CN110695752A - Truss robot - Google Patents
Truss robot Download PDFInfo
- Publication number
- CN110695752A CN110695752A CN201910856911.7A CN201910856911A CN110695752A CN 110695752 A CN110695752 A CN 110695752A CN 201910856911 A CN201910856911 A CN 201910856911A CN 110695752 A CN110695752 A CN 110695752A
- Authority
- CN
- China
- Prior art keywords
- axis moving
- sliding table
- truss robot
- motor
- grabbing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000078 claw Anatomy 0.000 claims description 18
- 239000000428 dust Substances 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000007599 discharging Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
Abstract
The invention discloses a truss robot which comprises a supporting seat, a Z-axis moving part, an X-axis moving part, a grabbing part and a control part, wherein a fixed seat is arranged at the bottom of the supporting seat, the X-axis moving part is arranged at the top of the supporting seat, the X-axis moving part is provided with the Z-axis moving part and drives the Z-axis moving part to reciprocate along the X-axis direction, the Z-axis moving part is provided with the grabbing part and drives the grabbing part to reciprocate along the Z-axis direction, and the control part is connected with and drives the Z-axis moving part, the X-axis moving part and the grabbing part to operate. The invention provides the truss robot which is high in automation degree, high in production efficiency and capable of saving human resources and feeding and discharging materials on a manipulator in one step.
Description
Technical Field
The invention relates to the field of automatic loading and unloading auxiliary equipment of machine tools, in particular to a truss robot.
Background
In the current machining process of a machine tool, the part is generally fed and discharged by an operator of the machine tool to repeatedly put and take the part according to the operation of equipment, the labor is consumed, the time spent is relatively long, the overall productivity is reduced, and the product is easily damaged due to the action of personnel, so that the cost is increased. Meanwhile, the long-time operation personnel can carry out feeding or discharging, so that the processing efficiency of the operation personnel is low; and is not conducive to automation.
Disclosure of Invention
In order to solve the problems, the invention aims to provide the truss robot which is high in automation degree, labor resource saving, high in production efficiency and capable of loading and unloading in one step by a manipulator.
According to one aspect of the invention, the truss robot comprises a supporting seat, a Z-axis moving part, an X-axis moving part, a grabbing part and a control part, wherein a fixed seat is arranged at the bottom of the supporting seat, the X-axis moving part is arranged at the top of the supporting seat, the Z-axis moving part is arranged on the X-axis moving part and drives the Z-axis moving part to reciprocate along the X-axis direction, the grabbing part is arranged on the Z-axis moving part and drives the grabbing part to reciprocate along the Z-axis direction, and the control part is connected with and drives the Z-axis moving part, the X-axis moving part and the grabbing part to operate.
In some embodiments, the X-axis moving part includes a mounting plate disposed on a top of the support base and a first moving assembly disposed on the support base.
In some embodiments, the first moving assembly includes a first wire rail, a first slider, a first rack, a first gear, a first motor, and a first sliding table, the first wire rail is provided with 2 horizontal fixing members fixed on the mounting plate, the first rack is arranged in parallel with the first wire rail, the first slider is sleeved on the first wire rail, the first sliding table is arranged on the first slider, the first motor is arranged on the first sliding table, an output end of the first motor is provided with the first gear, and the first gear is engaged with the first rack.
In some embodiments, the Z-axis moving part includes a moving bracket and a second moving assembly, the second moving assembly is disposed on the moving bracket, and the second moving assembly is disposed on the first sliding table.
In some embodiments, the second moving assembly includes a second linear rail, a second slider, a second rack, a second gear, a second motor and a second sliding table, the second linear rail is fixed on the moving support, the second rack is arranged in parallel to the second linear rail, the second slider is sleeved on the second linear rail, the second sliding table is arranged on the first slider, the second motor is installed on the second sliding table, the output end of the second motor is provided with the second gear, the second gear is engaged with the second rack, and the second sliding table is fixedly connected with the first sliding table.
In some embodiments, the control part comprises an electric cabinet, a human-computer interface and an alarm lamp, the human-computer interface is connected with the electric cabinet, the electric cabinet is connected with the Z-axis moving part, the X-axis moving part and the grabbing part, and the alarm lamp is connected with the human-computer interface.
In some embodiments, the grabbing portion comprises a mounting block, a first grabbing claw, a second grabbing claw and a driving piece, the mounting block is fixed to the bottom of the movable support, the first grabbing claw is fixedly arranged at one end of the mounting block, the driving piece is arranged at the bottom of the mounting block, the second grabbing claw is arranged on the driving piece and is arranged at the other end of the mounting block, and the driving piece drives the second grabbing claw to move towards the first grabbing claw.
In some embodiments, dust covers are arranged above the first sliding table and the second sliding table.
The X-axis movement of the workpiece is realized through the X-axis moving part; the workpiece is moved up and down through the Z-axis moving part; the automatic workpiece grabbing device has the advantages that workpieces can be conveniently grabbed through the grabbing part, the automation degree is high, the human resource is saved, the production efficiency is high, the loading and unloading of the manipulator are in place in one step, and the automatic upgrading of traditional equipment of an enterprise is comprehensively realized.
Drawings
FIG. 1 is a schematic structural view of a truss robot of the present invention;
FIG. 2 is a schematic structural view of an X-axis moving part of the truss robot of the present invention;
FIG. 3 is a schematic structural view of a Z-axis moving part of the truss robot of the present invention;
fig. 4 is a schematic structural view of a control part of the truss robot of the present invention;
fig. 5 is a schematic structural view of a grasping portion of the truss robot of the present invention.
Detailed Description
The present invention will be further described with reference to the following embodiments.
As shown in fig. 1, the present invention provides a truss robot, which includes a supporting seat 1, a Z-axis moving portion 2, an X-axis moving portion 3, a grabbing portion 4 and a control portion 5, wherein a fixing seat 6 is disposed at the bottom of the supporting seat 1, the X-axis moving portion 3 is disposed at the top of the supporting seat 1, the Z-axis moving portion 2 is disposed on the X-axis moving portion 3 and drives the Z-axis moving portion 2 to reciprocate along the X-axis direction, the grabbing portion 4 is disposed on the Z-axis moving portion 2 and drives the grabbing portion 4 to reciprocate along the Z-axis direction, and the control portion 5 is connected with and drives the Z-axis moving portion 2, the X-axis moving portion 3 and the grabbing portion 4. The X-axis movement of the workpiece is realized through the X-axis moving part 3; the workpiece is moved up and down through the Z-axis moving part 2; the workpiece can be conveniently grabbed through the grabbing part 4, the automatic loading and unloading device is high in automation degree, manpower resources are saved, production efficiency is high, loading and unloading of the manipulator are in place in one step, and automatic upgrading of traditional equipment of an enterprise is comprehensively achieved.
As shown in fig. 2, the X-axis moving part 3 includes a mounting plate 31 and a first moving member 32, the mounting plate 31 is disposed on the top of the support base 1, and the first moving member 32 is disposed on the support base 1. The first moving unit 32 moves the Z-axis moving unit 2 in the horizontal direction so as to place the workpiece in a predetermined processing station or a receiving frame.
As shown in fig. 3, the Z-axis moving part 2 includes a moving support 21 and a second moving assembly 22, the second moving assembly 22 is provided on the moving support 21, and the second moving assembly 22 is provided on the first slide table 38. The second moving component 22 is used for conveniently lifting the moving support 21, and further driving the grabbing part 4 to lift, so that the workpiece can be conveniently placed in a specified processing station or a material receiving frame.
The second moving assembly 22 comprises a second wire rail 23, a second sliding block 24, a second rack 25, a second gear 26, a second motor 27 and a second sliding table 28, the second wire rail 23 is fixed on the moving support 21, the second rack 25 is arranged in parallel to the second wire rail 23, the second sliding block 24 is sleeved on the second wire rail 23, the second sliding table 28 is arranged on the first sliding block 34, the second motor 27 is arranged on the second sliding table 28, the second gear 26 is arranged at the output end of the second motor 27, the second gear 26 is meshed with the second rack 25, and the second sliding table 28 is fixedly connected with the first sliding table 38. The second motor 27 drives the second gear 26 to rotate and further engage with the second rack 25, and finally drives the second slider 24 to reciprocate on the second linear rail 23, so as to finally realize the lifting of the movable support 21.
As shown in fig. 4, the control unit 5 includes an electric cabinet 51, a human-machine interface 52 and an alarm lamp 53, the human-machine interface 52 is connected to the electric cabinet 51, the electric cabinet 51 is connected to the Z-axis moving unit 2, the X-axis moving unit 3 and the grasping unit 4, and the alarm lamp 53 is connected to the human-machine interface 52. The first motor 37, the second motor 27 and the driving part 44 are arranged through a human-home interface, the first motor 37, the second motor 27 and the driving part 44 are controlled through the electric control cabinet, and the alarm lamp 53 is convenient for the alarm to give an alarm in a dangerous state to remind an operator.
As shown in fig. 5, the gripping part 4 includes a mounting block 41, a first gripping claw 42, a second gripping claw 43, and a driving member 44, the mounting block 41 is fixed at the bottom of the movable bracket 21, the first gripping claw 42 is fixedly disposed at one end of the mounting block 41, the driving member 44 is disposed at the bottom of the mounting block 41, the second gripping claw 43 is mounted on the driving member 44 and disposed at the other end of the mounting block 41, and the driving member 44 drives the second gripping claw 43 to move toward the first gripping claw 42. The second gripper jaw 43 is moved by the drive element 44 in the direction of the first gripper jaw 42, so that the workpiece is gripped automatically.
Certainly, the bottom of the fixed seat 6 can also be provided with a rotating part, and the rotating part can rotate 360 degrees by comprising the supporting seat 1, the Z-axis moving part 2, the X-axis moving part 3, the grabbing part 4 and the control part 5, so that the device is suitable for different use occasions.
The foregoing describes only some embodiments of the present invention and modifications and variations thereof will be apparent to those skilled in the art without departing from the spirit and scope of the invention.
Claims (8)
1. Truss robot, its characterized in that includes supporting seat, Z axle removal portion, X axle removal portion, snatchs portion and control part, the bottom of supporting seat is equipped with the fixing base, the top of supporting seat is equipped with X axle removal portion, be equipped with Z axle removal portion in the X axle removal portion and drive Z axle removal portion along X axle direction reciprocating motion, Z axle removal portion is equipped with snatchs the portion and drives snatchs portion along Z axle direction reciprocating motion, the control part is connected and is driven Z axle removal portion, X axle removal portion and snatchs a operation.
2. The truss robot of claim 1, wherein the X-axis moving part includes a mounting plate disposed on a top of the support base and a first moving assembly disposed on the support base.
3. The truss robot of claim 2, wherein the first moving assembly comprises a first linear rail, a first sliding block, a first rack, a first gear, a first motor and a first sliding table, the first linear rail is provided with 2 horizontal rods fixed on the mounting plate, the first rack is arranged in parallel with the first linear rail, the first sliding block is sleeved on the first linear rail, the first sliding table is arranged on the first sliding block, the first motor is arranged on the first sliding table, the output end of the first motor is provided with the first gear, and the first gear is meshed with the first rack.
4. The truss robot as claimed in claim 1, wherein the Z-axis moving part includes a moving bracket and a second moving assembly, the second moving assembly is provided on the moving bracket, and the second moving assembly is provided on the first sliding table.
5. The truss robot of claim 4, wherein the second moving assembly comprises a second linear rail, a second sliding block, a second rack, a second gear, a second motor and a second sliding table, the second linear rail is fixed on the moving support, the second rack is arranged in parallel to the second linear rail, the second sliding block is sleeved on the second linear rail, the second sliding table is arranged on the first sliding block, the second motor is arranged on the second sliding table, the output end of the second motor is provided with the second gear, the second gear is meshed with the second rack, and the second sliding table is fixedly connected with the first sliding table.
6. The truss robot as claimed in any one of claims 1 to 5, wherein the control part comprises an electric cabinet, a human-computer interface and an alarm lamp, the human-computer interface is connected with the electric cabinet, the electric cabinet is connected with the Z-axis moving part, the X-axis moving part and the grabbing part, and the alarm lamp is connected with the human-computer interface.
7. The truss robot as claimed in claim 5, wherein the grabbing portion includes a mounting block, a first grabbing claw, a second grabbing claw and a driving member, the mounting block is fixed to the bottom of the movable bracket, the first grabbing claw is fixedly disposed at one end of the mounting block, the driving member is disposed at the bottom of the mounting block, the second grabbing claw is mounted on the driving member and disposed at the other end of the mounting block, and the driving member drives the second grabbing claw to move in the direction of the first grabbing claw.
8. The truss robot of claim 7, wherein dust covers are disposed over the first and second slip tables.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910856911.7A CN110695752A (en) | 2019-09-11 | 2019-09-11 | Truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910856911.7A CN110695752A (en) | 2019-09-11 | 2019-09-11 | Truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110695752A true CN110695752A (en) | 2020-01-17 |
Family
ID=69196119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910856911.7A Pending CN110695752A (en) | 2019-09-11 | 2019-09-11 | Truss robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110695752A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3760956A (en) * | 1971-08-23 | 1973-09-25 | Burch Controls Inc | Industrial robot |
| KR20100002709A (en) * | 2008-06-30 | 2010-01-07 | 재단법인서울대학교산학협력재단 | Robot having rotatable arm |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
| CN106695773A (en) * | 2017-03-22 | 2017-05-24 | 东莞市西格玛自动化科技股份有限公司 | High-load rapid driving mechanism |
| CN206690121U (en) * | 2017-03-23 | 2017-12-01 | 山东协和学院 | A kind of catching robot device |
| CN207465220U (en) * | 2017-11-16 | 2018-06-08 | 三峡大学 | Gripping-type manipulator |
| CN108705522A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of four axis truss robots |
| CN109773765A (en) * | 2019-04-03 | 2019-05-21 | 秦川机床工具集团股份公司 | One kind is for intelligent production line truss robot device |
| CN211029163U (en) * | 2019-09-11 | 2020-07-17 | 东莞领杰金属精密制造科技有限公司 | Truss robot |
-
2019
- 2019-09-11 CN CN201910856911.7A patent/CN110695752A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3760956A (en) * | 1971-08-23 | 1973-09-25 | Burch Controls Inc | Industrial robot |
| KR20100002709A (en) * | 2008-06-30 | 2010-01-07 | 재단법인서울대학교산학협력재단 | Robot having rotatable arm |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
| CN106695773A (en) * | 2017-03-22 | 2017-05-24 | 东莞市西格玛自动化科技股份有限公司 | High-load rapid driving mechanism |
| CN206690121U (en) * | 2017-03-23 | 2017-12-01 | 山东协和学院 | A kind of catching robot device |
| CN207465220U (en) * | 2017-11-16 | 2018-06-08 | 三峡大学 | Gripping-type manipulator |
| CN108705522A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of four axis truss robots |
| CN109773765A (en) * | 2019-04-03 | 2019-05-21 | 秦川机床工具集团股份公司 | One kind is for intelligent production line truss robot device |
| CN211029163U (en) * | 2019-09-11 | 2020-07-17 | 东莞领杰金属精密制造科技有限公司 | Truss robot |
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