CN208083940U - A kind of one drag two truss manipulator - Google Patents
A kind of one drag two truss manipulator Download PDFInfo
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- CN208083940U CN208083940U CN201820174416.9U CN201820174416U CN208083940U CN 208083940 U CN208083940 U CN 208083940U CN 201820174416 U CN201820174416 U CN 201820174416U CN 208083940 U CN208083940 U CN 208083940U
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Abstract
The utility model discloses a kind of one drag two truss manipulators, belong to robotic device field, it is intended to provide a kind of numerically-controlled machine tool can adapt to different model, improve the one drag two truss manipulator of truss versatility, its drip irrigation device is as follows, it includes the crossbeam and electric cabinet of a pair of vertical column and uprights vertical disposed in parallel, side horizontal sliding on crossbeam along its length is connected with a pair of of movable plate, the equal straight skidding in side of a pair of of movable plate far from crossbeam is connected with linking arm, and linking arm lower end is fixedly connected with gripper；The upper surface of one column is welded with the wing plate horizontally outward extended, the lower face of crossbeam is welded with connection welding plate, connection welding plate is bolted to connection with the one end of wing plate far from column, the center line that column is located in the middle part of crossbeam and about crossbeam is symmetrical, and the distance between column is 1/5th of crossbeam length.The utility model is suitable for the automatic loading/unloading of numerically-controlled machine tool.
Description
Technical field
The utility model is related to a kind of manipulator, more particularly to a kind of one drag two truss manipulator.
Background technology
Currently, numerically-controlled machine tool is widely used in field of machining, existing way predominantly manually material grasping,
Not only working efficiency is low in this way, while labor intensity is big, and since inaccuracy is positioned manually, influences the matter of product
Amount replaces manually material grasping to manipulator occur, and manipulator is generally used cooperatively with truss, to improve manipulator
The flexibility used.
As shown in figure 9, being equipped with two numerically-controlled machine tools 10 and a feed bin 9 between the column 1 of truss, feed bin is divided into charger
Position 91 and unloading station 92, feed bin 9 are placed on the ground and positioned at two columns, 1 middle part, numerically-controlled machine tool 10 be located at feed bin 9 with
It between column 1, is moved on crossbeam 2 by a pair of of gripper 6, one of gripper 6 is charger machinery claw, by feed bin 9
Part to be processed is transported into numerically-controlled machine tool 10 in loading station 91, another is discharging gripper, will be in numerically-controlled machine tool 10
On the unloading station 92 in the part transport feed back storehouse 9 processed, the column 1 of the truss is located at the both ends of crossbeam 2, due to by numerical control
The influence of Scrap-removing machine 101 on 10 width of lathe and numerically-controlled machine tool 10, after the distance between two columns 1 need in-site measurement
Customization, and column 1 is easy to influence each other with Scrap-removing machine 101, reduces the versatility of truss.
Utility model content
The purpose of this utility model is to provide a kind of one drag two truss manipulator, has the numerical control that can adapt to different model
The advantages of lathe, raising truss versatility.
The above-mentioned technical purpose of the utility model technical scheme is that：
A kind of one drag two truss manipulator, including a pair of vertical column disposed in parallel, with the crossbeam of uprights vertical and
Electric cabinet, the side horizontal sliding on the crossbeam along its length are connected with a pair of of movable plate, and a pair of movable plate is remote
It is connected with linking arm from the equal straight skidding in the side of crossbeam, the linking arm lower end is fixedly connected with gripper；
The upper surface of a pair of column is welded with the wing plate horizontally outward extended, and the lower face of the crossbeam is welded with
Welding plate is connected, the connection welding plate is bolted to connection with the one end of wing plate far from column, and the column is located in crossbeam
Portion and center line about crossbeam is symmetrical, the distance between a pair of described column is 1/5th of crossbeam length；
Feed bin station is formed between a pair of column, the opposite both sides of the column are outwardly formed two numerical control lathe workers
Position.
By using above-mentioned technical proposal, a distance between column is 1/5th of crossbeam length, can either be made
Truss keeps stablizing, and feed bin station can be formed between column, and is outwardly formed two in the opposite both sides of column and is used for
The open space for placing numerically-controlled machine tool, keeps the structure of entire truss manipulator compacter, reduces the use of truss manipulator
Space.The set-up mode of this column is not influenced by the Scrap-removing machine on numerically-controlled machine tool width and numerically-controlled machine tool, two columns it
Between distance without removing in-site measurement, improve the versatility of truss.Using the numerically-controlled machine tool of same model, crossbeam can be shortened
Length, save material, to reduce production cost.
Further, a pair of horizontal connecting square pipes are equipped between a pair of column top, the electric cabinet, which is fixed, to be connected
It is connected between a pair of connecting square pipes.
By using above-mentioned technical proposal, connecting square pipes can not only improve the intensity of truss, and can be used in installing
Electric cabinet.Electric cabinet can be efficiently reduced into residual liquid on part mounted on column top and enter electric cabinet, made automatically controlled
Case is hardly damaged, and extends the service life of electric cabinet.
Further, the gripper includes a pair of of jaw components and a pair of two pawl cylinders, and the jaw components include the
One claw and the second claw corresponding with the first claw；
The two pawls cylinder lower end is equipped with a pair of of paw, and a pair of paw has been fixedly connected with adjustable plate by bolt,
First claw is fixedly connected with a pair of of adjustable plate respectively with the second claw, and the adjustable plate is equipped with several along its width direction
Tease and ridicule knothole.
By using above-mentioned technical proposal, the folding between jaw components is controlled by two pawl cylinders, to realize card
Claw assembly picks and places part.Several knotholes of teasing and ridicule are for adjusting the distance between a pair of of jaw components, so that gripper can
Suitable for the part of different length, the applicability of gripper is improved.
Further, the adjustable plate lower face is equipped with the first serrated face, the upper end of first claw and the second claw
Face is equipped with the second serrated face engaged with the first serrated face.
The first card can be adjusted by the cooperation of the first serrated face and the second serrated face by using above-mentioned technical proposal
The distance between pawl and the second claw further improve gripper so that gripper can be suitable for the part of different-diameter
Applicability.
Further, the adjustable plate upper surface is equipped with limited block, the length direction of the limited block and the width of adjustable plate
It is parallel to spend direction, the limiting slot being adapted to limited block is offered in the middle part of the paw lower end.
The first claw and the second claw are enable by the cooperation of limited block and limiting slot by using above-mentioned technical proposal
It is enough to be symmetrical arranged, keep the installation of the first claw and the second claw more accurate, the clamping of part is imitated to improve jaw components
Fruit.
Further, second claw is fixedly connected with mounting base close to the side of paw, and the mounting base middle part is solid
Surely it is connected with close to switch, sensitive surface first claw of direction close to switch.
By using above-mentioned technical proposal, when close to inductive switching to the loading station positioned at feed bin part or numerical control
On the fixture of lathe when manufactured part, two pawl cylinders of driving grip part, to improve gripper gripping
The accuracy of part.
Further, any two pawls cylinder is equipped with sensor close to the side of column.
By using above-mentioned technical proposal, when the sensing chip or numerical control machine on the unloading station of sensor sensing to feed bin
Bed fixture on sensing chip when, driving two pawl cylinders to part carry out discharging, to improve gripper discharge part standard
True property, and then part is made to be hardly damaged.
Further, the both ends of the crossbeam are equipped with anticollison block, and the anticollison block is equipped with the first anti-collision adhesive tape.
By using above-mentioned technical proposal, anticollison block can make movable plate be not easy to slip from the both ends of crossbeam, improve truss
The safety that manipulator uses；First anti-collision adhesive tape can make movable plate and anticollison block be not susceptible to contact firmly, make movable plate and
Anticollison block is not easy to wear, reduces the later maintenance cost of movable plate and anticollison block.
Further, the crossbeam lower face is welded with the holder of several L-types, is bolted to connection on the holder
There is a protective cover, the protective cover is located at feed bin station, offers through-hole at numerically-controlled machine tool station.
By using above-mentioned technical proposal, protective cover can reduce emergency case（Such as tracheae explosion, employee's maloperation）Hair
Raw probability makes part be not easy to fall off from jaw components and injure numerically-controlled machine tool and employee by a crashing object.In addition, protective cover can make processing
A small amount of cutting fluid that the part of completion is taken out of is not easy to drip on the metal plate of numerically-controlled machine tool.
Further, the linking arm upper end is fixedly connected with anti-off board, and the anti-off board is set close to the side of linking arm
There is the second anti-collision adhesive tape.
By using above-mentioned technical proposal, anti-off board can make linking arm be not easy to slip from its own both ends, improve truss
The safety that manipulator uses；Second anti-collision adhesive tape can be worked as a buffer when movable plate is contacted with anti-off board, make movable plate
It is not easy to wear with anti-off board, reduce the later maintenance cost of movable plate and anti-off board.
In conclusion the utility model has the advantages that：
1. set-up mode of the column in the middle part of crossbeam is used, to produce the distance between two columns without going
In-site measurement improves the effect of the versatility of truss；
2. use by electric cabinet be mounted on column top mode, to produce reduce part on residual liquid into
Enter electric cabinet, makes the non-damageable effect of electric cabinet；
3. using protective cover, damage is pounded to produce the part for making numerically-controlled machine tool and feed bin be not easy to be fallen, reduces number
Control the effect of the later maintenance cost of lathe and feed bin.
Description of the drawings
Fig. 1 is in the present embodiment for embodying the connection relationship diagram between column and crossbeam；
Fig. 2 is the enlarged drawing in the portions A in Fig. 1；
Fig. 3 is in the present embodiment for embodying the connection relationship diagram between horizontal sliding component；
Fig. 4 is the enlarged drawing in the portions B in Fig. 3；
Fig. 5 is in the present embodiment for embodying the connection relationship diagram between straight skidding component；
Fig. 6 is the enlarged drawing in the portions C in Fig. 1；
Fig. 7 is the enlarged drawing in the portions D in Fig. 1；
Fig. 8 is in the present embodiment for embodying the connection relationship diagram between crossbeam and protective cover；
Fig. 9 is the connection relationship diagram between prior art central post and crossbeam.
In figure, 1, column；11, wing plate；12, connecting square pipes；13, lower margin square tube；14, heel brace；2, crossbeam；21, connection weldering
Plate；22, movable plate；221, linking arm；2211, the second sliding rail；2212, anti-off board；2213, the second anti-collision adhesive tape；222, it installs
Plate；2221, connecting rod；2222, locking nut；223, the first sliding block；224, connecting plate；225, the second sliding block；23, it first slides
Rail；24, anticollison block；241, the first anti-collision adhesive tape；25, holder；251, protective cover；2511, through-hole；2512, drainage tube；3, automatically controlled
Case；4, feed bin station；5, numerically-controlled machine tool station；6, gripper；61, jaw components；611, the first claw；612, the second claw；
6121, mounting base；6122, close to switch；62, two pawl cylinder；621, paw；6211, threaded hole；6212, limiting slot；622, it adjusts
Save plate；6221, adjustment hole；6222, the first serrated face；6223, limited block；623, sensor；63, the second serrated face；7, laterally
Sliding assembly；71, first motor；72, the first helical gear；73, the first rack；8, straight skidding component；81, the second motor；82,
Second helical gear；83, the second rack；9, feed bin；91, loading station；92, unloading station；10, numerically-controlled machine tool；101, Scrap-removing machine.
Specific implementation mode
The utility model is described in further detail below in conjunction with attached drawing.
Wherein identical parts are presented with like reference characters.It should be noted that word used in the following description
Language "front", "rear", "left", "right", "up" and "down" refer to the direction in attached drawing, word " bottom surface " and " top surface ", "inner" and
"outside" refers respectively to the direction towards or away from geometric center of specific component.
A kind of one drag two truss manipulator, as shown in Figure 1, hanging down including a pair of vertical column 1 disposed in parallel and column 1
Straight crossbeam 2 and electric cabinet 3.
As shown in Fig. 2, the upper surface of a column 1 is welded with the wing plate 11 horizontally outward extended, the lower face of crossbeam 2
It is welded with connection welding plate 21, connection welding plate 21 is bolted to connection with the one end of wing plate 11 far from column 1, vertical to realize
Column 1 is fixedly connected with crossbeam 2.The center line that column 1 is located in the middle part of crossbeam 2 and about crossbeam 2 is symmetrical, between a column 1
Distance be 1/5th of 2 length of crossbeam, feed bin station 4 is formed between a column 1（Referring to Fig. 1）, column 1 it is opposite two
Lateral profile is at two numerical control lathe worker positions 5（Referring to Fig. 1）.The set-up mode of this column 1 not by 10 width of numerically-controlled machine tool and
The influence of Scrap-removing machine 101 on numerically-controlled machine tool 10, the distance between two columns 1 improve truss without removing in-site measurement
Versatility.
As shown in Figure 1, being equipped with a pair of horizontal connecting square pipes 12 between 1 top of a column, electric cabinet 3 is fixedly connected on
Between a pair of of connecting square pipes 12.Connecting square pipes 12 can not only improve the intensity of truss, and can be used in installing electric cabinet 3.
Electric cabinet 3 can be efficiently reduced into residual liquid on part mounted on 1 top of column and enter electric cabinet 3, make electric cabinet 3 not
It is fragile, extend the service life of electric cabinet 3.
As shown in Figure 1,1 lower end of a column is welded with a pair of lower margin square tube 13 being mutually parallel, lower margin square tube 13 with
Column 1 is vertical, and lower margin square tube 13 can improve the stability of truss, and truss is made to be not susceptible to topple over.Column 1 and lower margin square tube 13
Between be welded with inclined heel brace 14, the setting of heel brace 14 further improves the stability of truss.
As shown in Figure 1, the side horizontal sliding on crossbeam 2 along its length is connected with a pair of of movable plate 22, Yi Duiyi
The equal straight skidding in side of the movable plate 22 far from crossbeam 2 is connected with linking arm 221, and 221 lower end of linking arm, which is fixedly connected, to be useful for pressing from both sides
It holds the gripper 6 of part, positioned at right side is charger machinery claw in figure, positioned at left side be discharging gripper in figure.Pass through one
To movable plate 22 on crossbeam 2 transverse shifting, to realize linking arm 221 and gripper 6 in feed bin station 4, numerically-controlled machine tool work
It is moved between position 5；It is vertically moved by linking arm 221 and manipulator, loading station 91 and unloading station 92, number to feed bin 9
The part controlled on the fixture of lathe 10 is picked and placeed.
As shown in figure 4, being equipped with horizontal sliding component 7 between crossbeam 2 and movable plate 22, horizontal sliding component 7 includes first
Motor 71, the first helical gear 72 and the first rack 73 engaged with the first helical gear 72.First motor 71 is fixedly connected in office
On one movable plate 22, the first helical gear 72 is fixedly connected with the rotor coaxial of first motor 71, and the first rack 73 is fixedly connected on
For crossbeam 2 close to the side of movable plate 22, the length direction of the first rack 73 is parallel with the length direction of crossbeam 2.A pair of of movable plate
22 sides far from first motor 71 are equipped with mounting plate 222（Referring to Fig. 5）, connecting rod 2221 is equipped in mounting plate 222（Ginseng
See Fig. 5）, locking nut 2222 is threaded in connecting rod 2221（Referring to Fig. 5）, to realize the fixation of a pair of of movable plate 22
Connection, under the driving effect of first motor 71, a pair of of movable plate 22 can simultaneously transverse shifting.Crossbeam 2 is close to movable plate 22
Side be equipped with the first sliding rail 23, the length direction of the first sliding rail 23 is parallel with the length direction of crossbeam 2, movable plate 22 close to cross
The side of beam 2 is equipped with the first sliding block 223 being adapted to the first sliding rail 23.First motor 71, the rotor of first motor 71 is driven to turn
It is dynamic that the rotation of the first helical gear 72, the first helical gear 72 of the gearing through the first rack 73, rotation is driven to drive a pair of of movement
Plate 22 carries out transverse shifting along the first sliding rail 23, to realize linking arm 221 and gripper 6（Referring to Fig. 1）Transverse shifting.
As shown in figure 5, being equipped with straight skidding component 8 between movable plate 22 and linking arm 221, straight skidding component 8 wraps
Include the second motor 81, the second helical gear 82 and the second rack 83 engaged with the second helical gear 82.It is fixed on movable plate 22 to connect
It is connected to connecting plate 224, the second motor 81 is fixedly connected with connecting plate 224, and the rotor of the second helical gear 82 and the second motor 81 is same
Axis is fixedly connected, and the second rack 83 is fixedly connected on the side vertical with movable plate 22 of linking arm 221, the length of the second rack 83
Direction is parallel with the length direction of linking arm 221.Linking arm 221 is equipped with the second sliding rail 2211 close to the side of movable plate 22, the
The length direction of two sliding rails 2211 is parallel with the length direction of linking arm 221, and movable plate 22 is equipped with close to the side of linking arm 221
The second sliding block 225 being adapted to the second sliding rail 2211.The second motor 81 is driven, the rotor rotation drive second of the second motor 81 is tiltedly
Gear 82 rotates, and the rotation of the second helical gear 82 drives the second rack 83 longitudinal movement being engaged with, to drive linking arm 221
With the longitudinal movement of gripper 6.First motor 71 and the second motor 81 are servo motor, the model of lateral displacement and length travel
It encloses to program by data and be arranged.
As shown in fig. 6, gripper 6 includes a pair of of jaw components 61 and a pair of two pawl cylinders 62, jaw components 61 include the
One claw 611 and second claw corresponding with the first claw 611 612.Two pawl cylinders, 62 lower end is equipped with a pair of of paw 621, a pair of
Paw 621 has been fixedly connected with adjustable plate 622 by bolt, the first claw 611 and the second claw 612 respectively with a pair of of adjustable plate
622 are fixedly connected, and adjustable plate 622 teases and ridicule knothole 6221 along its width direction equipped with several.Several knotholes 6221 of teasing and ridicule are for adjusting
The distance between section a pair of jaw components 61, so that gripper 6 can be suitable for the part of different length, improve gripper 6
Applicability.
As shown in fig. 6,622 lower face of adjustable plate is equipped with the first serrated face 6222, the first claw 611 and the second claw 612
Upper surface be equipped with the second serrated face 63 for being engaged with the first serrated face 6222.Pass through the first serrated face 6222 and the second serrated face
63 cooperation can adjust the distance between the first claw 611 and the second claw 612, so that gripper 6 can be suitable for difference
The part of diameter further improves the applicability of gripper 6.
As shown in fig. 6,622 upper surface of adjustable plate is equipped with limited block 6223, the length direction and adjustable plate of limited block 6223
622 width direction is parallel, and the limiting slot 6212 being adapted to limited block 6223 is offered in the middle part of 621 lower end of paw.Pass through limit
The cooperation of block 6223 and limiting slot 6212 enables the first claw 611 and the second claw 612 to be symmetrical arranged, makes the first claw 611
It is more accurate with the installation of the second claw 612, to improve clamping effect of the jaw components 61 to part.
As shown in fig. 6, the second claw 612 is fixedly connected with mounting base 6121, mounting base 6121 close to the side of paw 621
Middle part is fixedly connected with close to switch 6122, close to sensitive surface the first claw 611 of direction of switch 6122.When close switch 6122
When sensing manufactured part on the part of loading station 91 for being located at feed bin 9 or the fixture of numerically-controlled machine tool 10, driving
Two pawl cylinders 62 grip part, to improve the accuracy that gripper 6 grips part.
As shown in fig. 6, any two pawls cylinder 62 is close to column 1（Referring to Fig. 1）Side be equipped with sensor 623, work as sensing
When device 623 senses the sensing chip on the fixture of the sensing chip or numerically-controlled machine tool 10 on the unloading station 91 of feed bin 9, driving two
Pawl cylinder 62 carries out gripping and discharging to part, discharges the accuracy of part to improve gripper 6, and then part is made to be not easy
Damage.
As shown in fig. 7, the both ends of crossbeam 2 are equipped with anticollison block 24, anticollison block 24 is equipped with the first anti-collision adhesive tape 241.
As shown in figure 8,2 lower face of crossbeam is welded with the holder 25 of several L-types, it has been bolted to connection on holder 25
Protective cover 251, protective cover 251 are located at feed bin station 4（Referring to Fig. 1）, numerically-controlled machine tool station 5（Referring to Fig. 1）Place offers through-hole
2511, the circumferential direction of through-hole 2511, which is equipped with, makes cutting fluid be not easy the flanging dripped from through-hole 2511.Protective cover 251 can reduce prominent
Heat condition（Such as tracheae explosion, employee's maloperation）The probability of generation makes part be not easy to fall off from jaw components 61 and injure number by a crashing object
Control lathe 10 and employee.In addition, a small amount of cutting fluid that protective cover 251 can be such that the part machined takes out of is not easy to drip numerical control
On the metal plate of lathe 10.The left and right sides of protective cover 251 is equipped with drainage tube 2512, and the bottom wall of protective cover 251 is to drainage tube 2,512 1
It rolls tiltedly, is conducive to cutting fluid and is flowed to drainage tube 2512, the cutting fluid of drippage is enable to recycle, reduce to working environment
Pollution.
As shown in figure 5,221 upper end of linking arm is fixedly connected with anti-off board 2212, anti-off board 2212 is close to linking arm 221
Side is equipped with the second anti-collision adhesive tape 2213.
Specific implementation process：
Startup power supply switchs, the rotor rotation of driving first motor 71, and the rotor rotation drive first of first motor 71 is tiltedly
Gear 72 is along 73 transverse shifting of the first rack being engaged with, to drive movable plate 22 from one end of crossbeam 2 along first
Sliding rail 23 laterally moves to feed bin station 4, and charger machinery claw is made to be located at 91 top of loading station of feed bin 9.
The rotor of the second motor 81 is driven to rotate, the rotor rotation of the second motor 81 drives the rotation of the second helical gear 82, the
Two helical gears 82 rotation drive the second rack 83 longitudinal movement, to drive linking arm 221 along the second sliding rail 2211 vertically to
Lower movement is waited for when being sensed close to switch 6122 on loading station 91 at this point, two pawl cylinders 62 of driving make jaw components 61 open
When the part of processing, two pawl cylinders 62 of driving make jaw components 61 be closed, and are pressed from both sides to part to be processed on loading station 91
It takes.
After gripping part to be processed, the rotor of the second motor 81 rotates backward, and linking arm 221 is made to move straight up
To 2511 top of through-hole of protective cover 251, then under the driving effect of first motor 71, waited for what is gripped in charger machinery claw
The part of processing is delivered to numerically-controlled machine tool station 5.
Under the driving effect of the second motor 81, linking arm 221 is moved to straight down in the fixture of numerically-controlled machine tool 10, when
When sensor 623 senses the sensing chip on the fixture in numerically-controlled machine tool 10, two pawl cylinders 62 of driving make jaw components 61 open,
Part is installed into the fixture of numerically-controlled machine tool 10, the rotor of the second motor 81 rotates backward, and linking arm 221 is made to move straight up
It moves to 2511 top of through-hole of protective cover 251.
After part is processed by numerically-controlled machine tool 10, under the driving effect of first motor 71, discharging gripper is made to move
To 5 top of numerically-controlled machine tool station, the second motor 81 is driven, linking arm 221 is made to move straight down, at this point, two pawl cylinders of driving
62 make jaw components 61 open, and when sensor 623 senses the sensing chip on the fixture in numerically-controlled machine tool 10, drive two pawl gas
The part that 62 closed pair of cylinder has processed is gripped.
After gripping manufactured part, the rotor of the second motor 81 rotates backward, and linking arm 221 is made to move straight up
It moves to 2511 top of through-hole of protective cover 251, then under the driving effect of first motor 71, by what is gripped on discharging gripper
Manufactured part is delivered to the unloading station 92 of feed bin 9.
Under the driving effect of the second motor 81, linking arm 221 moves straight down, when sensor 623 senses discharging
When sensing chip on station 92, two pawl cylinders 62 of driving make jaw components 61 open, and manufactured part is put to rampman
On position 92.The operating method of both sides numerically-controlled machine tool 10 is identical, and details are not described herein.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can as needed make the present embodiment the modification of not creative contribution after reading this specification, but
As long as all being protected by Patent Law in the right of the utility model.
Claims (10)
1. a kind of one drag two truss manipulator, including a pair of column (1) disposed in parallel vertically, the crossbeam vertical with column (1)
(2) and electric cabinet (3), it is characterized in that：Side horizontal sliding on the crossbeam (2) along its length is connected with a pair of of shifting
Movable plate (22), a pair of side equal straight skidding of the movable plate (22) far from crossbeam (2) is connected with linking arm (221), described
Linking arm (221) lower end is fixedly connected with gripper (6)；
The upper surface of a pair of column (1) is welded with the wing plate (11) horizontally outward extended, the lower face of the crossbeam (2)
It is welded with connection welding plate (21), the connection welding plate (21) is bolted company with the one end of wing plate (11) far from column (1)
It connects, the center line that the column (1) is located in the middle part of crossbeam (2) and about crossbeam (2) is symmetrical, between a pair of column (1)
Distance is 1/5th of crossbeam (2) length；
Feed bin station (4) is formed between a pair of column (1), the opposite both sides of the column (1) are outwardly formed two numerical controls
Lathe station (5).
2. a kind of one drag two truss manipulator according to claim 1, it is characterized in that：A pair of column (1) top it
Between be equipped with a pair of horizontal connecting square pipes (12), the electric cabinet (3) is fixedly connected between a pair of connecting square pipes (12).
3. a kind of one drag two truss manipulator according to claim 1, it is characterized in that：The gripper (6) includes a pair
Jaw components (61) and a pair of two pawl cylinders (62), the jaw components (61) include the first claw (611) and with the first claw
(611) corresponding second claw (612)；
Two pawls cylinder (62) lower end is equipped with a pair of of paw (621), and a pair of paw (621) is fixedly connected with by bolt
There are adjustable plate (622), first claw (611) to be fixedly connected respectively with a pair of of adjustable plate (622) with the second claw (612),
The adjustable plate (622) teases and ridicule knothole (6221) along its width direction equipped with several.
4. a kind of one drag two truss manipulator according to claim 3, it is characterized in that：Adjustable plate (622) lower face
Equipped with the first serrated face (6222), the upper surface of first claw (611) and the second claw (612) is equipped with and the first serrated face
(6222) the second serrated face (63) engaged.
5. a kind of one drag two truss manipulator according to claim 4, it is characterized in that：Adjustable plate (622) upper surface
Equipped with limited block (6223), the length direction of the limited block (6223) is parallel with the width direction of adjustable plate (622), the hand
The limiting slot (6212) being adapted to limited block (6223) is offered in the middle part of pawl (621) lower end.
6. a kind of one drag two truss manipulator according to claim 5, it is characterized in that：Second claw (612) is close
The side of paw (621) is fixedly connected with mounting base (6121), is fixedly connected with close to switch in the middle part of the mounting base (6121)
(6122), sensitive surface first claw of direction (611) close to switch (6122).
7. a kind of one drag two truss manipulator according to claim 6, it is characterized in that：Any two pawls cylinder (62) is leaned on
The side of nearly column (1) is equipped with sensor (623).
8. a kind of one drag two truss manipulator according to claim 7, it is characterized in that：The both ends of the crossbeam (2) are all provided with
There are anticollison block (24), the anticollison block (24) to be equipped with the first anti-collision adhesive tape (241).
9. a kind of one drag two truss manipulator according to claim 8, it is characterized in that：Crossbeam (2) the lower face welding
There is the holder (25) of several L-types, protective cover (251), the protective cover have been bolted to connection on the holder (25)
(251) through-hole (2511) is offered at feed bin station (4), numerically-controlled machine tool station (5).
10. a kind of one drag two truss manipulator according to claim 9, it is characterized in that：Linking arm (221) upper end is solid
Surely it is connected with anti-off board (2212), the anti-off board (2212) is equipped with the second anti-collision adhesive tape close to the side of linking arm (221)
(2213)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820174416.9U CN208083940U (en) | 2018-01-31 | 2018-01-31 | A kind of one drag two truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820174416.9U CN208083940U (en) | 2018-01-31 | 2018-01-31 | A kind of one drag two truss manipulator |
Publications (1)
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| CN208083940U true CN208083940U (en) | 2018-11-13 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771038A (en) * | 2019-03-22 | 2019-05-21 | 重庆金山医疗机器人有限公司 | A kind of movable type mechanical hand |
| CN110238833A (en) * | 2019-06-20 | 2019-09-17 | 中山市煜豹智能设备有限公司 | Manipulator |
| CN112025728A (en) * | 2020-08-31 | 2020-12-04 | 广州富港万嘉智能科技有限公司 | Dining room robot |
| CN112975899A (en) * | 2021-02-25 | 2021-06-18 | 中井兴机器人（常州）有限公司 | Single-rail adjustable clamping jaw production line |
| CN113059385A (en) * | 2021-03-30 | 2021-07-02 | 浙江轩通机械有限公司 | Manipulator for numerical control machine tool |
| CN115958454A (en) * | 2022-12-23 | 2023-04-14 | 高森智能装备(江苏)有限公司 | Truss manipulator for turning conveying belt switching device |
-
2018
- 2018-01-31 CN CN201820174416.9U patent/CN208083940U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771038A (en) * | 2019-03-22 | 2019-05-21 | 重庆金山医疗机器人有限公司 | A kind of movable type mechanical hand |
| CN110238833A (en) * | 2019-06-20 | 2019-09-17 | 中山市煜豹智能设备有限公司 | Manipulator |
| CN112025728A (en) * | 2020-08-31 | 2020-12-04 | 广州富港万嘉智能科技有限公司 | Dining room robot |
| CN112975899A (en) * | 2021-02-25 | 2021-06-18 | 中井兴机器人（常州）有限公司 | Single-rail adjustable clamping jaw production line |
| CN113059385A (en) * | 2021-03-30 | 2021-07-02 | 浙江轩通机械有限公司 | Manipulator for numerical control machine tool |
| CN115958454A (en) * | 2022-12-23 | 2023-04-14 | 高森智能装备(江苏)有限公司 | Truss manipulator for turning conveying belt switching device |
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Address after: No. 82, Ronghu Road, Furong Industrial Cluster, Hengshanqiao Town, Changzhou Economic Development Zone, Jiangsu Province, 213000 Patentee after: Zhongjingxing Robot (Changzhou) Co.,Ltd. Address before: 213000 Beitang Industrial Park, 19 East Hehai Road, Tianning District, Changzhou City, Jiangsu Province Patentee before: ZHONGJINGXING ROBOT (CHANGZHOU) Co.,Ltd. |
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