CN208681581U - A kind of three axis truss manipulator of multistation - Google Patents
A kind of three axis truss manipulator of multistation Download PDFInfo
- Publication number
- CN208681581U CN208681581U CN201821213823.2U CN201821213823U CN208681581U CN 208681581 U CN208681581 U CN 208681581U CN 201821213823 U CN201821213823 U CN 201821213823U CN 208681581 U CN208681581 U CN 208681581U
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- crossbeam
- connecting plate
- gear
- crawl
- rack gear
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Abstract
The utility model discloses a kind of three axis truss manipulators of multistation, including crossbeam and support beam to be located at the column at crossbeam both ends；2 or more grasping mechanisms are provided on crossbeam；Each grasping mechanism includes support connecting plate, along the crawl transverse motion mechanism of crossbeam transverse shifting, along the crawl longitudinal motion mechanism and handgrip of crossbeam longitudinal movement；Handgrip includes rotary cylinder, and grabs finger, and rotary cylinder is fixed on the second rack gear end；It grabs and refers to be the telescopic rod end for being symmetrically fixed on rotary cylinder.Three axis truss manipulator of this multistation in use, can be along crossbeam transverse shifting, while can move along the direction of vertical crossbeams, and in crawl, rotating electric machine can be with rotary grasping direction；Realize multiple crawls for position；In addition multiple grasping mechanisms are set on crossbeam, crawl while realizing multiple objects, each grasping mechanism can move alone, can be more flexible reliable with the coordinated movement of various economic factors.
Description
Technical field
The utility model relates to mechanical crawl fields, specifically design a kind of three axis truss manipulator of multistation.
Background technique
Existing truss manipulator is typically all single arm.Existing only one arm of truss manipulator, crawl
One can only be once grabbed when workpiece, efficiency is lower；In addition, the case where for must once grab multiple workpiece or multiple positions, is very
It is difficult.
Summary of the invention
The purpose of the utility model is to provide one kind to grab object with multistation, improves crawl efficiency；It simultaneously can be real
Existing same object multiple spot crawl, it is more firm to grab.
In order to achieve the above object, technical solution proposed by the present invention is as follows:
A kind of three axis truss manipulator of multistation, including crossbeam and support beam are located at the column at crossbeam both ends；It is described
2 or more grasping mechanisms are provided on crossbeam；Each grasping mechanism includes support connecting plate, along crossbeam transverse shifting
Transverse motion mechanism is grabbed, along the crawl longitudinal motion mechanism and handgrip of crossbeam longitudinal movement；The crawl transverse movement machine
Structure includes first motor, first gear and the first rack gear, and the first gear is fixed on first motor output shaft, and first
Motor is fixed on support connecting plate；First rack gear is laid with along crossbeam, is engaged with first gear；The crawl longitudinal movement
Mechanism include the second motor, second gear and with the second rack gear, second gear is fixed on the second output shaft, and the second motor is solid
It is scheduled on support connecting plate；Second rack gear is engaged perpendicular to crossbeam with second gear, and second rack gear is through support connecting plate
On；The handgrip includes rotary cylinder, and grabs finger, and the rotary cylinder is fixed on the second rack gear end；Grabbing fingers are pair
Claim the telescopic rod end for being fixed on rotary cylinder.
It is further: limited block to be provided in grabbing fingers, the limited block is bolted in grabbing fingers.
It is further: I-beam, the support connecting plate and I-beam slidable connection are provided on the crossbeam.
Further: second rack gear is additionally provided with strut, and the strut is fixedly connected with the second rack gear, is through jointly
It supports on connecting plate.
It is further: to be provided with I-beam on the strut, be provided with I-shaped sliding block on support connecting plate, make strut and branch
Support connecting plate is slidably connected.
Further: the grasping mechanism further includes planker, and the planker is arranged along crossbeam.
Further: the support connecting plate includes the first connecting plate, the second connecting plate, is arranged on the first connecting plate, the second connecting plate
Box body clasps wheel and rack engagement.
The technical effect of the utility model is:
Three axis truss manipulator of this multistation in use, can be along crossbeam transverse shifting, while can be along
The direction of vertical crossbeams is mobile, and in crawl, rotating electric machine can be with rotary grasping direction；Realize multiple grabbing for position
It takes；In addition multiple grasping mechanisms are set on crossbeam, crawl while realizing multiple objects, each grasping mechanism can be independent
Movement, can be more flexible reliable with the coordinated movement of various economic factors.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of the utility model；
Fig. 2 is the schematic front view of Fig. 1；
Fig. 3 is the schematic top plan view of Fig. 1；
Fig. 4 is grasping mechanism schematic diagram in Fig. 1；
Fig. 5 is grasping mechanism schematic front view in Fig. 4 (no box body)；
Fig. 6 is grasping mechanism left view schematic diagram in Fig. 4 (no box body)；
Fig. 7 is handgrip schematic diagram in Fig. 4；
In above each figure: crossbeam 11, column 12, grasping mechanism 20 support connecting plate 21, the first connecting plate 211, the second connecting plate
212, box body 213；
First motor 221, first gear 222, the first rack gear 223；
Second motor 231, second gear 232, the second rack gear 233, strut 234；
Rotary cylinder 241 grabs finger 242, limited block 2421；I-beam 31, I-shaped sliding block 32, planker 4.
Specific embodiment
Be described in detail the utility model below in conjunction with attached drawing and specific embodiment, illustrative examples therein with
And explanation is only used to explain the utility model, but is not intended as the improper restriction to the utility model.
As shown in Fig. 1-7；A kind of three axis truss manipulator of multistation, including crossbeam and support beam are located at crossbeam two
The column at end；2 or more grasping mechanisms are provided on the crossbeam；Each grasping mechanism includes support connecting plate, along cross
The crawl transverse motion mechanism of beam transverse shifting, along the crawl longitudinal motion mechanism and handgrip of crossbeam longitudinal movement；It is described
Grabbing transverse motion mechanism includes first motor, first gear and the first rack gear, and the first gear is fixed on first motor
On output shaft, first motor is fixed on support connecting plate；First rack gear is laid with along crossbeam, is engaged with first gear；Institute
State crawl longitudinal motion mechanism include the second motor, second gear and with the second rack gear, second gear is fixed on the second output
On axis, the second motor is fixed on support connecting plate；Second rack gear is engaged perpendicular to crossbeam with second gear, second tooth
Item is through on support connecting plate；The handgrip includes rotary cylinder, and grabs finger, and the rotary cylinder is fixed on the second rack gear end
End；Grabbing fingers are symmetrically to be fixed on the telescopic rod end of rotary cylinder.
There is multiple groups grasping mechanism on crossbeam, every group of grasping mechanism makes it along cross beam movement by first motor, and second
Motor moves it along the direction of vertical crossbeams, is additionally provided with rotary cylinder and adjusts crawl direction, realizes three dimensions
The movement of degree, each other can be with self contained function, and can be with independent control.
This manipulator can be grabbed in each grabbing workpiece it is multiple, grab it is high-efficient, in addition, for non-regular shape
For workpiece, crawl angle is cunning, can be grabbed to same workpiece multiple spot with multiple grasping mechanism coordinations, improve crawl at
Power, it is more flexible and convenient, it is suitble to actual production to use.
In the process of grasping, it needs further: being provided with limited block in grabbing fingers, the limited block is connected by bolt
It connects in grabbing fingers.As shown in fig. 7, grabbing the limited block position on referring to can according to need the concrete shape of clamped workpiece
It sets, it can be with up and down adjustment, or using the limited block of other shapes.
In order to improve the intensity and rigidity of the second rack gear, second rack gear is additionally provided with strut, the strut and
Two rack gears are fixedly connected, and are through on support connecting plate jointly.Thickness equivalent to increase rack gear.
In the first rack gear and the second rack gear sliding process, in order to improve the stability and accuracy of sliding, in the branch
It is provided with I-beam on bar, is provided with I-shaped sliding block on support connecting plate, strut is made to be slidably connected with support connecting plate.The crossbeam
On be provided with I-beam, the support connecting plate and I-beam slidable connection.I-beam plays the role of guiding, limit, avoids
Mobile not in place, the clamping failure of grasping mechanism.
In order to guarantee that the clean and tidy of entire manipulator, grasping mechanism further include planker, the planker is arranged along crossbeam.
In order to guarantee safety in process and reliable, the support connecting plate includes the first connecting plate, the second connecting plate,
Box body is set on first connecting plate, the second connecting plate, wheel and rack engagement is clasped.Foreign matter is avoided to fall at rack and pinion engagement,
Clamping stagnation is caused, or destroys the intermeshing flank of tooth, while also guaranteeing the safety of operator, avoids engaged flank of tooth volume
Enter, damages.
The above description is not intended to limit the present invention, and the utility model is also not limited to the example above, this skill
The variations, modifications, additions or substitutions that the technical staff in art field is made in the essential scope of the utility model, also should belong to
The protection scope of the utility model.
Claims (7)
1. a kind of three axis truss manipulator of multistation, it is characterised in that: be located at crossbeam both ends including crossbeam and support beam
Column；2 or more grasping mechanisms are provided on the crossbeam；
Each grasping mechanism includes support connecting plate, along the crawl transverse motion mechanism of crossbeam transverse shifting, along crossbeam longitudinal direction
Mobile crawl longitudinal motion mechanism and handgrip；
The crawl transverse motion mechanism includes first motor, first gear and the first rack gear,
The first gear is fixed on first motor output shaft, and first motor is fixed on support connecting plate；First rack gear
It is laid with along crossbeam, is engaged with first gear；
The crawl longitudinal motion mechanism include the second motor, second gear and with the second rack gear, second gear is fixed on the
On two output shafts, the second motor is fixed on support connecting plate；Second rack gear is engaged perpendicular to crossbeam with second gear, described
Second rack gear is through on support connecting plate；
The handgrip includes rotary cylinder, and grabs finger, and the rotary cylinder is fixed on the second rack gear end；Grabbing fingers are pair
Claim the telescopic rod end for being fixed on rotary cylinder.
2. three axis truss manipulator of multistation according to claim 1, it is characterised in that: be provided with limit in grabbing fingers
Block, the limited block are bolted in grabbing fingers.
3. three axis truss manipulator of multistation according to claim 2, it is characterised in that: be provided with I-shaped on the crossbeam
Beam, the support connecting plate and I-beam slidable connection.
4. three axis truss manipulator of multistation according to claim 3, it is characterised in that: second rack gear is additionally provided with
Strut, the strut are fixedly connected with the second rack gear, are through on support connecting plate jointly.
5. three axis truss manipulator of multistation according to claim 4, it is characterised in that: be provided with I-shaped on the strut
Beam is provided with I-shaped sliding block on support connecting plate, and strut is made to be slidably connected with support connecting plate.
6. three axis truss manipulator of multistation according to claim 5, it is characterised in that: the grasping mechanism further includes dragging
Plate, the planker are arranged along crossbeam.
7. three axis truss manipulator of multistation according to claim 1, it is characterised in that: the support connecting plate includes first
Box body is arranged on the first connecting plate, the second connecting plate in connecting plate, the second connecting plate, and wheel and rack engagement is clasped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821213823.2U CN208681581U (en) | 2018-07-27 | 2018-07-27 | A kind of three axis truss manipulator of multistation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821213823.2U CN208681581U (en) | 2018-07-27 | 2018-07-27 | A kind of three axis truss manipulator of multistation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208681581U true CN208681581U (en) | 2019-04-02 |
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ID=65882854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821213823.2U Expired - Fee Related CN208681581U (en) | 2018-07-27 | 2018-07-27 | A kind of three axis truss manipulator of multistation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208681581U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773765A (en) * | 2019-04-03 | 2019-05-21 | 秦川机床工具集团股份公司 | One kind is for intelligent production line truss robot device |
| CN111113376A (en) * | 2019-12-02 | 2020-05-08 | 江苏理工学院 | Truss manipulator point fixing device and point fixing method thereof |
| CN111843587A (en) * | 2020-07-28 | 2020-10-30 | 张竹青 | Pipe fitting clamping device for industrial robot |
| CN114751152A (en) * | 2022-04-19 | 2022-07-15 | 西南交通大学 | Conveying and grabbing mechanism for detecting bearing saddle |
-
2018
- 2018-07-27 CN CN201821213823.2U patent/CN208681581U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773765A (en) * | 2019-04-03 | 2019-05-21 | 秦川机床工具集团股份公司 | One kind is for intelligent production line truss robot device |
| CN111113376A (en) * | 2019-12-02 | 2020-05-08 | 江苏理工学院 | Truss manipulator point fixing device and point fixing method thereof |
| CN111113376B (en) * | 2019-12-02 | 2021-04-13 | 江苏理工学院 | Truss manipulator point fixing device and point fixing method thereof |
| CN111843587A (en) * | 2020-07-28 | 2020-10-30 | 张竹青 | Pipe fitting clamping device for industrial robot |
| CN114751152A (en) * | 2022-04-19 | 2022-07-15 | 西南交通大学 | Conveying and grabbing mechanism for detecting bearing saddle |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190402 Termination date: 20200727 |