CN214352524U

CN214352524U - Truss type carrying manipulator

Info

Publication number: CN214352524U
Application number: CN202022618929.4U
Authority: CN
Inventors: 邓学; 孙丽丽; 薛涵
Original assignee: Lixing Tianjin Robot Technology Co ltd
Current assignee: Lixing Tianjin Robot Technology Co ltd
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2021-10-08
Anticipated expiration: 2030-11-12

Abstract

The utility model discloses a truss type carrying manipulator, which comprises a sliding component, a telescopic component and a clamping component; the clamping assembly is fixedly arranged below the telescopic assembly; the telescopic assembly is fixedly arranged on the sliding assembly. The sliding assembly and the telescopic assembly are matched to position materials to be conveyed, and the clamping assembly is utilized; the process of clamping firstly and then adsorbing is adopted to clamp the material, so that the material is prevented from falling off during clamping.

Description

Truss type carrying manipulator

Technical Field

The utility model relates to a truss manipulator technical field especially relates to a truss-like transport manipulator.

Background

The truss manipulator is a full-automatic industrial device which is established on the basis of a right-angle X, Y, Z three-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 relay, 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.

The existing truss manipulator has good effects on grabbing and clamping small parts, but for large-size and blocky plates or sectional materials in the using process of the existing manipulator, due to the fact that clamping force is insufficient, clamping arms are restrained and cannot clamp the workpieces well, and the phenomenon that the workpieces drop off midway easily occurs; or the workpiece is contacted with the part of the clamping arm due to different contact positions of the workpiece and the clamping arm, and the workpiece is damaged due to overlarge force.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model aims to provide a truss type carrying manipulator, which comprises a sliding component, a telescopic component and a clamping component; the sliding assembly and the telescopic assembly are matched to position materials to be conveyed, and the clamping assembly is utilized; the process of clamping firstly and then adsorbing is adopted to clamp the material, so that the material is prevented from falling off during clamping.

In order to achieve the above object, the utility model discloses a truss type carrying manipulator, which comprises a sliding component, a telescopic component and a clamping component; the clamping assembly is fixedly arranged below the telescopic assembly; the telescopic assembly is fixedly arranged on the sliding assembly;

the telescopic assembly comprises a telescopic cylinder, a mounting plate, a telescopic rod and a fixing plate; a telescopic cylinder is fixedly connected right above the middle part of the mounting plate; one end of the telescopic rod is fixedly connected below the middle part; two lateral edges of the bottom surface of the mounting plate are fixedly connected with a transverse sliding block of the sliding assembly; the cylinder arm of the telescopic cylinder penetrates out of the through hole in the middle of the mounting plate and extends downwards; extend to the fixed plate and are fixed on the fixed plate together with the other end of the telescopic rod;

the clamping assembly comprises a movable plate, a clamping arm and a clamping cylinder; the front side and the rear side of the fixed plate are respectively provided with a clamping cylinder; the cylinder arm of the clamping cylinder is fixedly connected with the movable plate; the movable plate is movably connected with a longitudinal sliding rail arranged below the fixed plate; the two opposite sides below the movable plate are fixedly provided with clamping arms, and the clamping arms are provided with suckers.

Preferably, the sliding assembly comprises a hydraulic cylinder, a transverse rail; the telescopic end of the telescopic arm of the hydraulic cylinder is fixedly connected with one end of the mounting plate; the transverse sliding block is arranged on the transverse track and slides along the transverse track.

Preferably, in any one of the above embodiments, further comprising a base; the base comprises a bottom conveyor belt, a bracket and a top cross beam; the bracket is fixedly connected with the top cross beam; and a transverse rail is fixedly arranged on the top cross beam.

In any one of the above embodiments, preferably, the fixed end of the telescopic arm of the hydraulic cylinder is fixedly arranged on the top cross beam; and the cylinder body of the hydraulic cylinder is fixedly arranged on the bracket.

In any of the above embodiments, preferably, the bottom conveyor comprises a transverse conveyor and a longitudinal conveyor, and the transverse conveyor is vertically arranged in the middle of the longitudinal conveyor.

In any of the above embodiments, preferably, the transverse conveyor belt and the longitudinal conveyor belt are both roller conveyor belts.

In any one of the above embodiments, preferably, two clamping arms are respectively disposed on two sides of each clamping cylinder.

In any one of the above embodiments, preferably, each of the holding arms is provided with a squeezing cylinder, a base plate and a plurality of suckers; the cylinder arm of the extrusion cylinder is fixedly connected with the substrate; and a plurality of suckers are fixed on the inner side of the substrate.

Preferably, in any one of the above embodiments, there are two suction cups.

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

1. the sliding assembly and the telescopic assembly are matched to position materials to be conveyed, and the clamping assembly is utilized; the process of clamping firstly and then adsorbing is adopted to clamp the material, so that the material is prevented from falling off during clamping.

2. Still set up an extrusion cylinder on every centre gripping arm, utilize extrusion cylinder further to promote the base plate to this guarantees that the sucking disc is accurate to be adsorbed on the material of treating the transport.

3. The hydraulic cylinder is used as a driving part which slides transversely, and the hydraulic cylinder has the advantages of simple structure, easy installation and simple and convenient operation.

Drawings

Fig. 1 is a schematic structural view of a truss type carrying manipulator provided in an embodiment of the present invention.

Fig. 2 is a schematic view of an idle state of the truss type carrying manipulator according to an embodiment of the present invention.

Fig. 3 is a schematic structural view of a clamping assembly of the truss-type carrying manipulator provided by the present invention.

In the figure:

1. a longitudinal conveyor belt; 2. a transverse conveyor belt; 3. A support; 4. a top cross beam; 5. a transverse rail; 6. a telescopic cylinder; 7. mounting a plate; 8. a telescopic rod; 9. a fixing plate; 10. a movable plate; 11. a clamp arm; 12. a clamping cylinder; 13. a longitudinal sliding rail; 14. a hydraulic cylinder; 15. An extrusion cylinder; 16. a substrate; 17. a suction cup; 18. the object to be carried.

Detailed Description

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

As shown in fig. 1-3, an embodiment of the present invention provides a truss type carrying manipulator, which includes a sliding assembly, a telescopic assembly and a clamping assembly; the clamping assembly is fixedly arranged below the telescopic assembly; the telescopic assembly is fixedly arranged on the sliding assembly;

the telescopic assembly comprises a telescopic cylinder 6, a mounting plate 7, a telescopic rod 8 and a fixing plate 9; a telescopic cylinder 6 is fixedly connected right above the middle part of the mounting plate 7; one end of a telescopic rod 8 is fixedly connected below the middle part; two lateral edges of the bottom surface of the mounting plate 7 are fixedly connected with a transverse sliding block of the sliding assembly; the cylinder arm of the telescopic cylinder 6 penetrates out of the through hole in the middle of the mounting plate 7 and extends downwards; extends to the fixed plate 9 and is fixed on the fixed plate 9 together with the other end of the telescopic rod 8;

the clamping assembly comprises a movable plate 10, a clamping arm 11 and a clamping cylinder 12; a clamping cylinder 12 is respectively arranged on the front side and the rear side of the fixed plate 9; the cylinder arm of the clamping cylinder 12 is fixedly connected with the movable plate 10; the movable plate 10 is movably connected with a longitudinal sliding rail 13 arranged below the fixed plate 9; the opposite two sides below the movable plate 10 are fixedly provided with clamping arms 11, and the clamping arms 11 are provided with suckers 17.

In this embodiment, when carrying the material, at first utilize the slip subassembly to carry out the lateral sliding location, reuse flexible subassembly reciprocates again, and the displacement is to taking the transport material department, and the centre gripping subassembly centre gripping material. In the specific position, after the positioning is finished, the cylinder arm of the telescopic cylinder 6 extends downwards to drive the telescopic rod 8 to push the fixed plate 9 to move downwards together, and when the fixed plate moves to a material to be carried, the clamping cylinders 12 arranged on the front side and the rear side of the fixed plate 9 retract and clamp the fixed plate, so that the movable plate 10 is pushed to gather towards the middle; at this moment, the sucker 17 is adsorbed on the materials to be conveyed, the telescopic cylinder moves upwards to move the materials, the sliding assembly drives the telescopic assembly to transversely slide, and the materials are conveyed to a destination.

The sliding assembly comprises a hydraulic cylinder 14 and a transverse rail 5; the telescopic end of the telescopic arm of the hydraulic cylinder 14 is fixedly connected with one end of the mounting plate 7; the transverse slide block is arranged on a transverse rail 5 and slides along the rail.

The device also comprises a base; the base comprises a bottom conveyor belt, a bracket 3 and a top cross beam 4; the bracket 3 is fixedly connected with the top cross beam 4; and a transverse rail 5 is fixedly arranged on the top cross beam 4.

The fixed end of the telescopic arm of the hydraulic cylinder 14 is fixedly arranged on the top cross beam 4; the cylinder body of the hydraulic cylinder 14 is fixedly arranged on the bracket 3.

In the above embodiment, when the sliding assembly slides transversely, the sliding assembly is driven by the hydraulic cylinder to slide transversely, specifically, the telescopic arm of the hydraulic cylinder retracts, the mounting plate 7 connected with the telescopic arm moves transversely, two side edges of the bottom surface of the mounting plate 7 are fixedly connected with the transverse sliding block of the sliding assembly, and the transverse sliding block is arranged on the transverse rail 5 and slides along the rail; therefore, the mounting plate and the telescopic device arranged on the mounting plate; it slides laterally therewith. Because the stiff end of flexible arm is fixed to be set up on top beam 4, consequently, when flexible arm retracts inside the cylinder body completely, mounting panel 7 is being located and is waiting to carry the goods. Simple structure and convenient operation.

The bottom conveyor belt comprises a transverse conveyor belt 2 and a longitudinal conveyor belt 1, wherein the transverse conveyor belt 2 is vertically arranged in the middle of the longitudinal conveyor belt 1. And the transverse conveyor belt 2 and the longitudinal conveyor belt 1 both adopt roller conveyor belts. When the materials are transported, the materials are firstly transported to the junction of the transverse conveyor belt 2 and the longitudinal conveyor belt 1 through the longitudinal conveyor belt, the hydraulic cylinder is controlled to retract at the moment, the clamping arm is aligned to the materials to be transported, the telescopic assembly is driven to move downwards, the clamping assembly clamps the materials, and the materials are transported to the transverse conveyor belt to be transported continuously.

In another embodiment of the present application, as shown in fig. 3, two clamp arms 11 are respectively disposed on both sides of each of the clamp cylinders 12. Each clamping arm 11 is provided with an extrusion cylinder 15, a base plate 16 and a plurality of suckers 17; the cylinder arm of the extrusion cylinder 15 is fixedly connected with the base plate 16; a plurality of suction pads 17 are fixed to the inner side of the base plate 16. Two suction cups 17 are provided. In order to enhance the clamping force, an extrusion cylinder is arranged on the clamping arms, after the clamping cylinders act, the two opposite clamping arms move oppositely to apply pressure, the clamping arms are limited by the size of the movable plate, and for small block-shaped objects, the clamping arms cannot adsorb the object to be transported due to the fact that the movable plate moves for a short distance, so that the extrusion cylinder is further arranged on each clamping arm, the base plate is further pushed by the extrusion cylinder, and the sucker is guaranteed to accurately adsorb the material to be transported.

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 truss-like transport machinery hand which characterized in that: comprises a sliding component, a telescopic component and a clamping component; the clamping assembly is fixedly arranged below the telescopic assembly; the telescopic assembly is fixedly arranged on the sliding assembly;

2. The truss-like handling robot of claim 1, wherein: the sliding assembly comprises a hydraulic cylinder and a transverse rail; the telescopic end of the telescopic arm of the hydraulic cylinder is fixedly connected with one end of the mounting plate; the transverse sliding block is arranged on the transverse track and slides along the transverse track.

3. The truss-like handling robot of claim 2, wherein: the device also comprises a base; the base comprises a bottom conveyor belt, a bracket and a top cross beam; the bracket is fixedly connected with the top cross beam; and a transverse rail is fixedly arranged on the top cross beam.

4. A truss-like handling robot as defined in claim 3 wherein: the fixed end of the telescopic arm of the hydraulic cylinder is fixedly arranged on the top cross beam; and the cylinder body of the hydraulic cylinder is fixedly arranged on the bracket.

5. A truss-like handling robot as defined in claim 3 wherein: the bottom conveyor belt comprises a transverse conveyor belt and a longitudinal conveyor belt, and the transverse conveyor belt is vertically arranged in the middle of the longitudinal conveyor belt.

6. The truss-like handling robot of claim 5, wherein: and the transverse conveying belt and the longitudinal conveying belt are both roller conveying belts.

7. The truss-like handling robot of claim 1, wherein: two clamping arms are respectively arranged on two sides of each clamping cylinder.

8. The truss-like handling robot of claim 1, wherein: each clamping arm is provided with an extrusion cylinder, a substrate and a plurality of suckers; the cylinder arm of the extrusion cylinder is fixedly connected with the substrate; and a plurality of suckers are fixed on the inner side of the substrate.

9. The truss-like handling robot of claim 8, wherein: the sucking discs are two.