CN208246808U - Truss manipulator - Google Patents
Truss manipulator Download PDFInfo
- Publication number
- CN208246808U CN208246808U CN201820739469.0U CN201820739469U CN208246808U CN 208246808 U CN208246808 U CN 208246808U CN 201820739469 U CN201820739469 U CN 201820739469U CN 208246808 U CN208246808 U CN 208246808U
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- CN
- China
- Prior art keywords
- column
- axis crossbeam
- right column
- mounting hole
- trunnion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model belongs to robotic technology field, includes left column, right column, X-axis crossbeam, horizontal mobile mechanism, Z axis crossbeam, vertical shift mechanism, movable stand, manipulator, turnover mechanism and circuit box more particularly, to a kind of truss manipulator.Left column and right column are vertically arranged, and left column is threaded in X-axis crossbeam left end bottom, and right column is threaded in bottom in the middle part of X-axis crossbeam.Movable stand is moved left and right with X-axis crossbeam by horizontal mobile mechanism and is connect, and Z axis crossbeam is moved up and down with movable stand by vertical shift mechanism and connect, and Z axis crossbeam bottom is arranged in manipulator.Circuit box is arranged between left column and right column.Middle part, including fixing seat, product placement plate, overturning connecting plate, tumble cylinder, material grasping finger is arranged on front side of right column in turnover mechanism.The utility model reduces spray painting difficulty and transport difficulty, guarantees product quality, can quickly overturn product by turnover mechanism, improve work efficiency, reduce production cost.
Description
Technical field
The utility model belongs to robotic technology field, more particularly, to a kind of truss manipulator.
Background technique
Truss manipulator in industrial application, can be realized automatic control, repeatable programming, it is multi-functional, mostly from
By between spend, freedom of motion at space right-angle relationship, multiduty operation machine.Can carry an object, operational instrument, with complete
Various operations.Workshop is widely used in grab shift object.
The column and crossbeam of traditional truss manipulator are fixed together, and are non-removable structure, not because of its huge structure
It can be adjusted flexibly, certain difficulty is brought to painting process and transportational process, and be easy to be bruised and influence product quality.
Common truss manipulator can only realize the pickup of material and send part, cannot overturn to material, when certain productions
When product need two sides to process, this can only be solved the problems, such as by adding other tipping arrangements or by manually being overturn, be produced into
This is higher, while production efficiency is lower.
Utility model content
In place of the purpose of this utility model is the deficiencies in the prior art to be solved, and it is more flexible, simultaneously to provide a kind of structure
The truss manipulator of overturning product can be achieved.
The purpose of this utility model is solved through the following technical scheme:
A kind of truss manipulator, it is characterised in that: include left column, right column, X-axis crossbeam, horizontal mobile mechanism, Z
Axis crossbeam, vertical shift mechanism, movable stand, manipulator, turnover mechanism and circuit box；
The left column and right column are vertically arranged；Left column top right side level is equipped with the first trunnion, the first trunnion
On offer the first mounting hole, X-axis crossbeam left end bottom offers the second mounting hole matched with the first mounting hole, further includes
There is the first bolt, the left column is fixed on X-axis crossbeam bottom by the cooperation of the first bolt and the first mounting hole, the second mounting hole
Portion；The right column top horizontal is equipped with the second trunnion, and third mounting hole, bottom in the middle part of X-axis crossbeam are offered on the second trunnion
The 4th mounting hole matched with third mounting hole is offered, further includes having the second bolt, the right column passes through the second bolt
Cooperation with third mounting hole, the 4th mounting hole is fixed on X-axis crossbeam bottom；
The movable stand is moved left and right with X-axis crossbeam by horizontal mobile mechanism and is connect, the Z axis crossbeam be vertically arranged and
It is moved up and down and is connect with movable stand by vertical shift mechanism, Z axis crossbeam bottom is arranged in the manipulator；
The circuit box is arranged between left column and right column；
Middle part is arranged on front side of right column in the turnover mechanism；The turnover mechanism includes fixing seat, product placement plate, turns over
Turn connecting plate, tumble cylinder, material grasping finger；The fixing seat is fixed on middle part on front side of right column, and product placement plate is horizontally disposed
On the left of fixing seat, the fixing seat on the right side of product placement plate is equipped with tumble cylinder, and tumble cylinder is equipped with overturning connection
Plate, overturning connecting plate left side are equipped with material grasping finger, and the position of the material grasping finger and the position of product placement plate match.
Preferably, circuit box described in the utility model is in left column and right column top.
Preferably, guardrail is equipped between the utility model left column and right column, the guardrail is in left column and the right side is vertical
The lower part of column.
Preferably, the first stiffening plate is equipped between the utility model left column top right side and the first trunnion bottom.
Preferably, the second stiffening plate is equipped between the utility model right column top left side and the second trunnion left bottom.
Preferably, third stiffening plate is equipped between the utility model right column top right side and the second trunnion bottom right side.
Compared to the prior art the utility model have the characteristics that and the utility model has the advantages that
1, left column and right column and X-axis crossbeam are detachable connection, it can be painted and be transported before fixed,
Spray painting difficulty and transport difficulty are reduced, effectively truss is avoided to be bruised, guarantees product quality.
2, the setting of the first stiffening plate, the second stiffening plate, third stiffening plate increases left column, right column and X-axis crossbeam
Stable connection, keep it more steady in transported material.
3, during loading and unloading, if certain products need two-sided processing, after processing on one side, by manipulator by its
It picks up, and transports to material grasping finger, overturn connecting plate at this time and be in vertical direction, the production on material grasping finger grip manipulator
Product, manipulator unclamp and leave this region, and tumble cylinder drives overturning connecting plate to be rotated by 90 ° counterclockwise, product is transported to product
At placement plate, material grasping finger unclamps product and product is placed in product placement plate, realizes the overturning of product.Tumble cylinder at this time
Overturning connecting plate is driven to turn clockwise 90 degree, manipulator removes product of the crawl in product placement plate, can grab production
The another side of product, and transport it into processing stations.Be not required to separately to set tipping arrangement or by manually being overturn, can it is smooth quickly
Ground overturns product, improves work efficiency, and production cost is effectively reduced.
Detailed description of the invention
Fig. 1 is the utility model schematic view of the front view.
Fig. 2 is the utility model schematic perspective view.
Fig. 3 is the utility model turnover mechanism schematic perspective view.
Fig. 4 is the utility model left column and X-axis crossbeam junction perspective structure schematic diagram.
Fig. 5 is the utility model right column and X-axis crossbeam junction perspective structure schematic diagram.
Specific embodiment
The utility model is described in further details below in conjunction with attached drawing.
As shown in Figure 1 and Figure 2, a kind of truss manipulator includes left column 1, right column 2, X-axis crossbeam 3, moves horizontally
Mechanism 4, Z axis crossbeam 5, vertical shift mechanism 6, movable stand 7, manipulator 8, turnover mechanism 9 and circuit box 10.Movable stand 7 passes through
Horizontal mobile mechanism 4 is moved left and right with X-axis crossbeam 3 and is connect, the Z axis crossbeam 5 be vertically arranged and by vertical shift mechanism 6 with
Movable stand 7 moves up and down connection, and 5 bottom of Z axis crossbeam is arranged in the manipulator 8.Circuit box 10 is arranged in left column 1 and right column
Between 2, circuit box 10 is in 2 top of left column 1 and right column.Guardrail 24, the shield are equipped between left column 1 and right column 2
Column 24 is in the lower part of left column 1 and right column 2.
As shown in Figure 1, Figure 4, Figure 5, left column 1 and right column 2 are vertically arranged, and 1 top right side level of left column is equipped with
First trunnion 11 offers the first mounting hole 12 on first trunnion 11, and 3 left end bottom of X-axis crossbeam offers and the first mounting hole
12 the second mounting holes 13 matched further include having the first bolt 14, and the left column 1 passes through the first bolt 14 and the first installation
The cooperation in hole 12, the second mounting hole 13 is fixed on 3 bottom of X-axis crossbeam.2 top horizontal of right column is equipped with the second trunnion 15,
Third mounting hole 16 is offered on second trunnion 15,3 middle part bottom of X-axis crossbeam offers matched with third mounting hole 16
Four mounting holes 17 further include having the second bolt 18, and the right column 2 is pacified by the second bolt 18 with third mounting hole the 16, the 4th
The cooperation in dress hole 17 is fixed on 3 bottom of X-axis crossbeam.First is equipped between 11 bottom of 1 top right side of left column and the first trunnion to add
Strong plate 25.The second stiffening plate 26 is equipped between 15 left bottom of 2 top left side of right column and the second trunnion.2 top right of right column
Third stiffening plate 27 is equipped between 15 bottom right side of side and the second trunnion.Left column 1 and right column 2 and X-axis crossbeam 3 are detachable
Formula connection can be painted and be transported to it before fixed, reduced spray painting difficulty and transport difficulty, truss is effectively avoided to be touched
Wound guarantees product quality.The setting of first stiffening plate 25, the second stiffening plate 26, third stiffening plate 27 increases left column 1, the right side
The stable connection of column 2 and X-axis crossbeam 3 keeps it more steady in transported material.
As shown in Figure 1, Figure 3, in the middle part of 2 front side of right column, turnover mechanism 9 includes fixing seat 19, produces the setting of turnover mechanism 9
Product placement plate 20, overturning connecting plate 21, tumble cylinder 22, material grasping finger 23.Fixing seat 19 is fixed on 2 front side middle part of right column,
Product placement plate 20 is horizontally set on 19 left side of fixing seat, and the fixing seat 19 in 20 right side of product placement plate is equipped with overturning gas
Cylinder 22, tumble cylinder 22 are equipped with overturning connecting plate 20, overturn and be equipped with material grasping finger 23, the material grasping finger on the left of connecting plate 20
23 position and the position of product placement plate 20 match.
During loading and unloading, if certain products need two-sided processing to be grabbed after processing on one side by manipulator 8
It rises, and transports at material grasping finger 23, overturning connecting plate 21 at this time and be in vertical direction, on 23 catching robot 8 of material grasping finger
Product, manipulator 8, which unclamps, simultaneously leaves this region, and tumble cylinder 22 drives overturning connecting plate 20 to be rotated by 90 ° counterclockwise, will produce
Product are transported at product placement plate 20, and material grasping finger 23 unclamps product and product is placed in product placement plate 20, realize product
Overturning.Tumble cylinder 22 drives overturning connecting plate 21 to turn clockwise 90 degree at this time, and manipulator 8 goes crawl in product placement plate
Product on 20, can grab the another side of product, and transport it into processing stations.It is not required to separately set tipping arrangement or by people
Work is overturn, and smooth can rapidly be overturn to product, be improved work efficiency, production cost is effectively reduced.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (6)
1. a kind of truss manipulator, it is characterised in that: include left column, right column, X-axis crossbeam, horizontal mobile mechanism, Z axis
Crossbeam, vertical shift mechanism, movable stand, manipulator, turnover mechanism and circuit box；
The left column and right column are vertically arranged；Left column top right side level is equipped with the first trunnion, opens on the first trunnion
Equipped with the first mounting hole, X-axis crossbeam left end bottom offers the second mounting hole matched with the first mounting hole, further includes having
One bolt, the left column are fixed on X-axis crossbeam bottom by the cooperation of the first bolt and the first mounting hole, the second mounting hole；
The right column top horizontal is equipped with the second trunnion, third mounting hole is offered on the second trunnion, bottom opens up in the middle part of X-axis crossbeam
There is the 4th mounting hole matched with third mounting hole, further include having the second bolt, the right column passes through the second bolt and the
The cooperation of three mounting holes, the 4th mounting hole is fixed on X-axis crossbeam bottom；
The movable stand is moved left and right with X-axis crossbeam by horizontal mobile mechanism and is connect, and the Z axis crossbeam is vertically arranged and passes through
Vertical shift mechanism is moved up and down with movable stand to be connect, and Z axis crossbeam bottom is arranged in the manipulator；
The circuit box is arranged between left column and right column；
Middle part is arranged on front side of right column in the turnover mechanism；The turnover mechanism includes fixing seat, product placement plate, overturning company
Fishplate bar, tumble cylinder, material grasping finger；The fixing seat is fixed on middle part on front side of right column, and product placement plate is horizontally set on solid
On the left of reservation, the fixing seat on the right side of product placement plate is equipped with tumble cylinder, and tumble cylinder is equipped with overturning connecting plate, turns over
Turn to be equipped with material grasping finger on the left of connecting plate, the position of the material grasping finger and the position of product placement plate match.
2. truss manipulator according to claim 1, it is characterised in that: the circuit box is on left column and right column
Portion.
3. truss manipulator according to claim 2, it is characterised in that: be equipped with guardrail, institute between left column and right column
State the lower part that guardrail is in left column and right column.
4. truss manipulator according to claim 1, it is characterised in that: left column top right side and the first trunnion bottom it
Between be equipped with the first stiffening plate.
5. truss manipulator according to claim 4, it is characterised in that: bottom on the left of right column top left side and the second trunnion
The second stiffening plate is equipped between portion.
6. truss manipulator according to claim 1 or 4 or 5, it is characterised in that: right column top right side and the second trunnion
Third stiffening plate is equipped between bottom right side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820739469.0U CN208246808U (en) | 2018-05-18 | 2018-05-18 | Truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820739469.0U CN208246808U (en) | 2018-05-18 | 2018-05-18 | Truss manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208246808U true CN208246808U (en) | 2018-12-18 |
Family
ID=66481390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820739469.0U Expired - Fee Related CN208246808U (en) | 2018-05-18 | 2018-05-18 | Truss manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208246808U (en) |
-
2018
- 2018-05-18 CN CN201820739469.0U patent/CN208246808U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181218 Termination date: 20200518 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |