CN205438550U - High -speed truss manipulator - Google Patents

Abstract

The utility model discloses a high-speed truss manipulator. The X-direction track on the supporting frame is provided with a first slider which can slide, and the second slider fixed on the first slider is provided with a Y slider which can slide back and forth in a straight line. Direction track, the third slider on the fixed Y-direction track is provided with a Z-direction track that can slide back and forth along the longitudinal straight line, the mechanical gripper mounting bracket can be rotated and positioned at the lower end of the Z-direction track, the axis of the mechanical gripper mounting bracket rotation axis It forms an included angle of 135 degrees with the Z direction. The first and second mechanical grippers are symmetrically distributed on both sides of the rotation axis of the mechanical gripper mounting bracket. The axial directions of the first and second mechanical grippers form a 90-degree included angle. Two and three driving devices respectively drive the first slider, the track in the Y direction and the track in the Z direction, and the rotating drive device drives the mechanical gripper mounting bracket to rotate. The manipulator of the utility model can run at high speed and stably, and the vibration amplitude is small after the movement , The two manipulators operate alternately with fast speed and small footprint.

Description

High-speed truss manipulator

technical field

The utility model relates to a truss manipulator, in particular to a high-speed truss manipulator.

Background technique

The truss manipulator is a fully automatic industrial equipment based on the three-coordinate system of right angles X, Y, and Z, which can adjust the position of the workpiece or realize the trajectory movement of the workpiece. It controls the manipulator through the industrial controller to complete X, The joint movement between the Y and Z axes is used to realize a complete set of fully automatic operation processes. It is often used on large-scale processing equipment. The traditional truss manipulator is heavy in weight and has low guiding precision. The manipulator is prone to large vibrations during operation, resulting in The position accuracy of the manipulator is low, and the running speed is slow. Most of the manipulators are one or two manipulators flipped along the 180-degree direction to achieve alternate operation, which takes up a lot of space, and the alternating operation speed is low. Because of its large size and weight, the vibration amplitude of the manipulator is aggravated, and the movement of the manipulator After being in place, it cannot stop immediately, but only stops after swinging in situ for a certain period of time, resulting in low processing accuracy and low processing efficiency, which brings great troubles to actual production.

Utility model content

In order to overcome the above-mentioned defects, the utility model provides a high-speed truss manipulator, which can run at high speed and stably, has small vibration amplitude after the movement, has fast alternate operation speed of the manipulator, and occupies a small space.

The technical solution adopted by the utility model in order to solve the technical problems is: a high-speed truss manipulator, three mutually perpendicular directions are respectively X direction, Y direction and Z direction, wherein the Z direction is the vertical direction, including the support frame , X-direction track, Y-direction track, Z-direction track, mechanical gripper mounting bracket, first and second mechanical grippers, first, second and third drive devices, rotary drive device and first, second and third sliders, all The X-direction rail is installed horizontally on the upper end of the support frame. The first slider can be slid and positioned on the X-direction rail along the extension direction of the X-direction rail. The second slider is fixedly installed on the first slider. The Y-direction rail can be positioned along the Y direction. The linear reciprocating slide is positioned on the second slider, the third slider is fixedly installed on the Y-direction track, the Z-direction track can be linearly reciprocated in the Z direction and positioned on the third slider, and the mechanical gripper mounting bracket can be rotated and positioned on the At the lower end of the track in the Z direction, the axial direction of the rotating shaft of the mechanical gripper mounting bracket forms an angle of 135 degrees with the Z direction. The first and second mechanical grippers are fixedly installed on the mechanical gripper mounting bracket respectively, and the first and second mechanical grippers The grippers are symmetrically distributed on both sides of the rotation axis of the mechanical gripper mounting bracket. The axial directions of the first and second mechanical grippers form an included angle of 90 degrees. The first, second and third driving devices respectively drive the first slider and the Y direction. The track and the Z-direction track move linearly, and the rotary drive device drives the mechanical gripper mounting bracket to rotate.

As a further improvement of the utility model, the mounting bracket of the mechanical gripper is an equilateral right-angled triangle structure, and the first and second mechanical grippers are respectively fixedly installed on the plane where the two right-angled sides of the equilateral right-angled triangle structure are located. The rotation axis of the mounting bracket is located on the plane where the hypotenuse of the equilateral right triangle structure is located.

As a further improvement of the present utility model, the rotation axes of the first and second mechanical grippers and the mounting bracket of the mechanical gripper are respectively located at the center of the plane where the sides of the equilateral right-angled triangle structure are located.

As a further improvement of the utility model, the lower end of the track in the Z direction is fixedly provided with an inclined bracket forming an angle of 135 degrees with the Z direction, and the rotating shaft of the mechanical gripper mounting bracket can be rotatably mounted on the inclined bracket.

As a further improvement of the utility model, the rotary driving device is a rotary cylinder.

As a further improvement of the utility model, the track in the X direction is in a square structure, and linear guide rails are provided on the horizontal surface and the vertical side walls, the first slider is in a T-shaped structure, and the two vertical side walls of the first slider are There are guide sleeves on each of the guide sleeves, and each guide sleeve is respectively sleeved on the linear guide rail on the X-direction track.

As a further improvement of the utility model, several guide sleeves are formed on the second slider, at least two parallel linear guide rails are arranged on the Y direction track, and the guide sleeves on the second slider correspond to the straight lines of the Y direction track. rails.

As a further improvement of the present utility model, linear guide rails in the Z direction are provided on at least two opposite side walls of the Z direction track, and a U-shaped covering structure extending along the Z direction is formed on the third slider. The cladding structure is clad on the outside of the track in the Z direction. Several guide sleeves are formed on the inner wall of the U-shaped cladding structure, and the guide sleeves are correspondingly sleeved on the outside of the linear guide rail on the side wall of the track in the Z direction.

As a further improvement of the utility model, the X-direction track is a square steel pipe structure, the Y-direction track is a low-density high-strength aluminum plate structure, and the Z-direction track is a low-density high-strength cast aluminum profile structure.

As a further improvement of the utility model, the first, second, and third drive devices all include servo motors, gears and racks, the servo motors drive the gears to rotate, the gears mesh with the racks, and the racks are fixedly installed in the X direction On the track, the track in the Y direction and the track in the Z direction, the motors are installed on the first, second and third sliders respectively.

The beneficial effects of the utility model are: the utility model realizes the 90-degree direction conversion position of the first and second mechanical jaws by placing the mechanical jaw mounting bracket obliquely on the lower end of the Z-direction track and rotating around its rotating shaft. It occupies a small space and can be used for grabbing and unloading products in a narrow space. By setting linear guide rails on the two mutually perpendicular surfaces of the X-direction rails, setting parallel linear guide rails on the Y-direction rails, and setting up linear guide rails in the Z direction Linear guide rails are set on the two opposite side walls of the guide rail, and the third slider with a U-shaped covering structure is used to wrap and position the Z-direction guide rail, which greatly improves the guiding accuracy of the guide rails in all directions, and the Y-direction guide rail and the Z-direction adopt low The high-density and high-strength cast aluminum structure greatly reduces the weight of the Y-direction guide rail and the Z-direction guide rail, improves the stiffness and strength of the Y-direction guide rail and the Z-direction guide rail, and reduces the beating of the mechanical gripper when it moves along the X-direction for a large distance. The high-speed mechanical gripper can also stop immediately after moving to the designated position, and enter the working state of grasping and discharging, avoiding the long-term waiting caused by its large swing, which is conducive to realizing the high-speed operation of the manipulator along the X, Y, and Z directions. Realize high efficiency work.

Description of drawings

Fig. 1 is the first perspective view of the utility model;

Figure 2 is an enlarged view of part A in Figure 1;

Fig. 3 is the second perspective view of the utility model;

Fig. 4 is the third perspective view of the utility model;

Fig. 5 is the front view of the utility model;

Fig. 6 is the top view of the utility model;

Fig. 7 is a left view of the utility model.

detailed description

Embodiment: A high-speed truss manipulator, set three mutually perpendicular directions as X direction, Y direction and Z direction respectively, wherein Z direction is the vertical direction, including support frame 1, X direction track 2, Y direction track 3, Z-direction track 4, mechanical gripper mounting bracket 5, first and second mechanical grippers 6, 7, first, second and third drive devices, rotary drive device 8 and first, second and third sliders 9, 10 and 11 , the X-direction rail 2 is horizontally installed on the upper end of the support frame 1, the first slider 9 can slide and be positioned on the X-direction rail 2 along the extension direction of the X-direction rail 2, and the second slider 10 is fixedly installed on the first slider 9 Above, the Y-direction track 3 can be reciprocally slid along the Y direction and positioned on the second slider 10, the third slider 11 is fixedly installed on the Y-direction track 3, and the Z-direction track 4 can be reciprocally slid along the Z direction and positioned on the second slider 10. On the three sliders 11, the mechanical gripper mounting bracket 5 can be rotated and positioned at the lower end of the track in the Z direction. The axial direction of the mechanical gripper mounting bracket 5 and the Z direction form an angle of 135 degrees. The first and second mechanical grippers 6 and 7 are respectively fixedly installed on the mechanical gripper mounting bracket 5, and the first and second mechanical grippers 6 and 7 are symmetrically distributed on both sides of the rotation axis of the mechanical gripper mounting bracket 5, the first and second mechanical grippers 6, The axial direction of 7 forms an included angle of 90 degrees, wherein the first, second, and third driving devices respectively drive the first slider 9, the Y-direction track 3 and the Z-direction track 4 to move linearly, and the rotary drive device 8 drives the mechanical gripper mounting bracket 5 rotate.

When working, the first driving device drives the first slider 9 to slide to realize feed and retract in the X direction, the second drive device drives the track 3 in the Y direction to slide along the Y direction to realize feed and retract in the Y direction, and the third drive device drives the Z The direction rail 4 lifts to realize Z-direction feed and retreat, and then realizes the arbitrary movement of the mechanical gripper mounting bracket 5 along the three directions of X, Y, and Z to any position of the three-dimensional system to perform the grabbing operation. During the grabbing operation, the mechanical gripper The claw mounting bracket 5 rotates 90 degrees forward and backward to realize that the first and second mechanical grippers 6 and 7 alternately reach the grabbing position and the discharging position, realizing simultaneous operation of the dual mechanical grippers, which greatly saves the need for grabbing and discharging. Material time, through the structure that the mechanical gripper mounting bracket 5 is placed obliquely on the lower end of the Z-direction track 4 and rotates around its rotation axis, the first and second mechanical grippers 6 and 790-degree direction conversion positions are realized, and the mechanical grippers occupy a small space , can be applied to product grabbing and discharging in a narrow space. The structure design of this truss manipulator is ingenious, which can realize high-speed and stable operation. The position accuracy of the manipulator grabbing and discharging is high, saving space and production costs.

The mechanical gripper mounting bracket 5 is an equilateral right-angled triangle structure, and the first and second mechanical grippers 6 and 7 are respectively fixedly installed on the plane where the two right-angled sides of the equilateral right-angled triangle structure are located, and the mechanical gripper mounting bracket 5 rotates The axis is located on the plane where the hypotenuse of the equilateral right-angled triangle structure is located. By designing the mechanical gripper mounting bracket 5 into an equilateral right-angled triangle structure, the installation, positioning and 90-degree rotation of the first and second mechanical grippers 6 and 7 are facilitated. Simple, good stability, of course, the mechanical gripper mounting bracket 5 can also be other structural shapes, such as semi-circular structure, ring structure and so on.

The rotation axes of the first and second mechanical grippers 6, 7 and the mechanical gripper mounting bracket 5 are respectively located at the center of the plane where each side of the equilateral right triangle structure is located.

The lower end of the track 4 in the Z direction is fixed with an inclined bracket 12 at an angle of 135 degrees with the Z direction, and the rotating shaft of the mechanical gripper mounting bracket 5 can be rotatably mounted on the inclined bracket 12 .

The rotary drive device 8 is a rotary cylinder, through which the reciprocating rotation of the mechanical jaw mounting bracket 5 can be quickly realized. In addition, it can also be other structures, such as driving the rotation axis along the Z direction through a motor, and the Z direction rotation axis passes through the cone. The gear 16 carries out meshing transmission to realize the rotation angle transmission, and the bevel gear 16 can also be designed as a fan-shaped structure. It has meshing teeth within a certain angle range to realize the limit of the forward and reverse angles, ensuring that the first and second mechanical grippers 6, 7 Accurate limit of the rotation angle, in addition, the reciprocating rotation of the mechanical jaw mounting bracket 5 can also be realized by driving the crank linkage mechanism through the cylinder, all of which are equivalent replacement structures that those skilled in the art can easily think of according to this patent.

The X-direction track 2 is a square structure, and linear guide rails 13 are arranged on the horizontal surface and the vertical side walls. The first slider 9 is in a T-shaped structure. Both vertical side walls of the first slider 9 are provided with Guide sleeves 14, each guide sleeve 14 is respectively sleeved on the linear guide rail 13 on the X-direction track 2, and the linear guide rails 13 are respectively arranged on the two mutually perpendicular surfaces of the X-direction track 2, which greatly improves the guiding of the X-direction guide rail Accuracy reduces the jump of the mechanical gripper when it moves along the X direction for a large distance. Even if the high-speed mechanical gripper moves to the specified position, it can stop immediately. After stopping, the mechanical gripper has a small vibration amplitude and can quickly enter the grasping state , greatly improving the working efficiency of the manipulator.

Several guide sleeves 14 are formed on the second slider 10, and at least two parallel linear guide rails 13 are arranged on the Y direction track 3, and the guide sleeves 14 on the second slider 10 correspond to the linear guide rails of the Y direction track 3 13, the motion accuracy of the manipulator along the Y direction is greatly improved by two parallel linear guide rails 13.

At least two opposite side walls of the Z-direction track 4 are provided with Z-direction linear guide rails 13, and a U-shaped covering structure extending along the Z-direction is formed on the third slider 11, and the U-shaped covering structure is covered on On the outside of the track 4 in the Z direction, a number of guide sleeves 14 are formed on the inner wall of the U-shaped cladding structure, and the guide sleeves 14 are correspondingly sleeved on the outside of the linear guide rail 13 on the side wall of the track 4 in the Z direction. The three sliders 11 cover the Z-direction rail 4, and linear guide rails 13 are arranged on at least two opposite side walls of the Z-direction rail, which improves the guiding accuracy of the manipulator along the Z-direction, and is conducive to improving the rigidity and stability of the Z-direction rail 4. Strength, greatly reducing the vibration amplitude when the manipulator is running, and improving the work efficiency of the manipulator.

The track 2 in the X direction is a square steel pipe structure, the track 3 in the Y direction is a low-density high-strength aluminum plate structure, and the track 4 in the Z direction is a low-density high-strength cast aluminum profile structure, and the track 3 in the Y direction is designed by using low-density and high-strength aluminum materials. and Z-direction track 4, and the Z-direction track 4 is designed as a multi-hollow profile structure, which not only effectively improves the rigidity and strength of the Y-direction track 3 and Z-direction track 4, but also greatly reduces the weight of the two, especially the Z-direction track 4. The direction track 4 greatly reduces the vibration during the operation of the manipulator, and can realize that the manipulator stops immediately after running to the designated position, and enters the working state of grasping and discharging, avoiding long-term waiting caused by its large swing, and is conducive to realizing the manipulator along the High-speed operation in X, Y, and Z directions to achieve high-efficiency work.

The first, second, and third driving devices all include a motor 15, a gear 16 and a rack 17, the motor 15 drives the gear 16 to rotate, the gear 16 meshes with the rack 17, and the rack 17 is fixedly installed on the X direction track 2 respectively. 1. On the track 3 in the Y direction and the track 4 in the Z direction, the motors 15 are installed on the first, second and third sliders 9, 10, and 11 respectively, and the motor 15 drives the gear 16 and the rack 17 to realize the manipulator along the three mutually perpendicular direction, this kind of transmission mechanism has high transmission precision, and the rack 17 itself has a guiding function, which ensures the positional accuracy of the manipulator movement. In addition, it can also be other transmission mechanisms such as sprocket transmission mechanisms, etc., which are for those skilled in the art. Equivalent alternative structures are readily conceivable in light of this patent.

Claims (10)

1. A high-speed truss manipulator, characterized in that: three mutually perpendicular directions are respectively X direction, Y direction and Z direction, wherein Z direction is a vertical direction, including support frame (1), X direction track (2 ), Y-direction track (3), Z-direction track (4), mechanical gripper mounting bracket (5), first and second mechanical grippers (6, 7), first, second and third drive devices, rotary drive device (8) and the first, second, and third sliders (9, 10, 11), the X-direction track is horizontally installed on the upper end of the support frame, and the first slider can slide and be positioned on the X-direction track along the X-direction track extension direction , the second slider is fixedly installed on the first slider, the Y-direction track can slide reciprocatingly along the Y direction and positioned on the second slider, the third slider is fixedly installed on the Y-direction track, and the Z-direction track can move along the Z direction. Direction linear reciprocating sliding is positioned on the third slider, and the mechanical gripper mounting bracket can be rotated and positioned at the lower end of the track in the Z direction. The axial direction of the mechanical gripper mounting bracket rotation axis forms an included angle of 135 degrees with the Z direction. The first, The two mechanical grippers are respectively fixedly installed on the mechanical gripper mounting bracket, and the first and second mechanical grippers are symmetrically distributed on both sides of the rotation axis of the mechanical gripper mounting bracket, and the axial direction of the first and second mechanical grippers forms 90 degrees angle, wherein the first, second, and third driving devices respectively drive the first slider, the Y-direction track and the Z-direction track to move linearly, and the rotary driving device drives the mechanical gripper mounting bracket to rotate. 2. The high-speed truss manipulator according to claim 1, characterized in that: the mounting bracket of the mechanical gripper is an equilateral right-angled triangle structure, and the first and second mechanical grippers are fixedly installed on two equilateral right-angled triangle structures respectively. On the plane where the right-angled side is located, the rotation axis of the mechanical gripper mounting bracket is located on the plane where the hypotenuse of the equilateral right-angled triangle structure is located. 3. The high-speed truss manipulator according to claim 2, characterized in that: the rotation axes of the first and second mechanical grippers and the gripper mounting bracket are respectively located at the center of the plane where the sides of the equilateral right triangle structure are located. 4. The high-speed truss manipulator according to claim 1, characterized in that: the lower end of the track in the Z direction is fixed with an inclined bracket (12) at an angle of 135 degrees with the Z direction, and the rotating shaft of the gripper mounting bracket can rotate Mounted on the tilt stand. 5. The high-speed truss manipulator according to claim 1 or 4, characterized in that: the rotary drive device is a rotary cylinder. 6. The high-speed truss manipulator according to claim 1, characterized in that: the X-direction track is a square structure, and linear guides (13) are provided on the horizontal surface and the vertical side walls, and the first slide block is T Shaped structure, the two vertical side walls of the first slider are provided with guide sleeves (14), and each guide sleeve is respectively sleeved on the linear guide rail on the X-direction track. 7. The high-speed truss manipulator according to claim 1, characterized in that: several guide sleeves are formed on the second slide block, at least two parallel linear guide rails are arranged on the Y direction track, and the guide rails on the second slide block The sleeve corresponds to the linear guide rail on which the Y direction track is set. 8. The high-speed truss manipulator according to claim 1, characterized in that: at least two opposite side walls of the Z-direction track are provided with linear guide rails in the Z direction, and a U extending along the Z direction is formed on the third slider. The U-shaped cladding structure covers the outer side of the track in the Z direction. Several guide sleeves are formed on the inner wall of the U-shaped cladding structure. The guide sleeves correspond to the linear guide rails set on the side wall of the Z-direction track. outside. 9. The high-speed truss manipulator according to claim 1, characterized in that: the X-direction track is a square steel pipe structure, the Y-direction track is a low-density high-strength aluminum plate structure, and the Z-direction track is a low-density high-strength cast aluminum profile structure . 10. The high-speed truss manipulator according to claim 1, characterized in that: said first, second, and third driving devices all include servo motors (15), gears (16) and racks (17), and said servo motors Drive the gear to rotate, the gear and the rack are meshed, the racks are fixedly installed on the X-direction track, the Y-direction track and the Z-direction track respectively, and the motors are respectively installed on the first, second and third sliders.