CN114714338A

CN114714338A - Truss manipulator with process protection

Info

Publication number: CN114714338A
Application number: CN202210474989.4A
Authority: CN
Inventors: 李阵风
Original assignee: Jiangsu Jingjiang Industrial Equipment Co ltd
Current assignee: Jiangsu Jingjiang Industrial Equipment Co ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2022-07-08

Abstract

The utility model discloses a truss manipulator with process protection, which comprises a first sliding block, wherein a servo motor is installed on the outer wall of one side of the first sliding block, a first reciprocating screw rod is installed at the output end of the servo motor and penetrates through the outer wall of one side of a first connecting plate, a second sliding block is installed on the outer surface of the first reciprocating screw rod in a sliding mode, a hydraulic push rod is installed at the bottom of the second sliding block, a sucker plate is installed at the output end of the hydraulic push rod, object placing sleeves are installed at the four corners of the bottom of the sucker plate, electromagnets are installed in the object placing sleeves in an embedded mode, an iron block is installed at the bottom of the electromagnets in an attracted mode, a supporting rod is installed at the bottom of the iron block, and a bottom plate is installed at the bottom of the supporting rod. According to the utility model, the first sliding block, the object placing sleeve, the electromagnet, the supporting rod and the bottom plate are arranged, the supporting rod is inserted into the object placing sleeve, then the electromagnet can be electrified, the iron block and the electromagnet are attracted, and then the grabbed object can be supported through the bottom plate.

Description

Truss manipulator with process protection

Technical Field

The utility model relates to the technical field of truss manipulators, in particular to a truss manipulator with process protection.

Background

Along with the continuous development of industry, the automation demand of factories is more and more large, the truss manipulator is widely applied, and some existing truss manipulators do not have a protection function in the using process, so that articles are very easy to drop and damage when being grabbed, and therefore, the truss manipulator with the process protection is urgently needed.

The existing truss manipulator has the following defects:

1. patent document CN215968739U discloses a truss manipulator device. The truss manipulator device comprises a beam structure, a grabbing structure, a plurality of supporting structures and a connecting structure, wherein the grabbing structure is connected to the beam structure and can move along the extending direction of the beam structure; the plurality of supporting structures are arranged at intervals along the extending direction of the beam structure and are positioned on one side of the beam structure; one end of the connecting structure is connected to the top end of the supporting structure, and the other end of the connecting structure extends in the direction away from the supporting structure and is connected with the beam structure. The truss manipulator device provided by the utility model is small in working difficulty and small in occupied space, but the truss manipulator in the publication mainly considers how to reduce the occupied space, and does not consider that the existing truss manipulator is not provided with a protection device in the using process;

2. patent document CN213439755U discloses a go up unloading truss manipulator, relates to truss technical field, and is not high enough for solving the driven stability ability of current last unloading truss manipulator, and structural performance is not perfect enough problem. An upper fixed supporting block is arranged at the upper end of the supporting and fixing vertical rod, a connecting and fixing block is arranged above the upper fixed supporting block, a fixed mounting frame is arranged above the connecting and fixing block, a rotating motor is arranged at one side of the fixed mounting frame, a transmission screw rod is arranged in the middle of the inside of the fixed mounting frame, a movable working mechanism is arranged at the front end of the fixed mounting frame, a fixed transmission rod is arranged in the movable working mechanism, an upper fixed limiting block is arranged at the upper end of the fixed transmission rod, the bottom fixing clamping mechanism is arranged at the lower end of the fixing transmission rod, the feeding and discharging truss manipulator of the utility model effectively reduces the labor intensity and improves the working efficiency, however, the truss manipulator in the above publication mainly considers how to improve the working efficiency, and does not consider that the existing truss manipulator has poor protection effect in the using process;

3. patent document CN214818672U provides a double-arm truss manipulator, and belongs to the technical field of manipulators. The mechanical arm on the machine tool solves the technical problems of low efficiency, small bearing capacity and the like of the existing mechanical arm on the machine tool. This both arms truss manipulator is including setting up the mount pad on the truss, and the mount pad slides and sets up on the truss and be equipped with on the truss and can drive the mount pad along truss reciprocating motion's drive structure one, and the interval is provided with two vertical pole settings on the mount pad, still is equipped with the drive structure two that can drive every pole setting and reciprocate from top to bottom independently in mount pad and/or the pole setting, and the lower extreme of every pole setting all is equipped with a set of mechanical clamping jaw. The double-arm truss manipulator disclosed by the utility model is high in working efficiency, and solves the problem of loading and unloading of large machine tools and large materials, but the truss manipulator in the publication mainly considers how to solve the problem of loading the large machine tools and the large materials through the truss manipulator, does not consider that the existing truss manipulator is inconvenient to assemble and disassemble, cannot assemble the truss manipulator in actual work, and is poor in flexibility;

4. patent document CN215391143U discloses a cleaning device for truss manipulator, relates to truss manipulator clearance technical field, can leave the rivers subaerial around truss manipulator when solving the clearance, needs the secondary clearance, reduces work efficiency, can leave the water mark on the guide rail after the clearance, can make the guide rail produce the problem of corrosion, support automobile body top fixed mounting has adjustment mechanism, support automobile body front end fixed mounting has pump water mechanism, adjustment mechanism rotates to install cleaning mechanism, and cleaning mechanism passes through the water purification union coupling with pump water mechanism, cleaning mechanism below slidable mounting has recovery mechanism, and retrieves the mechanism and passes through the sewage union coupling with the support automobile body, cleaning mechanism includes rotor arm, water jet, washing mouth, water scraping tank, fender lid, wiper blade, cleaning head, sprinkler head and installation pole, it includes back water storehouse to retrieve the mechanism, Return water chamber, installation end, spacing hole, mounting hole and construction bolt, but truss manipulator among the above-mentioned publication mainly considers how to wash truss manipulator, does not consider that current truss manipulator is not convenient to remove, and the practicality is relatively poor.

Disclosure of Invention

The utility model aims to provide a truss manipulator with process protection, so as to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: a truss manipulator with process protection comprises a first sliding block, wherein a servo motor is installed on the outer wall of one side of the first sliding block, connecting rods which are arranged at equal intervals are installed on the outer wall of one side of the first sliding block, and the connecting rods are located on the outer side of the servo motor;

the automatic feeding device is characterized in that a first connecting plate is installed at one end of the connecting rod, a first reciprocating lead screw is installed at the output end of the servo motor and penetrates through the outer wall of one side of the first connecting plate, a second sliding block is installed on the outer surface of the first reciprocating lead screw in a sliding mode, a hydraulic push rod is installed at the bottom of the second sliding block, a sucker plate is installed at the output end of the hydraulic push rod, object containing sleeves are installed at the four corners of the bottom of the sucker plate, electromagnets are installed in the object containing sleeves in an embedded mode, an iron block is installed at the bottom of each electromagnet in an attracting mode, a supporting rod is installed at the bottom of each iron block, a bottom plate is installed at the bottom of each supporting rod, and the size of the bottom plate is the same as that of the sucker plate;

and a third sliding block is arranged at one end of the first reciprocating screw rod through a shaft piece.

Preferably, the top of bottom plate is run through and is provided with the thing groove of putting of arranging around, and the bottom of bottom plate is provided with the retaining groove of symmetrical arrangement, and the retaining groove is "C" font, and two sets of equal slidable mounting in inside of putting the thing groove have the baffle, and the dog is installed to the both sides outer wall of baffle, and dog and retaining groove looks gomphosis, and the pull ring is all installed to the front of place ahead baffle and the back of rear baffle.

Preferably, the front of first slider and third slider all slidable mounting have the reciprocal lead screw of second, and the both ends of two sets of reciprocal lead screws of second are all installed and are put the thing piece, and the support column is all installed to four groups of bottoms of putting the thing piece, and the surface of four groups of support columns all cup joints and installs the adapter sleeve, and the surface of support column and adapter sleeve all runs through the jack that is provided with symmetrical arrangement, and the screw rod is all installed to the inside of two sets of jacks, and the inserted bar is installed to one end of one of them group screw rod, and the plug bush is installed to the one end of another group screw rod, and the bottom of adapter sleeve is installed and is put the thing board.

Preferably, put the bottom four corners of thing board and all install electric putter, the second connecting plate is all installed to four group's electric putter's bottom, and the second sucking disc is installed to the bottom of second connecting plate, and the bottom center department of putting the thing board installs the universal wheel, and the surface mounting of adapter sleeve has the loading board, and the aspiration pump is installed at the top of loading board, and the aspiration pump is located the side below of screw rod, and the base has been placed in the bottom laminating of second sucking disc.

Preferably, the surfaces of the two groups of blocking grooves, which are close to each other, are respectively connected with two ends of the object placing groove, and the blocking grooves and the object placing groove are in an I-shaped structure after being connected;

the inserted link is embedded with the inserted sleeve, and the front surface of the rear object block is connected with one end of the second reciprocating screw rod through a shaft piece;

the top of second sucking disc runs through the top of second connecting plate and installs the gas-supply pipe, and the one end of gas-supply pipe is connected with the output of aspiration pump.

Preferably, first sucking discs are installed to the bottom of sucking disc board and evenly arranged, and the storage tank is installed at the top of second slider, and the vacuum pump is installed to the diapire of storage tank, and the top of sucking disc board is run through at the top of first sucking disc and the pipe is installed, and the one end of pipe is connected with the output of vacuum pump.

Preferably, the supporting plate is installed at the bottom of the object placing block in front of the object placing block and located in front of the supporting column, the rotating motor is installed at the top of the supporting plate, and the output end of the rotating motor is connected with the other end of the second reciprocating screw rod.

Preferably, the inner surface of the second suction cup is provided with a non-slip mat, and the cross section of the non-slip mat is splayed.

Preferably, the working steps of the truss manipulator are as follows:

s1, before use, the support column is inserted into the connecting sleeve, and the screw rods are screwed into the inserting holes until the inserting rods on one group of screw rods are embedded with the inserting sleeves on the other group of screw rods;

s2, the truss manipulator is pushed, and the truss manipulator can be driven to move under the action of the universal wheels, so that the truss manipulator can be conveniently moved by workers, and the flexibility and the practicability of the truss manipulator in the use process can be improved to a certain extent;

s3, starting a vacuum pump in the storage box, enabling air between the first sucker and a grabbed object to be sucked through a guide pipe, grabbing the object, electrifying the electromagnet, inserting the support rod on the bottom plate into the object placing sleeve, and enabling the iron block to be firmly attracted with the electromagnet, so that a certain protection effect is achieved, and the probability of object falling and damage in the fetching process can be reduced;

s4, pulling the pull ring upwards to drive the baffle plate to move in the object placing groove until the stop block is embedded with the stop groove, so that the protection can be enhanced through the baffle plate, and the safety of the truss manipulator in the using process can be improved to a certain extent;

and S5, finally, starting the hydraulic push rod, so that the sucker plate can be driven to move upwards.

Preferably, in step S2, the method further includes the steps of:

s21, starting the electric push rod, and then driving the second connecting plate to move downwards until the second sucker is driven to be attached to the base;

s22, starting the air pump, so that air between the base and the second suction cup can be pumped out through the air pipe, the second suction cup and the base can be firmly sucked together, and the stability of the truss manipulator can be improved to a certain extent;

in step S5, the method further includes the steps of:

s51, starting a rotating motor, so that the second reciprocating screw rod can be driven to rotate, and then the truss manipulator can be driven to move back and forth under the action of a third sliding block;

s52, starting a servo motor, driving a first reciprocating screw rod to rotate, then driving the truss manipulator to move left and right under the action of a second sliding block, thereby being beneficial to improving the flexibility of the truss manipulator in use to a certain extent.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the utility model, the first sliding block, the servo motor, the first reciprocating screw rod, the hydraulic push rod, the object placing sleeve, the electromagnet, the iron block, the support rod and the bottom plate are arranged, after the truss manipulator grabs an object, the bottom plate with the support rod with a proper length is selected, the support rod is inserted into the object placing sleeve, then the electromagnet can be electrified, so that the iron block and the electromagnet are attracted, then the support rod can be firmly fixed in the object placing sleeve, then the hydraulic push rod is started, so that the object is driven to move up and down, and the arrangement of the bottom plate can reduce the probability of damage caused by the object falling from the truss manipulator.

2. According to the utility model, the storage groove, the baffle plate and the baffle plate are arranged, the baffle plate is pulled upwards until the baffle plate can be driven to be embedded with the baffle groove, and then the front and the back of an object can be protected through the baffle plate, so that the safety of the object in the transportation process is improved.

3. According to the utility model, the second reciprocating screw rod, the object placing block, the supporting column, the connecting sleeve, the inserting hole, the screw rod, the inserting sleeve and the object placing plate are arranged, before the truss manipulator is used, the supporting column is firstly inserted into the connecting sleeve, the screw rod is screwed into the inserting hole until the inserting rod can be embedded with the inserting sleeve, then the supporting column can be firmly fixed in the connecting sleeve through the screw rod, a worker can conveniently assemble the truss manipulator according to actual needs, and thus the flexibility of the truss manipulator in use is improved.

4. According to the utility model, the electric push rod, the second connecting plate, the second sucker, the non-slip mat, the bearing plate and the air pump are arranged, after the truss manipulator is pushed to a proper position, the electric push rod is started, so that the second connecting plate is driven to move downwards until the second sucker can be attached to the base, then the air pump is started, so that air between the second sucker and the base can be completely pumped out through the air delivery pipe, further the second sucker can be firmly adsorbed with the base, and the stability of the truss manipulator can be improved to a certain extent.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of an assembly structure of the first slider and the first connecting plate according to the present invention;

FIG. 3 is a schematic view of an assembly structure of the hydraulic push rod and the suction cup plate of the present invention;

FIG. 4 is a schematic view of an assembly structure of the support rod and the bottom plate according to the present invention;

FIG. 5 is a schematic view of the assembly of the baffle plate and the baffle block of the present invention;

FIG. 6 is a schematic view of a planar assembly structure of the electromagnet and the storage case according to the present invention;

FIG. 7 is a schematic plan view of the assembly structure of the object placing plate and the electric pushing rod of the present invention;

FIG. 8 is a schematic view of an assembly structure of the connecting sleeve of the support column of the present invention;

fig. 9 is a flow chart of the operation of the present invention.

In the figure: 1. a first slider; 2. a servo motor; 3. a first connecting plate; 4. a first reciprocating screw rod; 5. a second slider; 6. a hydraulic push rod; 7. a sucker plate; 8. a storage sleeve; 9. an electromagnet; 10. an iron block; 11. a support bar; 12. a base plate; 13. a storage groove; 14. a baffle groove; 15. a baffle plate; 16. a stopper; 17. a first suction cup; 18. a storage box; 19. a third slider; 20. a second reciprocating screw rod; 21. placing the object blocks; 22. a support column; 23. connecting sleeves; 24. a jack; 25. a screw; 26. inserting a rod; 27. inserting a sleeve; 28. a storage plate; 29. an electric push rod; 30. a second connecting plate; 31. a second suction cup; 32. a non-slip mat; 33. a carrier plate; 34. an air pump; 35. a universal wheel; 36. the motor is rotated.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 2, fig. 3, fig. 4 and fig. 6, an embodiment of the present invention: a truss manipulator with process protection comprises a first sliding block 1, an object placing sleeve 8 and a storage box 18, wherein a servo motor 2 is installed on the outer wall of one side of the first sliding block 1, connecting rods which are arranged at equal intervals are installed on the outer wall of one side of the first sliding block 1, the connecting rods are located on the outer side of the servo motor 2, a first connecting plate 3 is installed at one end of each connecting rod, a first reciprocating lead screw 4 is installed at the output end of the servo motor 2 and penetrates through the outer wall of one side of the first connecting plate 3, a second sliding block 5 is installed on the outer surface of the first reciprocating lead screw 4 in a sliding mode, a hydraulic push rod 6 is installed at the bottom of the second sliding block 5, a sucker plate 7 is installed at the output end of the hydraulic push rod 6, the object placing sleeve 8 is installed at the four corners of the bottom of the sucker plate 7, an electromagnet 9 is installed in the object placing sleeve 8 in an embedded mode, an iron block 10 is installed at the bottom of the electromagnet 9 in an attracting mode, a support rod 11 is installed at the bottom of the iron block 10, bottom plate 12 is installed to the bottom of bracing piece 11, the size of bottom plate 12 is the same with the size of sucking disc board 7, third slider 19 is installed through the axle piece to the one end of first reciprocal lead screw 4, evenly arranged's first sucking disc 17 is installed to the bottom of sucking disc board 7, storage tank 18 is installed at the top of second slider 5, the vacuum pump is installed to the diapire of storage tank 18, the top of first sucking disc 17 is run through the top of sucking disc board 7 and is installed the pipe, and the one end of pipe is connected with the output of vacuum pump.

Further, firstly, the servo motor 2 is started, and then the first reciprocating screw rod 4 can be driven to rotate, then the hydraulic push rod 6 can be driven to move left and right under the action of the second sliding block 5, meanwhile, the hydraulic push rod 6 is started, and therefore the sucker plate 7 can be driven to move downwards until the first sucker 17 at the bottom of the sucker plate 7 can be attached to the surface of a grabbed object, and meanwhile, the vacuum pump in the storage box 18 is started, so that air between the first sucker 17 and the object can be pumped out through the guide pipe, then the bottom plate 12 with the support rod 11 with the proper length is selected, the support rod 11 can be embedded with the object placing sleeve 8, then the electromagnet 9 is electrified, so that the electromagnet can be attracted with the iron block 10, then the object can be supported through the bottom plate 12, and the probability of no-body falling damage can be reduced to a certain extent.

Referring to fig. 5, an embodiment of the present invention: the utility model provides a truss manipulator with process protection, including putting thing groove 13 and baffle 15, the top of bottom plate 12 is run through and is provided with the thing groove 13 of putting of arranging around arranging, the bottom of bottom plate 12 is provided with symmetrical arrangement's fender groove 14, and fender groove 14 is "C" font, two sets of equal slidable mounting in inside of putting thing groove 13 have baffle 15, dog 16 is installed to the both sides outer wall of baffle 15, and dog 16 and fender groove 14 looks gomphosis, the pull ring is all installed at the front of the place ahead baffle 15 and the back of rear baffle 15, two sets of surfaces that keep off groove 14 and be close to each other are connected with the both ends of putting thing groove 13 respectively, keep off groove 14 and put and be "worker" font structure after thing groove 13 is connected.

Further, after fixing bottom plate 12, the pulling pull ring, and upwards stimulate baffle 15, thereby can drive baffle 15 and slide in putting thing groove 13, just can drive dog 16 and the gomphosis of keeping off groove 14 after that, thereby can come to protect the place ahead and the rear of being snatched the object through baffle 15, not only can improve the security in the truss manipulator use, and also be favorable to improving the safeguard effect when snatching the object, can reduce the probability that the object dropped the damage to a certain extent.

Referring to fig. 1 and 8, an embodiment of the present invention: a truss manipulator with process protection comprises a second reciprocating screw rod 20 and a connecting sleeve 23, wherein the front surfaces of a first sliding block 1 and a third sliding block 19 are respectively provided with the second reciprocating screw rod 20 in a sliding manner, two ends of two groups of second reciprocating screw rods 20 are respectively provided with a material placing block 21, the bottoms of four groups of material placing blocks 21 are respectively provided with a supporting column 22, the outer surfaces of the four groups of supporting columns 22 are respectively provided with the connecting sleeve 23 in a sleeved manner, the outer surfaces of the supporting columns 22 and the connecting sleeve 23 are respectively provided with symmetrically arranged inserting holes 24 in a penetrating manner, screw rods 25 are respectively arranged inside the two groups of inserting holes 24, one end of one group of screw rods 25 is provided with an inserting rod 26, one end of the other group of screw rods 25 is provided with an inserting sleeve 27, the bottom of the connecting sleeve 23 is provided with a material placing plate 28, the bottom of the front material placing block 21 is provided with a supporting plate which is positioned in front of the supporting columns 22, the top of the supporting plate is provided with a rotating motor 36, and the output end of the rotating motor 36 is connected with the other end of the second reciprocating screw rod 20, the insert rod 26 is fitted into the insert sleeve 27, and the front surface of the rear object block 21 is connected to one end of the second reciprocating screw rod 20 via a shaft.

Further, before the truss manipulator is used, the supporting column 22 is firstly inserted into the connecting sleeve 23, the screw rods 25 are screwed into the inserting holes 24, then the inserting rods 26 on one group of screw rods 25 can be inserted into the inserting sleeves 27 on the other group of screw rods 25, then the rotating motor 36 on the supporting plate can be started, so that the second reciprocating screw rod 20 can be driven to rotate, then the hydraulic push rod 6 on the first reciprocating screw rod 4 can be driven to move back and forth under the action of the first sliding block 1 and the third sliding block 19, so that the truss manipulator can conveniently move back and forth on an object, and the flexibility of the truss manipulator in use can be improved to a certain extent.

Referring to fig. 7 and 9, an embodiment of the present invention: the utility model provides a truss manipulator with process protection, including electric putter 29 and loading board 33, put the bottom four corners of thing board 28 and all install electric putter 29, second connecting plate 30 is all installed to four group's electric putter 29's bottom, second sucking disc 31 is installed to the bottom of second connecting plate 30, put the bottom center department of thing board 28 and install universal wheel 35, the surface mounting of adapter sleeve 23 has loading board 33, aspiration pump 34 is installed at the top of loading board 33, and aspiration pump 34 is located the side below of screw rod 25, the base has been placed in the bottom laminating of second sucking disc 31, the internally surface mounting of second sucking disc 31 has slipmat 32, and the cross-section of slipmat 32 is "eight" font, the gas-supply pipe is installed at the top that second connecting plate 30 is run through on the top of second sucking disc 31, and the one end of gas-supply pipe is connected with the output of aspiration pump 34.

Further, when the truss manipulator needs to be used, the truss manipulator is firstly pushed to move to a required position under the action of the universal wheel 35, then the electric push rod 29 is started, so that the second connecting plate 30 is driven to move downwards, then the anti-skid pad 32 at the bottom of the second suction cup 31 can be driven to be in contact with the top of the base, meanwhile, the air suction pump 34 on the bearing plate 33 is started, then air between the second suction cup 31 and the base can be pumped out through the air conveying pipe, and therefore the second suction cup 31 and the base can be firmly sucked together, and therefore the stability of the truss manipulator in use can be improved to a certain extent.

Further, the working steps of the truss manipulator are as follows:

s1, before use, the supporting column 22 is inserted into the connecting sleeve 23, and the screw rods 25 are screwed into the inserting holes 24 until the inserting rods 26 on one group of screw rods 25 are embedded with the inserting sleeves 27 on the other group of screw rods 25;

s2, the truss manipulator is pushed, and then the truss manipulator can be driven to move under the action of the universal wheels 35, so that the truss manipulator can be conveniently moved by workers, and the flexibility and the practicability of the truss manipulator in the use process can be improved to a certain extent;

s3, starting a vacuum pump in the storage box 18, exhausting air between the first suction disc 17 and the object to be grabbed through a guide pipe, grabbing the object, electrifying the electromagnet 9, inserting the support rod 11 on the bottom plate 12 into the object placing sleeve 8, and firmly attracting the iron block 10 and the electromagnet 9, so that a certain protection effect is achieved, and the probability of damage caused by falling of the object in the fetching process can be reduced;

s4, pulling the pull ring upwards to drive the baffle plate 15 to move in the object placing groove 13 until the stop block 16 is embedded with the stop groove 14, so that the protection can be enhanced through the baffle plate 15, and the safety of the truss manipulator in the using process can be improved to a certain extent;

and S5, finally, starting the hydraulic push rod 6, so that the sucker plate 7 can be driven to move upwards.

In step S2, the method further includes the steps of:

s21, starting the electric push rod 29, and then driving the second connecting plate 30 to move downwards until the second suction cup 31 is attached to the base;

s22, starting the air suction pump 34, so that air between the base and the second suction cup 31 can be sucked out through the air conveying pipe, the second suction cup 31 and the base can be firmly sucked together, and the stability of the truss manipulator can be improved to a certain extent;

in step S5, the method further includes the steps of:

s51, starting the rotating motor 36, so that the second reciprocating screw rod 20 can be driven to rotate, and then the truss manipulator can be driven to move back and forth under the action of the third sliding block 19;

s52, starting the servo motor 2, driving the first reciprocating screw rod 4 to rotate, then driving the truss manipulator to move left and right under the action of the second sliding block 5, thereby being beneficial to improving the flexibility of the truss manipulator when in use to a certain extent.

The working principle is as follows: firstly, the supporting column 22 is inserted into the connecting sleeve 23, the inserting rod 26 on one group of screw rods 25 is embedded with the inserting sleeve 27 on the other group of screw rods 25, then the supporting column 22 and the connecting sleeve 23 can be connected together through the screw rods 25, then the truss manipulator is pushed to move under the action of the universal wheel 35, the electric push rod 29 is started, then the second connecting plate 30 can be driven to move downwards, and the air suction pump 34 is started, so that air between the base and the second suction cup 31 can be sucked out through the air conveying pipe, and the second suction cup 31 can be firmly adsorbed with the base;

then, a rotating motor 36 is started, so that a second reciprocating screw rod 20 can be driven to rotate, then the truss manipulator can be driven to move back and forth under the action of a third sliding block 19, a servo motor 2 is started, a first reciprocating screw rod 4 can be driven to rotate, then the truss manipulator can be driven to move left and right, the use flexibility of the truss manipulator can be improved, and convenience is brought to article grabbing to a certain extent;

after the object was snatched, the bottom plate 12 that has suitable length bracing piece 11 was selected to insert the bracing piece 11 and put the inside of thing cover 8, give electro-magnet 9 circular telegram after that, thereby can fix bottom plate 12 in the below of snatching the object, then pulling baffle 15, and drive dog 16 and keep off 14 gomphosis of groove, and then can improve the security when using to a certain extent, reduce the probability that the object falls the damage.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a truss manipulator with process protection, includes first slider (1), its characterized in that: the servo motor (2) is installed on the outer wall of one side of the first sliding block (1), the connecting rods which are arranged at equal intervals are installed on the outer wall of one side of the first sliding block (1), and the connecting rods are located on the outer side of the servo motor (2);

a first connecting plate (3) is arranged at one end of the connecting rod, a first reciprocating screw rod (4) is arranged at the output end of the servo motor (2) which penetrates through the outer wall of one side of the first connecting plate (3), a second sliding block (5) is arranged on the outer surface of the first reciprocating screw rod (4) in a sliding way, the bottom of the second sliding block (5) is provided with a hydraulic push rod (6), the output end of the hydraulic push rod (6) is provided with a sucker plate (7), the four corners of the bottom of the sucker plate (7) are provided with storage sleeves (8), an electromagnet (9) is embedded in the article placing sleeve (8), an iron block (10) is installed at the bottom of the electromagnet (9) in an attracting mode, a support rod (11) is installed at the bottom of the iron block (10), a bottom plate (12) is installed at the bottom of the support rod (11), and the size of the bottom plate (12) is the same as that of the sucker plate (7);

and a third sliding block (19) is arranged at one end of the first reciprocating screw rod (4) through a shaft piece.

2. The truss manipulator with process protection as claimed in claim 1, wherein: the top of bottom plate (12) runs through and is provided with article groove (13) of arranging around, the bottom of bottom plate (12) is provided with symmetrical arrangement's fender groove (14), and keeps off groove (14) and be "C" font, and the equal slidable mounting in the inside of two sets of article grooves (13) has baffle (15), and dog (16) are installed to the both sides outer wall of baffle (15), and dog (16) and fender groove (14) gomphosis mutually, and the pull ring is all installed to the front of place ahead baffle (15) and the back of rear baffle (15).

3. The truss manipulator with process protection as claimed in claim 1, wherein: the equal slidable mounting in front of first slider (1) and third slider (19) has reciprocal lead screw of second (20), article piece (21) are all installed at the both ends of two sets of reciprocal lead screw of second (20), support column (22) are all installed to the bottom of four groups of article pieces (21), the surface of four groups of support columns (22) all cup joints installs adapter sleeve (23), jack (24) that are provided with symmetrical arrangement are all run through to the surface of support column (22) and adapter sleeve (23), screw rod (25) are all installed to the inside of two sets of jacks (24), inserted bar (26) are installed to the one end of one set of screw rod (25) wherein, plug bush (27) are installed to the one end of another set of screw rod (25), the bottom of adapter sleeve (23) is installed and is put thing board (28).

4. The truss robot with process protection of claim 3, wherein: electric putter (29) are all installed in the bottom four corners of putting thing board (28), second connecting plate (30) are all installed to the bottom of four group electric putter (29), second sucking disc (31) are installed to the bottom of second connecting plate (30), the bottom center department of putting thing board (28) installs universal wheel (35), the surface mounting of adapter sleeve (23) has loading board (33), aspiration pump (34) are installed at the top of loading board (33), and aspiration pump (34) are located the side below of screw rod (25), the base has been placed in the bottom laminating of second sucking disc (31).

5. The truss manipulator with process protection as claimed in any one of claims 1 to 4, wherein: the surfaces of the two groups of blocking grooves (14) which are close to each other are respectively connected with two ends of the article placing groove (13), and the blocking grooves (14) and the article placing groove (13) are in an I-shaped structure after being connected;

the inserted rod (26) is embedded with the inserted sleeve (27), and the front surface of the rear object placing block (21) is connected with one end of the second reciprocating screw rod (20) through a shaft piece;

the top end of the second suction cup (31) penetrates through the top of the second connecting plate (30) and is provided with an air pipe, and one end of the air pipe is connected with the output end of the air pump (34).

6. The truss manipulator with process protection as claimed in claim 1, wherein: first sucking disc (17) of evenly arranging are installed to the bottom of sucking disc board (7), and storage tank (18) are installed at the top of second slider (5), and the vacuum pump is installed to the diapire of storage tank (18), and the top of sucking disc board (7) is run through at the top of first sucking disc (17) is installed the pipe, and the one end of pipe is connected with the output of vacuum pump.

7. The truss robot with process protection of claim 3, wherein: the supporting plate is installed at the bottom of the front object placing block (21) and located in front of the supporting column (22), the rotating motor (36) is installed at the top of the supporting plate, and the output end of the rotating motor (36) is connected with the other end of the second reciprocating screw rod (20).

8. The truss robot with process protection of claim 4, wherein: the inner surface of the second suction cup (31) is provided with a non-slip mat (32), and the cross section of the non-slip mat (32) is splayed.

9. The method of using a truss robot with process protection as claimed in any one of claims 1-8, wherein the truss robot is operated by the steps of:

s1, before use, the supporting column (22) is inserted into the connecting sleeve (23), and the screw rods (25) are screwed into the inserting holes (24) until the inserting rods (26) on one group of screw rods (25) are embedded with the inserting sleeves (27) on the other group of screw rods (25);

s2, the truss manipulator is pushed, and then the truss manipulator can be driven to move under the action of the universal wheels (35), so that the truss manipulator can be conveniently moved by workers, and the flexibility and the practicability of the truss manipulator in the use process can be improved to a certain extent;

s3, starting a vacuum pump in the storage box (18), exhausting air between the first suction disc (17) and a grabbed object through a guide pipe, grabbing the object, electrifying the electromagnet (9), inserting the support rod (11) on the bottom plate (12) into the object placing sleeve (8), and firmly attracting the iron block (10) and the electromagnet (9), so that a certain protection effect is achieved, and the probability of damage caused by falling of the object in the fetching process can be reduced;

s4, pulling the pull ring upwards to drive the baffle (15) to move in the storage groove (13) until the stop block (16) is embedded with the stop groove (14), so that the baffle (15) can strengthen protection, and the safety of the truss manipulator in the use process can be improved to a certain extent;

s5, finally, the hydraulic push rod (6) is started, so that the sucker plate (7) can be driven to move upwards.

10. The method of using a truss manipulator with process protection as claimed in claim 9, wherein in step S2, the method further comprises the steps of:

s21, starting the electric push rod (29), and then driving the second connecting plate (30) to move downwards until driving the second sucker (31) to be attached to the base;

s22, starting the air suction pump (34), so that air between the base and the second suction cup (31) can be sucked out through the air conveying pipe, the second suction cup (31) and the base can be firmly sucked together, and the stability of the truss manipulator can be improved to a certain extent;

in step S5, the method further includes the steps of:

s51, starting a rotating motor (36) so as to drive a second reciprocating screw rod (20) to rotate, and then driving the truss manipulator to move back and forth under the action of a third sliding block (19);

s52, starting the servo motor (2), driving the first reciprocating screw rod (4) to rotate, then driving the truss manipulator to move left and right under the action of the second sliding block (5), thereby being beneficial to improving the flexibility of the truss manipulator when in use to a certain extent.