CN213949873U

CN213949873U - Single-shaft truss manipulator

Info

Publication number: CN213949873U
Application number: CN202022524912.2U
Authority: CN
Inventors: 李斌; 高俊虹; 薛涵
Original assignee: Lixing Tianjin Robot Technology Co ltd
Current assignee: Lixing Tianjin Robot Technology Co ltd
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2021-08-13
Anticipated expiration: 2030-11-04

Abstract

The utility model discloses a single-shaft truss manipulator, which comprises a base, a transverse slide rail, a first slide block, a longitudinal slide rail, a second slide block, a longitudinal support, a manipulator and a plurality of driving motors; a transverse support is fixedly arranged on the base, a transverse slide rail is fixedly arranged on the transverse support, the first slide block slides along the transverse slide rail, the first slide block and the second slide block are respectively connected with a driving motor, the driving motors are fixedly arranged on a supporting plate, a longitudinal support is arranged on the supporting plate, a longitudinal slide rail is arranged on the longitudinal support, and a manipulator is arranged below the longitudinal support; when satisfying X, Y axle axial displacement, still set up the rotating electrical machines, realized the rotatory function of manipulator, improve the degree of automation of trade, improve production efficiency, reduce the burden of recruitment, improve the security and the stability of production.

Description

Single-shaft truss manipulator

Technical Field

The utility model relates to the technical field of robot, especially, relate to a unipolar truss manipulator.

Background

According to the definition of the international standardization organization industrial robot, which belongs to the standard welding robot, the industrial robot is a multipurpose, reprogrammable automatic control manipulator with three or more programmable axes for the industrial automation field. 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 single-shaft truss mechanical arm is designed for directional material handling in one direction.

The existing truss manipulator has the following defects in the using process: 1. the existing truss manipulator can only realize the functions of grabbing, loading, blanking and clamping, and cannot realize the rotary operation; 2. in the process of grabbing workpieces, the situation that unstable workpieces are grabbed and fall off often occurs. 3. Most of motors in close contact with materials are exposed outside, so that dust accumulation is easy to cause short-circuit failure. In order to solve the above problem, the present application provides a unipolar truss manipulator.

SUMMERY OF THE UTILITY MODEL

Therefore, an object of the utility model is to provide a unipolar truss manipulator, when satisfying X, Y axle axial displacement, still set up the rotating electrical machines, realized the rotatory function of manipulator, improve the degree of automation of trade, improve production efficiency, reduce the burden of recruitment, improve the security and the stability of production.

In order to achieve the above object, the utility model discloses a single-shaft truss manipulator, including base, horizontal slide rail, first slider, vertical slide rail, second slider, vertical support, manipulator and a plurality of driving motor; a transverse support is fixedly arranged on the base, a transverse sliding rail is fixedly arranged on the transverse support, the first sliding block slides along the transverse sliding rail, the first sliding block and the second sliding block are respectively connected with a driving motor, the driving motors are fixedly arranged on a supporting plate, a longitudinal support is arranged on the supporting plate, a longitudinal sliding rail is arranged on the longitudinal support, and a manipulator is arranged below the longitudinal support; the manipulator comprises a rotating motor, a fixing plate, a rotating seat, a clamping bracket and a three-jaw chuck; the rotary electric machine is characterized in that a fixing plate is arranged below the rotary electric machine, the fixing plate is fixedly connected with the longitudinal support, a through hole is formed in the middle of the fixing plate, a rotating shaft of the rotary electric machine penetrates through the through hole and is fixedly connected with the rotary seat, a clamping support is fixedly connected with the lower portion of the rotary seat, and two ends of the clamping support are respectively provided with a three-jaw chuck.

Preferably, the bottom of the longitudinal support is provided with a slot, and a rotating motor is arranged in the slot.

In any of the above embodiments, preferably, a reinforcing substrate is disposed between the fixed plate and the rotating base, a through hole is disposed in the middle of the reinforcing substrate, and the rotating base is sleeved in the through hole inside the reinforcing substrate.

In any one of the above embodiments, preferably, there are 3 bases, and 3 bases are arranged in parallel in a row, and the transverse support is connected to the top end of each base.

Preferably, in any one of the above embodiments, the base includes a fixed platform, a supporting column and a top supporting seat; the fixed station is welded and fixed with the support column, a top supporting seat is fixedly arranged at the top of the support column, and the top supporting seat is fixedly connected with the transverse support.

Preferably, in any one of the above embodiments, the top support base includes a plurality of right angle supporting plates and a top plate; and one right-angle edge of each right-angle supporting plate is fixedly connected with the top plate.

In any of the above embodiments, preferably, a reinforcing rib is provided between the fixing table and the supporting column.

In any one of the above embodiments, preferably, each of the driving motors and the rotating motors is connected to the PLC controller through a wire.

In any of the above embodiments, preferably, a guide groove is provided above the transverse bracket.

In any of the above embodiments, preferably, a plurality of diagonal bracing clips are fixedly arranged at the bottom of the guide groove, and each diagonal bracing clip is fixedly connected with the transverse bracket.

The application discloses a unipolar truss manipulator compares in prior art and has following advantage at least:

1. the single-shaft truss manipulator provided by the application meets the requirement of axial movement of X and Y shafts, and is also provided with the rotating motor, so that the rotating function of the manipulator is realized; the workpieces are convenient to transfer; the production efficiency is improved, the labor burden is reduced, and the production safety and stability are improved.

2. The application provides a unipolar truss manipulator, the base adopts support column and top sprag seat to cooperate, supports horizontal support jointly, and horizontal support is more stable, and simple structure does benefit to the installation.

3. The application provides a unipolar truss manipulator, the lower extreme has set up the three-jaw chuck, compares in the sucking disc, prevents because workpiece surface is uneven or suction is not enough, leads to dropping in the transportation after being snatched.

Drawings

Fig. 1 is a schematic structural diagram of a single-shaft truss manipulator provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a supporting plate portion in a single-shaft truss manipulator according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a manipulator in a single-shaft truss manipulator according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a base in a single-shaft truss manipulator provided by an embodiment of the present invention.

In the figure:

1. a base; 2. a transverse slide rail; 3. a first slider; 4. a longitudinal slide rail; 5. a second slider; 6. a longitudinal support; 7. a manipulator; 8. a drive motor; 9. a guide groove; 10. an inclined strut clamp; 11. a transverse support; 12. a support plate; 101. a fixed table; 102. a support pillar; 103. a top support seat; 1031. a right-angle supporting plate; 1032. a top plate; 104. reinforcing ribs; 701. a rotating electric machine; 702. a fixing plate; 703. a rotating base; 704. clamping the bracket; 705. a three-jaw chuck.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-4, an embodiment of the present invention provides a single-shaft truss manipulator, which includes a base 1, a lateral slide rail 2, a first slide block 3, a longitudinal slide rail 4, a second slide block 5, a longitudinal support 6, a manipulator 7, and a plurality of driving motors 8; a transverse support 11 is fixedly arranged on the base 1, a transverse sliding rail 2 is fixedly arranged on the transverse support, the first sliding block 3 slides along the transverse sliding rail 2, the first sliding block 3 and the second sliding block 5 are respectively connected with a driving motor 8, the driving motor 8 is fixedly arranged on a supporting plate 12, a longitudinal support 6 is arranged on the supporting plate 12, a longitudinal sliding rail 4 is arranged on the longitudinal support 6, and a manipulator 7 is arranged below the longitudinal support 6;

the manipulator 7 comprises a rotating motor 701, a fixing plate 702, a rotating seat 703, a clamping bracket 704 and a three-jaw chuck 705; a fixing plate 702 is arranged below the rotating motor 701, the fixing plate 702 is fixedly connected with the longitudinal support 6, a through hole is formed in the middle of the fixing plate 702, a rotating shaft of the rotating motor 701 penetrates through the through hole to be fixedly connected with the rotating seat 703, a clamping support 704 is fixedly connected below the rotating seat 703, and two ends of the clamping support 704 are respectively provided with a three-jaw chuck 705.

In this embodiment, after the transverse bracket is fixed on the base, a driving motor on the first sliding block is started, the driving motor drives the first sliding block to rotate, the first sliding block adopts a gear, the transverse sliding rail adopts a rack, the first sliding block slides along the transverse sliding rail through the engagement of the gear, the first sliding block and the second sliding block are respectively connected with a driving motor, and the driving motors are fixedly installed on the supporting plate; the sliding of the first sliding block drives the supporting plate, and the longitudinal support, the second sliding block and the driving motor connected with the second sliding block are arranged on the supporting plate and slide synchronously; the driving motor is positioned above the first sliding block, the second sliding block is driven to rotate by the rotation of the driving motor, and the second sliding block is in meshing transmission connection with the longitudinal sliding rail through the gear in the same way as the above; when the second sliding block rotates, the longitudinal sliding rail moves upwards or downwards relative to the second sliding block; because the longitudinal slide rail is arranged on the longitudinal support, the longitudinal support can drive the manipulator arranged below to move up and down along with the longitudinal support;

as shown in fig. 3, when the manipulator is driven to operate, the rotating motor is started, because the bottom of the rotating motor is fixed on the longitudinal support through the fixing plate, and the rotating shaft of the rotating motor passes through the through hole and is fixedly connected with the rotating seat, at this time, after the rotating motor is started, the rotating seat rotates along with the motor, and because the clamping support is fixedly connected with the lower part of the rotating seat, the clamping support 7 rotates together with the three-jaw chucks respectively arranged on the clamping supports at the two ends. The three-jaw chuck is controlled by the rotating motor to rotate after clamping the workpiece, and the sliding of the first sliding block and the second sliding block drives the manipulator to move transversely and longitudinally, so that the workpiece is conveyed.

It should be noted that, when the workpiece is held, the three-jaw chuck may be connected to a negative pressure device (such as an air pump), and when the air pump is opened and the three-jaw chuck is opened during inflation, the three-jaw chuck needs to be moved to the workpiece position. When in suction, the three-jaw chuck retracts to clamp the workpiece. This section is the conventional method of use of a three jaw chuck and will not be described in detail herein.

In another embodiment of the present application, in order to reduce the wear of the fixing plate, a reinforcing substrate is disposed between the fixing plate 702 and the rotating base 703, a through hole is disposed in the middle of the reinforcing substrate, and the rotating base 703 is sleeved in the through hole inside the reinforcing substrate. The reinforced base plate plays a role in reinforcing the rotating seat, and meanwhile, the rotating seat is prevented from directly wearing the fixed plate to cause the shaking of the rotating motor.

As shown in fig. 2, in order to protect the rotating electrical machine, a slot is provided in the bottom of the longitudinal support 6, and the rotating electrical machine 701 is disposed in the slot. Through setting up the fluting, the reasonable space of having saved has also avoided the rotating electrical machines simultaneously, falls into too much dust, leads to the motor overheated.

As shown in fig. 4, in order to improve the stability of the bottom of the system, 3 bases 1 are provided, 3 bases 1 are arranged in a row in parallel, and the transverse support is connected to the top end of each base 1. The base 1 comprises a fixed table 101, a support column 102 and a top support seat 103; the fixed station 101 and the support column 102 are fixed by welding, a top support seat 103 is fixedly arranged at the top of the support column 102, and the top support seat 103 is fixedly connected with a transverse support.

The top support base 103 comprises a plurality of right angle bracing plates 1031 and a top plate 1032; one right-angle side of each right-angle bracing plate 1031 is fixedly connected with the top plate 1032. Adopt the form of the fixed roof of a plurality of right angle faggings, compare and directly fix solitary roof on the support column, increased area of contact, consequently, more firm between roof and the support column. A reinforcing rib 104 is arranged between the fixed table 101 and the supporting column 102. Form triangle fixed knot and construct, improved the stability of support column.

In one embodiment of the present application, each of the driving motors 8 and the rotating motor 701 is connected to the PLC controller through a wire. The overall control of all the motors can be performed in the form of a PLC controller. Convenient and fast, easily integrated control.

And a guide groove 9 is arranged above the transverse bracket. A plurality of inclined strut clamps 10 are fixedly arranged at the bottom of the guide groove 9, and each inclined strut clamp 10 is fixedly connected with the transverse support. The base adopts support column and top supporting seat to cooperate, supports horizontal support jointly, and horizontal support is more stable, and simple structure does benefit to the installation.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims

1. The utility model provides a unipolar truss manipulator which characterized in that: the device comprises a base, a transverse sliding rail, a first sliding block, a longitudinal sliding rail, a second sliding block, a longitudinal support, a manipulator and a plurality of driving motors;

a transverse support is fixedly arranged on the base, a transverse sliding rail is fixedly arranged on the transverse support, the first sliding block slides along the transverse sliding rail, the first sliding block and the second sliding block are respectively connected with a driving motor, the driving motors are fixedly arranged on a supporting plate, a longitudinal support is arranged on the supporting plate, a longitudinal sliding rail is arranged on the longitudinal support, and a manipulator is arranged below the longitudinal support;

the manipulator comprises a rotating motor, a fixing plate, a rotating seat, a clamping bracket and a three-jaw chuck; the rotary electric machine is characterized in that a fixing plate is arranged below the rotary electric machine, the fixing plate is fixedly connected with the longitudinal support, a through hole is formed in the middle of the fixing plate, a rotating shaft of the rotary electric machine penetrates through the through hole and is fixedly connected with the rotary seat, a clamping support is fixedly connected with the lower portion of the rotary seat, and two ends of the clamping support are respectively provided with a three-jaw chuck.

2. The single-axis truss robot of claim 1, wherein: the bottom of the longitudinal support is provided with a slot, and a rotating motor is arranged in the slot.

3. The single-axis truss robot of claim 1, wherein: and a reinforcing base plate is arranged between the fixed plate and the rotating seat, a through hole is formed in the middle of the reinforcing base plate, and the rotating seat is sleeved in the through hole in the reinforcing base plate.

4. The single-axis truss robot of claim 1, wherein: the base is equipped with 3, 3 the base sets up to one row side by side, horizontal support is connected with the top of every base respectively.

5. The single-axis truss robot of claim 1, wherein: the base comprises a fixed table, a support column and a top support seat; the fixed station is welded and fixed with the support column, a top supporting seat is fixedly arranged at the top of the support column, and the top supporting seat is fixedly connected with the transverse support.

6. The single-axis truss robot of claim 5, wherein: the top support seat comprises a plurality of right-angle supporting plates and a top plate; and one right-angle edge of each right-angle supporting plate is fixedly connected with the top plate.

7. The single-axis truss robot of claim 5, wherein: and a reinforcing rib is arranged between the fixed table and the supporting column.

8. The single-axis truss robot of claim 1, wherein: and each driving motor and each rotating motor are respectively connected with the PLC through wires.

9. The single-axis truss robot of claim 1, wherein: and a guide groove is arranged above the transverse bracket.

10. The single-axis truss robot of claim 9, wherein: a plurality of bracing clamps are fixed to be arranged to the guiding groove bottom, every bracing clamp and horizontal support fixed connection.