CN213411996U

CN213411996U - Truss manipulator

Info

Publication number: CN213411996U
Application number: CN202022320300.1U
Authority: CN
Inventors: 李腾; 葛建伟; 姬志恒; 高兆春; 赵升升
Original assignee: Headman Shanghai Automation Technology Co ltd
Current assignee: Headman Shanghai Automation Technology Co ltd
Priority date: 2020-10-16
Filing date: 2020-10-16
Publication date: 2021-06-11
Anticipated expiration: 2030-10-16

Abstract

The utility model provides a truss manipulator belongs to manipulator technical field. It has solved the problem that the work efficiency of current truss manipulator is low. This truss manipulator includes pneumatic clamping jaw one and can reciprocate perpendicular roof beam subassembly, erects roof beam subassembly bottom and has the mounting panel along horizontal direction sliding connection, and pneumatic clamping jaw one is fixed at the downside of mounting panel, and the downside of mounting panel still is fixed with the rotary driving piece, and this truss manipulator is still including locating the below of rotary driving piece and rather than the pneumatic clamping jaw two that the transmission is connected, and pneumatic clamping jaw one distributes along the slip direction of mounting panel with pneumatic clamping jaw two. The control valve has the advantages of high working efficiency, strong reliability and the like.

Description

Truss manipulator

Technical Field

The utility model belongs to the technical field of the manipulator, a truss manipulator is related to.

Background

In the automatic machining process, workpieces can be machined in multiple processes on different machine tools, and in order to achieve automatic loading and unloading and automatic feeding between two adjacent processes, a manipulator becomes an essential part in the automatic machining process. Taking a truss manipulator as an example, the truss manipulator generally comprises a cross beam assembly and a vertical beam assembly which is connected with the cross beam assembly in a sliding manner, wherein the end part of the vertical beam assembly is connected with a pneumatic clamping jaw, the vertical beam assembly is positioned above a machine tool, the vertical beam assembly moves downwards into the machine tool and places a workpiece into a machining position of the machine tool for machining or grabs the machined workpiece by using the pneumatic clamping jaw, and the conveying of the workpiece between two adjacent machine tools is realized by the vertical beam assembly moving along the cross beam assembly.

The traditional truss mechanical hand corresponds to one pneumatic clamping jaw, and after the machined workpiece is grabbed by the truss mechanical hand, withdrawn from the top of a machine tool and moved to the machine tool in the next working procedure, the other truss mechanical hand can move to the upper part of the machine tool and then place the workpiece to be machined into the machine tool for machining, so that redundant waiting time exists in the whole machining process, the machining time is prolonged, and the working efficiency is low.

Disclosure of Invention

The utility model aims at the above-mentioned problem that prior art exists, provide truss manipulator, solved the problem that work efficiency is low.

The purpose of the utility model can be realized by the following technical proposal:

truss manipulator, including pneumatic clamping jaw one and can reciprocate erect the roof beam subassembly, its characterized in that, perpendicular roof beam subassembly bottom have a mounting panel along horizontal direction sliding connection, pneumatic clamping jaw one is fixed at the downside of mounting panel, the downside of mounting panel still is fixed with the rotary driving piece, this truss manipulator is still including the below of locating the rotary driving piece and the pneumatic clamping jaw two rather than the transmission is connected, pneumatic clamping jaw one distributes along the slip direction of mounting panel with pneumatic clamping jaw two.

Specifically, when the pneumatic clamping device is used, the vertical beam assembly is connected to the cross beam assembly in a sliding mode, the pneumatic clamping jaws clamp a blank, the vertical beam assembly moves to the position above the top of a machine tool for processing a first procedure along the cross beam assembly (the machine tool is called a first-order machine tool in the following description), then the vertical beam assembly enters the interior of the first-order machine tool downwards, and a workpiece processed on the first-order machine tool is grabbed through the pneumatic clamping jaws. And then, controlling the mounting plate to slide relative to the vertical beam assembly along the guide rail, so that the blank clamped by the pneumatic clamping jaws is placed on a processing position of a machine tool for processing. The vertical beam assembly moves upwards to be withdrawn from the top of the first-order machine tool, then moves along the cross beam assembly to be positioned above the top of the second-order machine tool for machining a second procedure (the machine tool is called a second-order machine tool in the following description), the pneumatic clamping jaws are controlled to rotate by 180 degrees by the rotary driving piece to turn around the workpiece on the pneumatic clamping jaws, and then the vertical beam assembly is controlled to enter the interior of the second-order machine tool downwards. And grabbing the workpiece processed on the second-order machine tool through the first pneumatic clamping jaw, and then controlling the mounting plate to be opposite to the vertical beam assembly along the guide rail, so that the workpiece clamped by the second pneumatic clamping jaw and subjected to turning is placed on a processing position of the second-order machine tool for processing.

The first pneumatic clamping jaw and the second pneumatic clamping jaw share one vertical beam assembly, and the vertical beam assembly is matched with the sliding of the upper mounting plate, so that the truss manipulator can realize emptying work through the sliding of the mounting plate after grabbing material in the same process, the machining time is shortened well, and the working efficiency is improved. Meanwhile, the second pneumatic clamping jaw is in transmission connection with the rotary driving piece, so that the turning of the long-axis workpiece can be directly completed in the process of conveying the workpiece to the corresponding working procedure, the workpiece can be directly machined after discharging, the turning is not needed after the workpiece is placed on a machining station of a machine tool, and the machining time is further shortened. And the second pneumatic clamping jaw is arranged below the rotary driving part, so that the position for clamping the workpiece by the second pneumatic clamping jaw is lower than the position for clamping the workpiece by the first pneumatic clamping jaw, interference of the first pneumatic clamping jaw when the workpiece is turned around by the second pneumatic clamping jaw is avoided, and the working reliability of the truss manipulator is ensured.

In the truss manipulator, the rotary driving part is a rotary cylinder, a connecting plate is fixed at the end part of a piston rod of the rotary cylinder, and the second pneumatic clamping jaw is fixed on the lower side surface of the connecting plate.

The piston rod of the rotary cylinder drives the connecting plate to rotate, so that the pneumatic clamping jaw II rotates to achieve turning of the workpiece.

In the truss manipulator, as another technical scheme, the rotary driving part is a rotary motor, a connecting plate is fixed at the end part of a rotating shaft of the rotary motor, and the second pneumatic clamping jaw is fixed on the lower side surface of the connecting plate.

The rotating shaft of the rotating motor drives the connecting plate to rotate, so that the pneumatic clamping jaw II rotates to achieve turning of the workpiece.

In the truss manipulator, the bottom of the vertical beam assembly is provided with two guide rails along the horizontal direction, and the upper side surface of the mounting plate is fixed with two sliding blocks capable of sliding along the corresponding guide rails.

In the above truss manipulator, the vertical beam assembly includes a body and a flat plate fixed at the bottom of the body, and the two guide rails are arranged on the lower side surface of the flat plate.

Compared with the prior art, the truss manipulator utilizes the first pneumatic clamping jaw and the second pneumatic clamping jaw to share one vertical beam assembly, and is matched with the sliding of the upper mounting plate, so that the material can be discharged through the sliding of the mounting plate after the grabbing work is completed in the same process, the processing time is well shortened, and the working efficiency is improved. Meanwhile, the second pneumatic clamping jaw is in transmission connection with the rotary driving piece, so that the turning operation of the long-shaft workpiece can be directly completed in the process of conveying the corresponding working procedure, the processing time is further shortened, the second pneumatic clamping jaw is not interfered by the first pneumatic clamping jaw when the workpiece is turned, and the working reliability of the truss manipulator is ensured.

Drawings

Fig. 1 is a schematic view of the present truss robot.

In the figure, 1, a vertical beam assembly; 1a, a body; 1b, flat plate; 1b1, guide rails; 2. a first pneumatic clamping jaw; 3. a second pneumatic clamping jaw; 4. mounting a plate; 5. a rotary drive member; 6. a slider; 7. a connecting plate.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

Example one

As shown in fig. 1, the truss manipulator comprises a first pneumatic clamping jaw 2, a second pneumatic clamping jaw 3 and a vertical beam assembly 1 capable of moving up and down, wherein the bottom of the vertical beam assembly 1 is connected with a mounting plate 4 in a sliding manner along the horizontal direction, the first pneumatic clamping jaw 2 is fixed on the lower side surface of the mounting plate 4, a rotary driving part 5 is further fixed on the lower side surface of the mounting plate 4, the second pneumatic clamping jaw 3 is arranged below the rotary driving part 5 and is in transmission connection with the rotary driving part 5, and the first pneumatic clamping jaw 2 and the second pneumatic clamping jaw 3 are distributed along the sliding direction. Two guide rails 1b1 are horizontally arranged at the bottom of the vertical beam assembly 1, and two sliders 6 capable of sliding along the corresponding guide rails 1b1 are fixed on the upper side surface of the mounting plate 4. The vertical beam assembly 1 comprises a body 1a and a flat plate 1b fixed at the bottom of the body 1a, and two guide rails 1b1 are arranged at the lower side of the flat plate 1 b. Dull and stereotyped 1b and mounting panel 4 are square plate, and dull and stereotyped 1b one end stretches out outside body 1a one side, and pneumatic clamping jaw 2 and pneumatic clamping jaw two 3 are located the both ends department of mounting panel 4, and pneumatic clamping jaw two 3 place one end and dull and stereotyped 1b stretch out the one side outside one end corresponding, and slider 6 is fixed in mounting panel 4 and the corresponding position department of pneumatic clamping jaw two 3 in side. In the present embodiment, the mounting plate 4 may be driven by a push cylinder to slide along the guide rail 1b 1. The rotary driving piece 5 is a rotary cylinder, a connecting plate 7 is fixed at the end part of a piston rod of the rotary cylinder, and the pneumatic clamping jaw II 3 is fixed on the lower side surface of the connecting plate 7.

The truss manipulator further comprises a cross beam assembly, wherein the vertical beam assembly 1 is connected to the cross beam assembly in a sliding mode, specifically, when the truss manipulator is used, the first pneumatic clamping jaw 2 clamps a blank piece, the vertical beam assembly 1 moves to the position above the top of a machine tool for processing a first procedure along the cross beam assembly (the machine tool is called as a first-order machine tool in the following description), then the vertical beam assembly 1 enters the interior of the first-order machine tool downwards, and a workpiece processed on the first-order machine tool is grabbed through the second pneumatic clamping jaw 3. Then, the mounting plate 4 is controlled to slide along the guide rail 1b1 relative to the vertical beam assembly 1, so that the blank held by the pneumatic clamping jaws 2 is placed on a processing position of a sequential machine tool for processing.

The vertical beam assembly 1 moves upwards to be withdrawn from the top of a first-order machine tool, then the vertical beam assembly 1 moves along the cross beam assembly to be positioned above the top of a second-order machine tool (the machine tools are both called second-order machine tools in the following description), the rotary driving piece 5 controls the pneumatic clamping jaw II 3 to rotate 180 degrees so as to turn the workpiece on the pneumatic clamping jaw II, and then the vertical beam assembly 1 is controlled to move downwards to enter the interior of the second-order machine tool. The workpiece processed on the second-order machine tool is grabbed by the first pneumatic clamping jaw 2, and then the mounting plate 4 is controlled to be opposite to the vertical beam assembly 1 along the guide rail 1b1, so that the workpiece clamped by the second pneumatic clamping jaw 3 and subjected to turning is placed on a processing position of the second-order machine tool for processing.

Example two

The structure and principle of this embodiment are basically the same as those of the first embodiment, except that: in this embodiment, the rotary driving member 5 is a rotary motor, a connecting plate 7 is fixed to an end of a rotating shaft of the rotary motor, and the second pneumatic clamping jaw 3 is fixed to a lower side surface of the connecting plate 7.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. Truss manipulator, including pneumatic clamping jaw (2) and can reciprocate erect roof beam subassembly (1), its characterized in that, erect roof beam subassembly (1) bottom have mounting panel (4) along horizontal direction sliding connection, the downside at mounting panel (4) is fixed in pneumatic clamping jaw (2), the downside of mounting panel (4) still is fixed with rotary driving piece (5), this truss manipulator is still including locating the below of rotary driving piece (5) and rather than two (3) of pneumatic clamping jaw that the transmission is connected, the slip direction of mounting panel (4) is followed to pneumatic clamping jaw (2) and two (3) of pneumatic clamping jaw.

2. The truss manipulator as claimed in claim 1, wherein the rotary driving member (5) is a rotary cylinder, a connecting plate (7) is fixed at the end of a piston rod of the rotary cylinder, and the second pneumatic clamping jaw (3) is fixed at the lower side of the connecting plate (7).

3. The truss manipulator as claimed in claim 1, wherein the rotary driving member (5) is a rotary motor, a connecting plate (7) is fixed at the end of a rotating shaft of the rotary motor, and the second pneumatic clamping jaw (3) is fixed at the lower side of the connecting plate (7).

4. The truss manipulator as claimed in claim 1, wherein the vertical beam assembly (1) is provided with two guide rails (1b1) at the bottom in the horizontal direction, and two sliders (6) capable of sliding along the corresponding guide rails (1b1) are fixed on the upper side of the mounting plate (4).

5. The truss manipulator as claimed in claim 4, wherein the vertical beam assembly (1) comprises a body (1a) and a plate (1b) fixed to the bottom of the body (1a), and two guide rails (1b1) are disposed on the lower side of the plate (1 b).