CN213731735U

CN213731735U - High-speed stable truss manipulator

Info

Publication number: CN213731735U
Application number: CN202022815727.9U
Authority: CN
Inventors: 刘世严; 蒯海波; 徐军; 徐飞
Original assignee: Suzhou Guanhong Intelligent Equipment Co ltd
Current assignee: Suzhou Guanhong Intelligent Equipment Co ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-07-20
Anticipated expiration: 2030-11-30

Abstract

The utility model relates to a high-speed stable truss manipulator, including the truss, truss sliding connection has the removal frame, the spout has been seted up on the truss surface, the tooth's socket has been seted up in the truss outside, the tooth's socket meshing is connected with the gear, gear fixedly connected with pivot, the pivot is rotated and is connected with motor a, motor a installs in the both sides of removing the frame, spout sliding connection has the slider, slider fixed connection is in removing a bottom both sides, the outside extension in truss outside has the fastener, fastener sliding connection has the draw-in groove, the draw-in groove is seted up in removing a bottom both sides, remove a top left side fixedly connected with mounting bracket. In the process that a motor on the moving frame is started to drive the gears to be matched with the tooth grooves to move, two sides of the moving frame stably slide along the surface of the truss through the sliding blocks and the clamping grooves; the positions of the manipulator, such as the vertical position, the left-right position, the front-back position, the grabbing angle and the like, can be changed by matching the motor a, the motor b, the cylinder and the motor c, and the manipulator is simple in structure and easy to operate.

Description

High-speed stable truss manipulator

Technical Field

The utility model relates to a truss manipulator specifically is a high-speed stable truss manipulator, belongs to truss manipulator technical field.

Background

The truss manipulator is a full-automatic industrial device which is established on the basis of a rectangular X, Y and Z coordinate system and used for adjusting the station of a workpiece or realizing the functions of the workpiece such as track movement and the like. The control core is realized by an industrial controller (such as a PLC, a motion controller, a singlechip and the like). The controller analyzes and processes various input (various sensors, buttons and the like) signals, and after certain logic judgment is made, an execution command is issued to each output element (a truss manipulator, a motor driver, an indicator light and the like) to complete the joint motion among the three axes of X, Y and Z, so that a whole set of full-automatic operation flow is realized.

In the process of using the truss manipulator, 1, the truss manipulator is not tightly connected when moving on a truss, so that the truss manipulator is unstable and easy to derail during moving, and the moving speed is slow; 2. the existing truss manipulator has a complex structure and is inconvenient to operate.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems and provide a high-speed and stable truss manipulator, wherein in the process of the motor starting on the moving frame to drive the gear and the tooth socket to move in a matching way, two sides of the moving frame stably slide along the surface of a truss through a slide block and a clamping groove; the positions of the manipulator, such as the vertical position, the left-right position, the front-back position, the grabbing angle and the like, can be changed by matching the motor a, the motor b, the cylinder and the motor c, and the manipulator is simple in structure and easy to operate.

The utility model realizes the above purpose by the following technical proposal, a high-speed stable truss manipulator, which comprises a truss, the truss is connected with a moving frame in a sliding way, a chute is arranged on the surface of the truss, a tooth groove is arranged on the outer side of the truss, the tooth groove is engaged with a gear, the gear is fixedly connected with a rotating shaft, the rotating shaft is rotationally connected with a motor a, the motor a is arranged on both sides of the moving frame, the chute is connected with a slide block in a sliding way, the slide block is fixedly connected on both sides of the bottom end of the moving frame, a fastener is extended outwards on the outer side of the truss, the fastener is connected with a clamping groove in a sliding way, the clamping groove is arranged on both sides of the bottom end of the moving frame, the left side of the top end of the moving frame is fixedly connected with a mounting frame, a motor b is arranged on the right side of the mounting frame, the power output end of the motor b is connected with the power input end of a screw rod, the screw rod is connected with a moving block by screw threads, the movable block is connected with a movable frame in a sliding mode, air cylinders are installed on two sides of the bottom end of the movable block, a cross frame is fixedly connected to the bottom end of each air cylinder, a motor c is installed in the middle of the cross frame, a power output end of the motor c is connected with a power input end of a rotating rod, a rotating disc is fixedly connected to the bottom end of the rotating rod, and a manipulator is installed at the bottom end of the rotating disc.

Preferably, the truss is of an L-shaped structure, and the clamping piece is of an m-shaped structure.

Preferably, the top end of the rotating shaft penetrates through the movable frame, and the movable block is connected with a limiting groove in a sliding mode.

Preferably, the limiting groove is formed in the middle of the moving frame, and the bottom end of the rotating rod penetrates through the transverse frame.

Preferably, the current input ends of the motor a, the motor b, the motor c and the cylinder are electrically connected with an external power supply through leads.

The utility model has the advantages that:

1. in the process that a motor on the moving frame is started to drive the gears to be matched with the tooth grooves to move, two sides of the moving frame stably slide along the surface of the truss through the sliding blocks and the clamping grooves; the truss is of an L-shaped structure and can provide support for two ends of the movable frame, the movable frame can slide along the top end and two sides of the truss, when the movable frame moves along the truss, the motors a arranged on two sides of the movable frame are started, the motors a are started to drive the connected rotating shafts to rotate, the rotating shafts rotate to drive the connected gears to rotate, the gears are meshed with tooth grooves formed in the outer sides of the truss, the gears rotate to drive the movable frame to move rightwards along the truss, sliding blocks are fixedly connected with two sides of the bottom end of the movable frame, the sliding blocks are positioned in sliding grooves formed in the top end of the truss and slide along the sliding grooves, the sliding blocks are of an inverted T-shaped structure and are not easy to be separated from the sliding grooves, the movable position of the movable frame can be fixed, meanwhile, clamping grooves are formed in two sides of the bottom end of the movable frame, clamping pieces extending outwards on the truss are positioned in the clamping grooves and slide along the clamping grooves, the clamping pieces are of an m-shaped structure, the contact area with the movable frame can be increased, and the displacement of the movable frame can be avoided, the transverse sliding position of the movable frame can be fixed through the matching of the truss, the sliding block, the clamping groove and the like, so that the movable frame can be kept stable during movement, and the moving speed is high.

2. The positions of the manipulator, such as the vertical position, the left-right position, the front-back position, the grabbing angle and the like, can be changed by matching the motor a, the motor b, the cylinder and the motor c, and the manipulator is simple in structure and easy to operate; when the manipulator is used for grabbing an object, the motors a on two sides of the moving frame are started, the motors a are started to drive the connected rotating shafts to rotate, the gears are meshed with the tooth grooves on the truss, the motors a can drive the moving frame to move left and right along the truss, the motors b arranged on the mounting frame are started to drive the connected screw rods to rotate, the screw rods rotate to drive the connected moving blocks to move back and forth along the limiting grooves formed in the moving frame, the bottom ends of the moving blocks are connected with the cross frame through cylinders, the cylinders extend after being electrified to drive the cross frame to move up and down, the motors c are arranged in the middle of the cross frame, the motors c drive the rotating rods to rotate after being started, the rotating rods rotate to drive the rotating discs connected with the bottom ends to rotate by a certain angle, the manipulator is arranged at the bottom ends of the rotating discs, the rotating discs rotate to drive the manipulator to rotate by a certain angle to grab the object, and the upper part and the lower part of the manipulator can be changed through the matching of the motors a, the motors a, Left and right, front and back, grabbing angle and other positions, simple operation and convenient use.

Drawings

Fig. 1 is an overall partial sectional structure view of the present invention.

Fig. 2 is a partial sectional structure view of a side view of the present invention.

Fig. 3 is a structural view of the movable frame of the present invention.

Reference numbers in the figures: 1. a truss; 2. a tooth socket; 3. a chute; 4. a movable frame; 5. a gear; 6. a rotating shaft; 7. a limiting groove; 8. a mounting frame; 9. a moving block; 10. a screw; 11. a motor a; 12. a slider; 13. a motor b; 14. a motor c; 15. a cylinder; 16. a card slot; 17. a cross frame; 18. a manipulator; 19. a turntable; 20. a rotating rod; 21. the fastener.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

Referring to fig. 1-3, a high-speed stable truss manipulator comprises a truss 1, wherein the truss 1 is slidably connected with a movable frame 4, a sliding groove 3 is formed in the surface of the truss 1, a tooth space 2 is formed in the outer side of the truss 1, a gear 5 is engaged with the tooth space 2, the gear 5 is fixedly connected with a rotating shaft 6, the rotating shaft 6 is rotatably connected with a motor a11, a motor a11 is installed on two sides of the movable frame 4, the sliding groove 3 is slidably connected with a sliding block 12, the sliding block 12 is fixedly connected with two sides of the bottom end of the movable frame 4, a clamping piece 21 extends outwards from the outer side of the truss 1, the clamping piece 21 is slidably connected with a clamping groove 16, the clamping groove 16 is formed in two sides of the bottom end of the movable frame 4, an installation frame 8 is fixedly connected to the left side of the top end of the movable frame 4, a motor b13 is installed on the right side of the installation frame 8, and a power output end of the motor b13 is connected with a power input end of a screw 10, the screw rod 10 is in threaded connection with a moving block 9, the moving block 9 is in sliding connection with a moving frame 4, air cylinders 15 are mounted on two sides of the bottom end of the moving block 9, a cross frame 17 is fixedly connected to the bottom end of each air cylinder 15, a motor c14 is mounted in the middle of each cross frame 17, a power output end of each motor c14 is connected with a power input end of a rotating rod 20, a rotating disk 19 is fixedly connected to the bottom end of each rotating rod 20, and a manipulator 18 is mounted at the bottom end of each rotating disk 19.

The example, the movable frame 4 can be along 1 horizontal slip of truss, the movable frame 4 both ends all are fixed with mounting bracket 8, left side mounting bracket 8 can provide mounting platform for motor b13, the right-hand member of screw rod 10 inserts in the right side mounting bracket 8, the position of fixed screw rod 10, the external screw thread has been seted up to the screw rod 10 surface, the internal thread has been seted up to movable block 9 and the internal surface of screw rod 10 junction, external screw thread and interior screw-thread fit, can make things convenient for movable block 9 to remove about along screw rod 10, the width broad of movable block 9 upper end width ratio spacing groove 7, the upper end moves along movable frame 4 surfaces when movable block 9 removes, the position of fixable movable block 9.

As an optimized technical solution of the utility model, truss 1 is L type structure, fastener 21 is m type structure.

In the example, the truss 1 is of an l-shaped structure, so that the positions of two sides of the movable frame 4 can be conveniently fixed, and the clamping piece 21 is of an m-shaped structure, so that the position of the movable frame 4 can be conveniently fixed.

As a preferred technical scheme of the utility model, 6 tops of pivot run through and remove frame 4, movable block 9 sliding connection has spacing groove 7.

Illustratively, the top end of the rotating shaft 6 penetrates through the moving frame 9 and then is connected with the motor a11, and the moving block 9 can move left and right along the limiting groove 7.

As a preferred technical scheme of the utility model, the middle part of removal frame 4 is seted up in spacing groove 7, crossbearer 17 is run through to bull stick 20 bottom.

Illustratively, the limiting groove 7 is arranged in the middle of the moving frame 4 and can limit the moving position of the moving block 9, and the bottom end of the rotating rod 20 penetrates through the cross frame 17 and then is connected with the turntable 19.

As a preferred technical scheme of the utility model, the current input end of motor a11, motor b13, motor c14 and cylinder 15 passes through wire electric connection with external power source.

For example, the external power supplies respectively supply power to the motor a11, the motor b13, the motor c14 and the cylinder 15, and all the elements are connected in parallel and can work independently.

When the utility model is used, power is supplied by an external power supply, the truss 1 is of an L-shaped structure and can provide support for two ends of the movable frame 4, the movable frame 4 can slide along the top end and two sides of the truss 1, when the movable frame 4 moves along the truss 1, the motor a11 (the motor can realize the conversion of electric energy into mechanical energy according to the law of electromagnetic induction) arranged on two sides of the movable frame 4 is started, the model of the motor a11 is CH/CV, the motor a11 is started to drive the connected rotating shaft 6 to rotate, the rotating shaft 6 rotates to drive the connected gear 5 to rotate, the gear 5 is meshed with the tooth socket 2 arranged on the outer side of the truss 1, the gear 5 rotates to drive the movable frame 4 to move rightwards along the truss 1, the sliding blocks 12 are fixedly connected with two sides of the bottom end of the movable frame 4, the sliding blocks 12 are positioned in the sliding grooves 3 arranged on the top end of the truss 1 and slide along the sliding grooves 3, the sliding blocks 12 are of an inverted T-shaped structure, the sliding blocks 12 are not easy to be separated from the sliding grooves 3, the moving position of the moving frame 4 can be fixed, meanwhile, clamping grooves 16 are formed in two sides of the bottom end of the moving frame 4, clamping pieces 21 extending outwards on the truss 1 are located in the clamping grooves 16 and slide along the clamping grooves 16, the clamping pieces 21 are of m-shaped structures, the contact area between the clamping pieces and the moving frame 4 can be increased, the moving frame 4 is prevented from moving, when a manipulator 18 is used for grabbing an object, a motor a11 on two sides of the moving frame 4 is started, a motor a11 is started to drive the moving frame 4 to move left and right along the truss 1, a motor b13 installed on the mounting frame 8 is started to drive a connected screw 10 to rotate, the model of a motor b13 is Y90L-4, the screw 10 rotates to drive a connected moving block 9 to move back and forth along a limiting groove 7 formed in the moving frame 4, the bottom end of the moving block 9 is connected with a cross frame 17 through an air cylinder 15 (the air cylinder is a cylindrical metal part for guiding the piston to perform linear reciprocating motion in the air cylinder), the air cylinder 15 is SC200, the cylinder 15 is electrified and then extends to drive the transverse frame 17 to move up and down, the motor c14 is installed in the middle of the transverse frame 17, the model of the motor c14 is CH 18-10020-100S, the motor c14 drives the rotating rod 20 to rotate after being started, the rotating rod 20 rotates to drive the rotating disc 19 connected with the bottom end to rotate for a certain angle, the manipulator 18 is installed at the bottom end of the rotating disc 19, and the rotating disc 19 rotates to drive the manipulator 18 to rotate for a certain angle to grab an object.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and therefore, the present invention is considered to be exemplary and not restrictive in any way, since the scope of the present invention is defined by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, without any reference thereto being construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A high-speed stable truss manipulator, includes truss (1), its characterized in that: the truss is characterized in that the truss (1) is connected with a moving frame (4) in a sliding manner, a sliding groove (3) is formed in the surface of the truss (1), a tooth groove (2) is formed in the outer side of the truss (1), a gear (5) is meshed with the tooth groove (2), a rotating shaft (6) is fixedly connected with the gear (5), the rotating shaft (6) is rotatably connected with a motor a (11), the motor a (11) is installed on two sides of the moving frame (4), a sliding block (12) is connected with the sliding groove (3), the sliding block (12) is fixedly connected with two sides of the bottom end of the moving frame (4), a clamping piece (21) extends outwards from the outer side of the truss (1), the clamping piece (21) is connected with a clamping groove (16) in a sliding manner, the clamping groove (16) is formed in two sides of the bottom end of the moving frame (4), a mounting frame (8) is fixedly connected with the left side of the top end of the moving frame (4), and a motor b (13) is installed on the right side of the mounting frame (8), the power take off of motor b (13) is connected with the power input of screw rod (10), screw rod (10) threaded connection has movable block (9), movable block (9) sliding connection has removal frame (4), cylinder (15) are installed to movable block (9) bottom both sides, cylinder (15) bottom fixedly connected with crossbearer (17), crossbearer (17) mid-mounting has motor c (14), the power take off of motor c (14) is connected with the power input of bull stick (20), bull stick (20) bottom fixedly connected with carousel (19), manipulator (18) are installed to carousel (19) bottom.

2. The high speed stable truss robot of claim 1, wherein: the truss (1) is of an L-shaped structure, and the clamping piece (21) is of an m-shaped structure.

3. The high speed stable truss robot of claim 1, wherein: the top end of the rotating shaft (6) penetrates through the moving frame (4), and the moving block (9) is connected with a limiting groove (7) in a sliding mode.

4. A high speed stable truss robot as recited in claim 3 wherein: the limiting groove (7) is arranged in the middle of the moving frame (4), and the bottom end of the rotating rod (20) penetrates through the transverse frame (17).

5. The high speed stable truss robot of claim 1, wherein: and the current input ends of the motor a (11), the motor b (13), the motor c (14) and the air cylinder (15) are electrically connected with an external power supply through leads.