CN115122307A

CN115122307A - Truss carrying robot

Info

Publication number: CN115122307A
Application number: CN202110316074.6A
Authority: CN
Inventors: 顾玉荣
Original assignee: Suzhou Leili Precision Machinery Co ltd
Current assignee: Suzhou Leili Precision Machinery Co ltd
Priority date: 2021-03-24
Filing date: 2021-03-24
Publication date: 2022-09-30

Abstract

The invention discloses a truss carrying robot which comprises a truss and stand columns, wherein the truss is erected between the stand columns on two sides, an X-axis guide rail is arranged at the upper end of each stand column, two ends of the truss are connected with X-axis slide seats, the X-axis slide seats are slidably mounted on the X-axis guide rails, a Y-axis guide rail is arranged on the truss, a Y-axis slide seat is slidably mounted on the Y-axis guide rail, a Z-axis cylinder is mounted on one side of the Y-axis slide seat, the output end of the Z-axis cylinder is fixedly connected with a suction disc frame, a plurality of suction disc groups are uniformly distributed at the bottom of the suction disc frame, and two ends of the suction disc frame are movably connected with rotating seats. The material is supported from the bottom by the bearing seat in the carrying process, so that the stability in the carrying process is greatly improved, the material can be effectively prevented from falling, meanwhile, the first telescopic shaft and the second telescopic shaft are arranged, the position of the bearing seat can be adjusted according to materials with different sizes, the adaptability is high, and the material carrying device is suitable for popularization.

Description

Truss carrying robot

Technical Field

The invention relates to the field of automatic control, in particular to a truss carrying robot.

Background

A truss type robot is also called a gantry type robot and belongs to a rectangular coordinate robot. The full-automatic industrial equipment is built on a rectangular X, Y and Z coordinate system, is used for adjusting the station of a workpiece or realizing the functions of the workpiece such as track motion and the like. The automatic material handling and storing device can be used for carrying objects and operating tools to complete various operations, is high in speed, high in precision and good in dust and pollution prevention, and meets the requirements of an actual machine tool production line by designing a whole set of material handling and storing equipment for automatic turning, drilling and other processing of bearing workpieces.

The existing truss robot generally adopts a mechanical arm to carry materials in the process of carrying the materials, the stability of the mechanical arm is not high enough in the using process, the carried materials are easy to shake and even fall, and the use is not safe enough.

Disclosure of Invention

In view of the above disadvantages of the prior art, an object of the present invention is to provide a transfer robot for solving the problem that the material is likely to drop due to insufficient stability during the process of transferring the material by using a manipulator in the prior art.

To achieve the above and other related objects, the present invention provides a transfer truss robot, including a truss and a column, the truss is erected between the upright posts at two sides, the upper ends of the upright posts are provided with X-axis guide rails, two ends of the truss are connected with X-axis sliding seats, the X-axis sliding seat is slidably arranged on the X-axis guide rail, the truss is provided with a Y-axis guide rail, the Y-axis guide rail is slidably arranged with a Y-axis sliding seat, a Z-axis cylinder is arranged on one side of the Y-axis sliding seat, the output end of the Z-axis cylinder is fixedly connected with a suction disc frame, a plurality of vacuum suckers are uniformly distributed at the bottom of the sucker frame, two ends of the sucker frame are movably connected with rotating seats, install the rotating electrical machines on the roating seat, it is connected with the connecting rod to rotate on the roating seat, thereby the rotating electrical machines drives the connecting rod through the rotation of drive pivot and rotates, the one end swing joint that the roating seat was kept away from to the connecting rod has the bearing seat.

Preferably, the rotating seat is connected with the end part of the suction cup frame through a first telescopic shaft.

Preferably, the bearing seat is connected with the connecting rod through a second telescopic shaft.

Preferably, the bearing seat is of an L-shaped structure and is integrally formed.

Preferably, an X-axis servo motor is installed on the X-axis sliding base, and a Y-axis servo motor is installed on the Y-axis sliding base.

Preferably, the device further comprises a programmable logic controller, and the X-axis servo motor, the Y-axis servo motor and the Z-axis cylinder are all in communication connection with the programmable logic controller.

Compared with the prior art, the invention has the beneficial effects that: according to the material feeding device, the sucker is used for feeding and discharging materials, the two ends of the sucker frame are matched with the telescopic rotating seat and the supporting seat, the supporting seat rotates along with the connecting rod in the carrying process to support materials from the bottom, the stability in the carrying process is greatly improved, the materials can be effectively prevented from falling off, meanwhile, the first telescopic shaft and the second telescopic shaft are arranged, the positions of the supporting seats can be adjusted according to the materials with different sizes, the adaptability is high, and the material feeding device is suitable for popularization.

Drawings

The invention is described in further detail below with reference to specific embodiments and with reference to the following drawings.

Fig. 1 is a schematic structural view of a transfer truss robot provided in the present invention;

fig. 2 is a schematic view of a handling truss robot according to the present invention in a use state.

Wherein the reference numerals are specified as follows: the device comprises an upright column 1, an X-axis guide rail 2, an X-axis sliding seat 3, an X-axis servo motor 4, a truss 5, a Y-axis guide rail 6, a Y-axis sliding seat 7, a Y-axis servo motor 8, a Z-axis cylinder 9, a suction cup frame 10, a vacuum suction cup 11, a first telescopic shaft 12, a rotary motor 13, a rotary seat 14, a connecting rod 15, a second telescopic shaft 16 and a bearing seat 17.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be apparent to those skilled in the art from the disclosure herein.

It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used to limit the conditions and conditions of the present disclosure, so that the present disclosure is not technically significant, and any structural modifications, ratio changes or size adjustments should still fall within the scope of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are used for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial change in the technical content.

As shown in fig. 1 and 2, the invention provides a truss carrying robot, which comprises a truss 5 and upright posts 1, wherein the truss 5 is erected between the upright posts 1 at two sides, an X-axis guide rail 2 is arranged at the upper end of the upright post 1, X-axis sliding seats 3 are connected at two ends of the truss 5, the X-axis sliding seats 3 are slidably mounted on the X-axis guide rail 2, a Y-axis guide rail 6 is arranged on the truss 5, a Y-axis sliding seat 7 is slidably mounted on the Y-axis guide rail 6, a Z-axis cylinder 9 is mounted at one side of the Y-axis sliding seat 7, an output end of the Z-axis cylinder 9 is fixedly connected with a suction cup frame 10, a plurality of vacuum suction cups 11 are uniformly distributed at the bottom of the suction cup frame 10, rotary seats 14 are movably connected at two ends of the suction cup frame 10, rotary motors 13 are mounted on the rotary seats 14, connecting rods 15 are rotatably connected on the rotary seats 14, the rotary motors 13 drive the rotating shafts to rotate the connecting rods 15, and one ends of the connecting rods 15 far away from the rotary seats 14 are movably connected with bearing seats 17.

Through the technical scheme, the X-axis guide rail 2 and the Y-axis guide rail 6 are both made of aluminum profiles, and the strength and the straightness are guaranteed. The working space of the truss type robot is a space cuboid. The controller analyzes and processes various input signals, and after certain logic judgment is made, an execution command is issued to each output element, so that the linear motion of the X-axis sliding seat 3 and the Y-axis sliding seat 7 on the X-axis guide rail 2 and the Y-axis guide rail 6 respectively is realized, the combined motion between X, Y, Z three axes is completed by matching the vertical telescopic action of the Z-axis cylinder, and the whole set of full-automatic operation flow is realized.

It should be noted that, in the process of carrying materials, the rotation of the connecting rod 15 and the supporting seat 17 is driven by the rotating motor 13, before carrying, the connecting rod 15 is in a horizontal state, and at this time, the lowest height of the vacuum chuck 11 is lower than the height of the supporting seat 17, so that the materials are firstly contacted with the vacuum chuck 11, and the supporting seat 17 is prevented from obstructing the adsorption of the materials; when carrying, the rotating electrical machines 13 drive the connecting rods 15 and the bearing seats 17 to rotate 90 degrees towards the bottom of the suction cup frame 10, so that the bearing seats 17 can support materials from the bottom of the materials.

In this embodiment, the rotary base 14 is connected to the end of the suction cup holder 10 through the first telescopic shaft 12.

Through the technical scheme, the first telescopic shaft 12 is used for adjusting the distance between the rotary seat 14 and the suction cup frame 10 so as to adapt to the change of different materials in length.

In this embodiment, the support base 17 is connected to the connecting rod 15 by a second telescopic shaft 16.

Through above technical scheme, second telescopic shaft 16 is used for adjusting the distance between bearing seat 17 and connecting rod 15 to the change of different materials on the height is adapted.

In this embodiment, the supporting base 17 is an L-shaped structure and is integrally formed.

Through above technical scheme, the material is lived to the bearing seat 17 of L type structure more convenient and fast ground bearing, improves stably.

In this embodiment, the X-axis slide carriage 3 is provided with an X-axis servo motor 4, and the Y-axis slide carriage 7 is provided with a Y-axis servo motor 8.

Through the technical scheme, the X-axis servo motor 4 controls the X-axis sliding seat 3 to do linear motion along the X-axis guide rail 2, and the Y-axis servo motor 8 controls the Y-axis sliding seat 7 to do linear motion along the Y-axis guide rail 7.

In this embodiment, the truss carrying robot further includes a programmable logic controller, and the X-axis servo motor 4, the Y-axis servo motor 8, and the Z-axis cylinder 9 are all in communication connection with the programmable logic controller.

According to the invention, the vacuum chuck 11 is adopted for feeding and discharging, the two ends of the chuck frame 10 are matched with the telescopic rotating seat 14 and the supporting seat 17, and the supporting seat 17 rotates along with the connecting rod 15 in the carrying process to support materials from the bottom, so that the stability in the carrying process is greatly improved, the materials can be effectively prevented from falling off, and meanwhile, the first telescopic shaft 12 and the second telescopic shaft 16 are arranged, so that the positions of the supporting seats 17 can be adjusted according to the materials with different sizes, therefore, the vacuum chuck is strong in adaptability and suitable for popularization.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The truss carrying robot is characterized by comprising a truss (5) and stand columns (1), wherein the truss (5) is erected between the stand columns (1) on two sides, an X-axis guide rail (2) is arranged at the upper end of each stand column (1), X-axis sliding seats (3) are connected at two ends of the truss (5), the X-axis sliding seats (3) are slidably mounted on the X-axis guide rail (2), Y-axis guide rails (6) are arranged on the truss (5), Y-axis sliding seats (7) are slidably mounted on the Y-axis guide rails (6), a Z-axis cylinder (9) is mounted on one side of each Y-axis sliding seat (7), a suction disc frame (10) is fixedly connected to the output end of each Z-axis cylinder (9), a plurality of vacuum suction discs (11) are uniformly distributed at the bottom of the suction disc frame (10), rotating seats (14) are movably connected to two ends of the suction disc frame (10), and a rotating motor (13) is mounted on each rotating seat (14), the rotary seat (14) is connected with a connecting rod (15) in a rotating mode, the rotating motor (13) drives the connecting rod (15) to rotate through rotation of the driving rotating shaft, and one end of the connecting rod (15) far away from the rotary seat (14) is movably connected with a bearing seat (17).

2. A transfer truss robot as recited in claim 1 wherein: the rotating seat (14) is connected with the end part of the suction cup frame (10) through a first telescopic shaft (12).

3. A transfer truss robot as recited in claim 2 wherein: the bearing seat (17) is connected with the connecting rod (15) through a second telescopic shaft (16).

4. A transfer truss robot as claimed in claim 3 wherein: the bearing seat (17) is of an L-shaped structure and is integrally formed.

5. A transfer truss robot as claimed in claim 1 wherein: install X axle servo motor (4) on X axle slide (3), install Y axle servo motor (8) on Y axle slide (7).

6. A transfer truss robot as claimed in claim 5 wherein: the X-axis servo motor (4), the Y-axis servo motor (8) and the Z-axis cylinder (9) are in communication connection with the programmable logic controller.