CN212218468U - Crossed manipulator for truss - Google Patents

Crossed manipulator for truss Download PDF

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Publication number
CN212218468U
CN212218468U CN202021246875.7U CN202021246875U CN212218468U CN 212218468 U CN212218468 U CN 212218468U CN 202021246875 U CN202021246875 U CN 202021246875U CN 212218468 U CN212218468 U CN 212218468U
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China
Prior art keywords
mechanical arm
truss
synchronous belt
plate
driven
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Active
Application number
CN202021246875.7U
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Chinese (zh)
Inventor
武建伟
韦江宇
朱伟
颜建国
赵瑜
金丽丽
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Research Institute of Zhejiang University Taizhou
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Research Institute of Zhejiang University Taizhou
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Priority to CN202021246875.7U priority Critical patent/CN212218468U/en
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Abstract

The utility model discloses a crossed manipulator for a truss, which is arranged on a truss beam through a support bottom plate and comprises a servo motor, a planetary reducer, a triangular synchronous belt mechanism and two sets of mechanical arm components which are arranged in an oblique angle with each other, wherein each mechanical arm component comprises a rack arranged along the length direction of the mechanical arm component; the output shaft of the servo motor is connected with the planetary speed reducer, the triangular synchronous belt mechanism comprises a driving angle and two driven angles, the driving angle is connected with the output shaft of the planetary speed reducer, the driving angle drives the two driven angles to rotate, and the two driven angles are respectively meshed with racks of two groups of mechanical arm assemblies to drive the mechanical arm assemblies to move linearly. The utility model discloses a two sets of arm subassemblies that are the oblique angle each other and arrange realize the material loading and the unloading of work piece respectively in the same time staggered form action one on the other, can improve production efficiency by multiples, shorten work piece process time by a wide margin.

Description

Crossed manipulator for truss
Technical Field
The utility model relates to a crossing manipulator is used to truss.
Background
The manipulator is an automatic machine capable of simulating the operation of human hands, and can grab, carry objects or hold tools to complete certain operations according to a fixed program. The application of the mechanical arm can replace a person to engage in monotonous, repeated or heavy physical labor, realize mechanization and automation of production, improve labor conditions and ensure personal safety. At present, the truss manipulator is widely applied to the field of machine tools, can replace manpower to carry out loading and unloading work, does transportation work with high labor intensity and danger, and is an important component part for logistics transportation on an automatic production line.
Known truss robot configurations include columns, beams, robotic arms, and end effector portions. However, the prior manipulator has more decomposition actions, longer moving stroke and longer time for completing the conveying of one workpiece, which causes low working efficiency.
Disclosure of Invention
The utility model aims at providing a crossing manipulator is used to truss is the arm subassembly that the oblique angle was arranged each other through two sets and realizes the material loading and the unloading of work piece respectively in the same time staggered action one on the other, can improve production efficiency by multiples, shortens work piece process time by a wide margin.
In order to realize the purpose of the utility model, the utility model provides a crossed manipulator for a truss, which is arranged on a truss beam through a support bottom plate and comprises a servo motor, a planetary reducer, a triangular synchronous belt mechanism and two sets of mechanical arm components which are arranged in an oblique angle with each other, wherein each mechanical arm component comprises a rack arranged along the length direction of the mechanical arm component; the output shaft of the servo motor is connected with the planetary speed reducer, the triangular synchronous belt mechanism comprises a driving angle and two driven angles, the driving angle is connected with the output shaft of the planetary speed reducer, the driving angle drives the two driven angles to rotate, and the two driven angles are respectively meshed with racks of two groups of mechanical arm assemblies to drive the mechanical arm assemblies to move linearly.
Further, the triangular synchronous belt mechanism comprises a synchronous belt, a driving synchronous belt wheel and two driven synchronous belt wheels; the driving synchronous belt wheel and the two driven synchronous belt wheels are distributed in a triangular mode and are connected into a whole through the synchronous belt transmission; the driving synchronous belt wheel is fixed on an output shaft of the planetary speed reducer, cylindrical helical gears are respectively fixed on transmission shafts for mounting the driven synchronous belt wheels, the cylindrical helical gears are meshed with racks of the two groups of mechanical arm assemblies in a one-to-one correspondence mode, one of the transmission shafts is mounted and positioned on a right side plate of the support through a deep groove ball bearing, and the other transmission shaft is mounted and positioned on a left side plate of the support through a deep groove ball bearing. The cylindrical helical gear has the advantages of large coincidence coefficient, stable transmission, small impact, vibration and noise, high gear strength and suitability for heavy load.
Furthermore, each mechanical arm assembly further comprises a lifting fixing strip, guide rails are mounted on two side faces of each lifting fixing strip, and sliding blocks on the guide rails are fixed on the left side plate and the right side plate of the support; the tail end of each mechanical arm component is provided with a pneumatic claw adjusting fixing plate and a pneumatic claw fixing piece, a clamping jaw cylinder is fixed on the pneumatic claw fixing piece, and a clamping jaw for grabbing and placing a workpiece is installed on an executing mechanism of the clamping jaw cylinder.
Further, the synchronous belt is an arc tooth synchronous belt. The arc tooth structure can homogenize stress, improve the engagement degree and increase the transmission power by 3-5 times compared with the trapezoidal tooth and the T-shaped tooth. The synchronous belt has stable transmission, can absorb vibration and has low noise.
Furthermore, the driving synchronous belt wheel is limited on an output shaft of the planetary reducer through a shaft end retainer ring.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a two sets of arm subassemblies that are the oblique angle each other and arrange realize the material loading and the unloading of work piece respectively in the same time staggered form action one on the other, can improve production efficiency by multiples, shorten work piece process time by a wide margin.
Drawings
Fig. 1 is a first schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic structural diagram ii according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot arm assembly according to an embodiment of the present invention.
In the figure, a robot arm assembly 1; 3-1 of a lifting fixing strip; 3-2 of a guide rail; 3-3 of a slide block; 3-4 of a rack; 3-5 parts of a pneumatic claw adjusting fixing plate; 3-6 parts of a pneumatic claw fixing piece; 3-7 of a clamping jaw cylinder; 3-8 of a clamping jaw;
a bracket bottom plate 2; a transmission shaft 3; a deep groove ball bearing 4; a cylindrical helical gear 5; a driven synchronous pulley 6; a synchronous belt 7; a driving synchronous pulley 8; a shaft end retainer ring 9; a reducer mounting plate 10; a bracket right side plate 11; a bracket front end plate 12; a workpiece 13; a planetary reducer 14; a servo motor 15; a sleeve 16; bracket left side plate 17.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the present invention discloses an embodiment of a cross-type manipulator for a truss, which includes a support bottom plate 2, a support right side plate 11, a support left side plate 17 and a support front end plate 12, which form a support frame, and the whole device can be installed on a truss beam through the support bottom plate 2. The servo motor 15 is matched with the planetary reducer 14 and is installed on the right side plate 11 of the support through the reducer installation plate 10, the driving synchronous belt wheel 8 is limited on the output shaft of the planetary reducer 14 through the shaft end retainer ring 9, the synchronous belt 7 is driven to drive the two driven synchronous belt wheels 6, the driven synchronous belt wheels 6 and the cylindrical helical gear 5 are fixedly installed on the same transmission shaft 3 together with the shaft sleeve 16 and are distributed in a triangular mode with the driving synchronous belt wheel 8, the transmission shaft 3 is installed and positioned on the right side plate 11 of the support and the left side plate 17 of the support through the deep groove ball bearing 4, the cylindrical helical gear 5 is meshed with the racks 3-4 on the mechanical arm assembly 1, and therefore the two mechanical arms which are arranged.
As shown in figure 3, in the mechanical arm component 1, two side surfaces of a lifting fixing strip 3-1 are provided with guide rails 3-2 which are fixed on a left side plate 17 of a bracket and a right side plate 11 of the bracket through slide blocks 3-3 on the guide rails 3-2, a rack 3-4 arranged on the front surface is meshed with a cylindrical helical gear 5, an air claw adjusting fixing plate 3-5 and an air claw fixing part 3-6 arranged at the tail end are used for fixing a clamping claw cylinder 3-7, and a clamping claw 3-8 arranged on an executing mechanism of the clamping claw cylinder 3-7 can grab and place a workpiece 13 through electric control.
The controller controls the servo motor 15 to rotate positively and negatively, when the servo motor 15 rotates positively, one mechanical arm assembly 1 descends, the other mechanical arm assembly ascends, and through electric control, the clamping jaws 3-8 at the tail end of the descending mechanical arm assembly are closed to clamp the workpiece 13; then the servo motor 15 rotates reversely, the mechanical arm component for clamping the workpiece ascends, the other mechanical arm component descends, and the clamped workpiece 13 is placed on a processing station to realize the replacement of the workpiece 13. The servo motor 15 rotates forwards, and the mechanical arm can be retracted to a proper position, so that the whole mechanical arm can be transposed and transferred. In addition, if the workpiece 13 is replaced properly, two workpieces can be held at a time for conveyance.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (5)

1. The cross type mechanical arm for the truss is arranged on a truss beam through a support bottom plate, and is characterized by comprising a servo motor, a planetary reducer, a triangular synchronous belt mechanism and two sets of mechanical arm assemblies which are arranged at an oblique angle, wherein each mechanical arm assembly comprises a rack arranged along the length direction of the mechanical arm assembly;
the output shaft of the servo motor is connected with the planetary speed reducer, the triangular synchronous belt mechanism comprises a driving angle and two driven angles, the driving angle is connected with the output shaft of the planetary speed reducer, the driving angle drives the two driven angles to rotate, and the two driven angles are respectively meshed with racks of two groups of mechanical arm assemblies to drive the mechanical arm assemblies to move linearly.
2. The cross robot for a truss of claim 1, wherein the timing belt mechanism comprises a timing belt, a driving timing pulley and two driven timing pulleys; the driving synchronous belt wheel and the two driven synchronous belt wheels are distributed in a triangular mode and are connected into a whole through the synchronous belt transmission; the driving synchronous belt wheel is fixed on an output shaft of the planetary speed reducer, cylindrical helical gears are respectively fixed on transmission shafts for mounting the driven synchronous belt wheels, the cylindrical helical gears are meshed with racks of the two groups of mechanical arm assemblies in a one-to-one correspondence mode, one of the transmission shafts is mounted and positioned on a right side plate of the support through a deep groove ball bearing, and the other transmission shaft is mounted and positioned on a left side plate of the support through a deep groove ball bearing.
3. The cross-type manipulator for the truss according to claim 2, wherein each manipulator assembly further comprises a lifting fixing strip, guide rails are arranged on two side surfaces of the lifting fixing strip, and sliding blocks on the guide rails are fixed on the left side plate and the right side plate of the support; the tail end of each mechanical arm component is provided with a pneumatic claw adjusting fixing plate and a pneumatic claw fixing piece, a clamping jaw cylinder is fixed on the pneumatic claw fixing piece, and a clamping jaw for grabbing and placing a workpiece is installed on an executing mechanism of the clamping jaw cylinder.
4. The cross robot for a truss of claim 3 wherein the timing belt is a circular arc tooth timing belt.
5. The crossed manipulator for the truss according to any one of claims 2 to 4, wherein the driving synchronous pulley is limited on an output shaft of the planetary reducer through a shaft end retainer ring.
CN202021246875.7U 2020-07-01 2020-07-01 Crossed manipulator for truss Active CN212218468U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202021246875.7U CN212218468U (en) 2020-07-01 2020-07-01 Crossed manipulator for truss

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202021246875.7U CN212218468U (en) 2020-07-01 2020-07-01 Crossed manipulator for truss

Publications (1)

Publication Number Publication Date
CN212218468U true CN212218468U (en) 2020-12-25

Family

ID=73911225

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202021246875.7U Active CN212218468U (en) 2020-07-01 2020-07-01 Crossed manipulator for truss

Country Status (1)

Country Link
CN (1) CN212218468U (en)

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