends of the rear side of the upper end surface of the beam (1), the threaded rod (2) is threadedly connected to one end of the slide rail (3), and a motor (5) is fixedly connected to the left end of the rear side of the upper end surface of the beam (1), and the output end of the motor (5) is fixedly connected to the left end of the threaded rod (2). 3. A dual-machine truss robot according to claim 1, characterized in that: both front and rear ends of the slide rail 1 (3) are rotatably provided with threaded rod 2 (4), the threaded rod 2 (4) is threadedly connected to the adjustment plate (9), the rear end surface of the slide rail 1 (3) is fixedly connected to the motor 2 (6), and the output end of the motor 2 (6) is fixedly connected to the rear end of the threaded rod 2 (4). 4. A dual-machine truss robot according to claim 1, characterized in that: a gear (13) is rotatably provided on one side of the adjustment plate (9), the gear (13) is meshed with the front gear block of the rack (8), a motor four (12) is fixedly connected to the front side of the left end face of the adjustment plate (9), the output end of the motor four (12) is fixedly connected to the gear (13), a motor three (11) is fixedly connected to the middle part of the lower side of the mounting plate (10), and the output end of the motor three (11) is fixedly connected to the connecting frame (14). 5. A dual-machine truss robot according to claim 1, characterized in that: the middle parts of the left and right end surfaces of the frame (15) are fixedly connected with electric push rods 2 (49), the piston end of the electric push rods 2 (49) is fixedly connected with a fixing frame (46), the lower end of the fixing frame (46) is fixedly connected to the clamping plate 1 (34), one side of the clamping plate 2 (35) is rotatably provided with a connecting rod 1 (36), one end of the connecting rod 1 (36) is rotatably provided with a threaded block (48), the threaded block (48) is threadedly connected with a threaded rod 6 (47), the lower end of the threaded rod 6 (47) is rotatably provided on the fixing frame (46), the upper end of the threaded rod 6 (47) is rotatably provided on the fixing frame (46), the upper end surface of the fixing frame (46) is fixedly connected with a motor 10 (45), and the output end of the motor 10 (45) is fixedly connected to the upper end of the threaded rod 6 (47). 6. A dual-machine truss robot according to claim 1, characterized in that: the lower end of the front side of the second slide rail (25) is threadedly connected to a threaded rod three (16), both ends of the threaded rod three (16) are rotatably set on the frame (15), the right end of the front side of the frame (15) is fixedly connected to a motor five (17), the output end of the motor five (17) is fixedly connected to the right end of the threaded rod three (16), the left side of the upper end surface of the slider (20) is fixedly connected to an electric push rod one (21), and the piston end of the electric push rod one (21) is fixedly connected to the middle part of the upper end surface of the adjustment frame (23). 7. A dual-machine truss robot according to claim 1, characterized in that: a motor eleven (26) is fixedly connected to the middle part of the lower side of the adjustment frame (23), the output end of the motor eleven (26) is fixedly connected to the upper end of the fixed plate (24), the right end of the slider (20) is threadedly connected to a threaded rod four (18), both ends of the threaded rod four (18) are rotatably set on the slide rail two (25), the upper end of the front side of the slide rail two (25) is fixedly connected to a motor six (19), and the output end of the motor six (19) is fixedly connected to the front end of the threaded rod four (18). 8. A dual-machine truss robot according to claim 1, characterized in that: both front and rear ends of the adjustment ring (29) are rotatably provided with a bidirectional threaded rod (32), both front and rear sides of the bidirectional threaded rod (32) are threadedly connected to the clamping block (30), one end of the rear side of the adjustment ring (29) is fixedly connected to a motor eight (31), the output end of the motor eight (31) is fixedly connected to the rear end of the bidirectional threaded rod (32), one side of the rear end surface of the fixing plate (24) is fixedly connected to a motor seven (28), and the output end of the motor seven (28) is fixedly connected to the adjustment ring (29). 9. A dual-machine truss robot according to claim 1, characterized in that: a support plate (37) is fixedly connected to the right side of the upper end surface of the fixed plate (24), one end of the upper side of the support plate (37) is fixedly connected to a slide rod (7), the lower end of the slide rod (7) is fixedly connected to the fixed plate (24), the slide rod (7) is slidably connected to a slide column (38), one end of the slide column (38) is threadedly connected to a threaded rod (33), the upper end of the threaded rod (33) is rotatably set on the support plate (37), the lower end of the threaded rod (33) is rotatably set on the fixed plate (24), and a motor (44) is fixedly connected to one side of the upper end surface of the support plate (37), and the output end of the motor (44) is fixedly connected to the upper end of the threaded rod (33). 10. A dual-machine truss robot according to claim 9, characterized in that: an adjusting column (40) is fixedly connected to the middle of the lower end surface of the sliding column (38), a sliding sleeve (42) is sleeved and slidably connected on the adjusting column (40), a plurality of connecting rods (43) are rotatably arranged on the sliding sleeve (42), an expansion plate (41) is rotatably arranged at one end of the connecting rod (43), the expansion plate (41) is plugged and slidably connected to the adjusting column (40), and a plurality of expansion plates (41) are plugged and slidably connected to each other, an electric push rod (39) is fixedly connected to the left side of the lower end surface of the sliding column (38), and the piston end of the electric push rod (39) is fixedly connected to the left side of the upper end surface of the sliding sleeve (42).