CN214818672U

CN214818672U - Double-arm truss manipulator

Info

Publication number: CN214818672U
Application number: CN202121726958.0U
Authority: CN
Inventors: 朱守启
Original assignee: Taizhou City Defei Automation Equipment Co ltd
Current assignee: Taizhou City Defei Automation Equipment Co ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-11-23
Anticipated expiration: 2031-07-27

Abstract

The utility model provides a both arms truss manipulator belongs to manipulator technical field. The mechanical arm on the machine tool solves the technical problems of low efficiency, small bearing capacity and the like of the existing mechanical arm on the machine tool. This both arms truss manipulator is including setting up the mount pad on the truss, and the mount pad slides and sets up on the truss and be equipped with on the truss and can drive the mount pad along truss reciprocating motion's drive structure one, and the interval is provided with two vertical pole settings on the mount pad, still is equipped with the drive structure two that can drive every pole setting and reciprocate from top to bottom independently in mount pad and/or the pole setting, and the lower extreme of every pole setting all is equipped with a set of mechanical clamping jaw. The utility model provides a both arms truss manipulator work efficiency is high, and has solved the last unloading problem of large-scale lathe and large-scale material.

Description

Double-arm truss manipulator

Technical Field

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

Background

At present, machine tool equipment is provided with a manipulator selectively to realize a full-automatic production process. Thereby achieving the purposes of reducing labor intensity, saving personnel and improving production efficiency and product quality.

Chinese patent (publication number: CN 207223405U; publication date: 2018-04-13) discloses a double-arm manipulator for a numerical control machine, the double-arm manipulator comprises an L-shaped beam, a mechanical arm is connected to the L-shaped beam in a sliding manner, a conveyor part is arranged at the upper part of the mechanical arm, a hollow square frame is arranged at the lower part of the mechanical arm, a chain moving part is arranged at one side of the hollow square frame, a pair of manipulators are vertically arranged in the hollow square frame, the manipulators comprise a fixed frame sliding in the hollow square frame, telescopic arms fixed in the fixed frame and guide rods driving the telescopic arms, circular slide rails are arranged in the middle of the telescopic arms in a penetrating manner, a plurality of square cavities are formed in the telescopic arms in a hollow manner, and telescopic rods linked with the guide rods are arranged in the circular slide rails,

the double-arm manipulator for the numerical control machine tool disclosed in the patent document occupies more space of the position of the upper machine head of the machine tool, is too large in size, is not beneficial to the unfolding work of the manipulator and other parts on the machine tool, and is inconvenient to adjust and control and low in working efficiency.

Disclosure of Invention

The utility model discloses to the above-mentioned problem that prior art exists, provide a both arms truss manipulator, the utility model aims to solve the technical problem that: how to provide a manipulator that controls convenience, work efficiency is high.

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

the utility model provides a both arms truss manipulator, is including setting up the mount pad on the truss, the mount pad slides and sets up just be equipped with on the truss and drive the mount pad along truss reciprocating motion's drive structure one, its characterized in that, the interval is provided with two vertical poles setting on the mount pad, the mount pad and/or still be equipped with in the pole setting and drive every the pole setting is reciprocating motion's drive structure two about independent, every the lower extreme of pole setting all is equipped with a set of mechanical clamping jaw.

The working principle is as follows: the first driving structure formed by the linear modules is connected between the mounting seat and the truss, when the double-arm truss manipulator is used, the first driving structure drives the mounting seat and the vertical rod to move to a proper position along the width or length direction of the truss, the second driving structure drives the vertical rod and the mechanical clamping jaw to move up and down to a proper height, and then the mechanical clamping jaw moves to grab articles. The double-arm truss manipulator solves the feeding and discharging problems of large machine tools and large materials, and greatly improves the working efficiency. The utility model has the advantages that the control is more flexible by arranging two independent vertical rods and two independent mechanical clamping jaws, the two vertical rods and the two mechanical clamping jaws act on one workpiece simultaneously, the bearing capacity can be improved, and the stability and reliability of the workpiece can be kept; the two parts can be operated alternately when working separately, thereby reducing the production cost and further improving the efficiency of feeding and discharging.

In the double-arm truss manipulator, the first driving structure comprises a slide rail arranged on a truss, the mounting base is connected to the slide rail in a sliding mode through a slide block, the truss is further provided with a lead screw in the length direction of the slide rail and a servo motor capable of driving the lead screw to rotate, and the bottom of the mounting base is provided with a screw nut in threaded connection with the lead screw. The servo motor drives the screw rod to rotate forwards and backwards, so that the mounting seat is driven by the nut to move on the truss in a reciprocating mode, and the transverse position of the mechanical clamping jaw is adjusted.

In the above dual-arm truss manipulator, the driving structure includes a rack fixedly arranged on one side of the vertical rod along the height direction thereof, the mounting seat is fixedly provided with a driving motor, an output shaft of the driving motor is fixedly provided with a gear, and the gear is engaged with the rack. The driving motor drives the gears to rotate forwards and backwards, so that the racks and the vertical rods are driven to reciprocate up and down, and the height position of the mechanical clamping jaw is adjusted.

In the above dual-arm truss manipulator, the two vertical rods are arranged on the mounting base at intervals in parallel along the length direction of the slide rail.

In foretell both arms truss manipulator, mechanical clamping jaw includes die clamping cylinder and two embracing claws that set up relatively, two all have the arc draw-in groove on embracing the opposite flank of claw, die clamping cylinder sets up vertically down, die clamping cylinder's casing upper end with the lower extreme of pole setting links firmly, and two are embraced the claw and are connected on die clamping cylinder's the output shaft just die clamping cylinder can drive two embrace the claw and form the chucking and loosen the action.

In the double-arm truss manipulator, a control console is arranged on one side of the truss, and a display and a control key are arranged on the control console.

Compared with the prior art, the utility model has the advantages of it is following:

1. the vertical rod and the truss in the double-arm truss manipulator are movably connected through the linear module and the rack mechanism, and the vertical rod and the mechanical clamping jaw are connected through the clamping cylinder, so that the manipulator is flexible to control.

2. The double-arm truss manipulator has the advantages that the two independent vertical rods and the two independent mechanical clamping jaws are arranged, so that the operation and the control are more flexible, the two independent vertical rods and the two independent mechanical clamping jaws act on one workpiece simultaneously, the bearing capacity can be improved, and the stability and the reliability of the workpiece can be kept; the two parts can be operated alternately when working separately, thereby reducing the production cost and improving the efficiency of loading and unloading.

Drawings

Fig. 1 is a schematic structural view of the present double-arm truss robot in use.

Fig. 2 is a partial structural schematic diagram of the present double-arm truss robot.

In the figure, 1, a truss; 2. a mounting seat; 3. erecting a rod; 4. a mechanical jaw; 4a, holding the claws; 4a1, arc card slot; 4b, clamping the air cylinder; 5. a first driving structure; 5a, a slide rail; 6. a second driving structure; 6a, a rack; 7. a console; 7a, a display; 7b and a control key.

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.

As shown in fig. 1 and 2, a truss 1 is arranged on a machine tool, the double-arm truss manipulator comprises a mounting base 2 arranged on the truss 1, the mounting base 2 is arranged on the truss 1 in a sliding mode, a first driving structure 5 capable of driving the mounting base 2 to reciprocate along the truss 1 is arranged on the truss 1, two vertical upright rods 3 are arranged on the mounting base 2 at intervals, a second driving structure 6 capable of driving each upright rod 3 to independently reciprocate up and down is further arranged on the mounting base 2 and/or the upright rods 3, and a set of mechanical clamping jaws 4 is arranged at the lower end of each upright rod 3. Specifically, the first driving structure 5 comprises a sliding rail 5a arranged on the truss 1, the mounting base 2 is connected to the sliding rail 5a in a sliding mode through a sliding block, a screw rod and a servo motor are further arranged on the truss 1 along the length direction of the sliding rail 5a and can drive the screw rod to rotate, and a nut in threaded connection with the screw rod is arranged at the bottom of the mounting base 2. The servo motor drives the screw rod to rotate forwards and backwards, so that the mounting base 2 is driven by the screw nut to move on the truss 1 in a reciprocating mode, and the transverse position of the mechanical clamping jaw 4 is adjusted. The second driving structure 6 comprises a rack 6a fixedly arranged on one side of the vertical rod 3 along the height direction of the vertical rod, a driving motor is fixedly arranged on the mounting base 2, and a gear is fixedly arranged on an output shaft of the driving motor and meshed with the rack 6 a. The driving motor drives the gears to rotate forwards and backwards, so that the rack 6a and the upright rod 3 are driven to move up and down in a reciprocating manner, and the height position of the mechanical clamping jaw 4 is adjusted. Mechanical clamping jaw 4 includes that air cylinder 4b and two are relative to be set up embrace claw 4a, all has arc draw-in groove 4a1 on two relative sides of embracing claw 4a, and air cylinder 4b sets up vertically down, and air cylinder 4 b's casing upper end links firmly with the lower extreme of pole setting 3, and two are embraced claw 4a and are connected on air cylinder 4 b's output shaft and air cylinder 4b can drive two and embrace claw 4a and form the chucking and loosen the action.

When using this both arms truss manipulator, drive mount pad 2 and pole setting 3 through drive structure one 5 and remove to suitable position along the width or the length direction of truss 1, drive structure two 6 drive pole setting 3 and mechanical clamping jaw 4 and reciprocate to suitable height, then mechanical clamping jaw 4 action snatchs article. The double-arm truss manipulator solves the feeding and discharging problems of large machine tools and large materials, and greatly improves the working efficiency. The utility model has the advantages that the two independent vertical rods 3 and the two independent mechanical clamping jaws 4 are arranged, so that the operation and the control are more flexible, the two vertical rods and the two mechanical clamping jaws simultaneously act on one workpiece, the bearing capacity can be improved, and the stability and the reliability of the workpiece can be kept; the two parts can be operated alternately when working separately, thereby reducing the production cost and further improving the efficiency of feeding and discharging.

Further, as shown in fig. 1, a console 7 is arranged on one side of the truss 1, and a display 7a and a control key 7b are arranged on the console 7; which is used to manipulate and monitor the operation of the entire device. As shown in fig. 2, two vertical rods 3 are provided in parallel and at an interval in the longitudinal direction of the slide rail 5a on the mount base 2. Thus, the mutual cooperation and the mutual interference influence can be avoided.

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. The utility model provides a both arms truss manipulator, is including setting up mount pad (2) on truss (1), mount pad (2) slide to set up on truss (1) just be equipped with on truss (1) and can drive mount pad (2) are along truss (1) reciprocating motion's drive structure (5), its characterized in that, the interval is provided with two vertical pole settings (3) on mount pad (2), mount pad (2) and/or still be equipped with on pole setting (3) and drive every pole setting (3) independent upper and lower reciprocating motion's drive structure two (6), every the lower extreme of pole setting (3) all is equipped with a set of mechanical clamping jaw (4).

2. The double-arm truss manipulator as claimed in claim 1, wherein the first driving structure (5) comprises a slide rail (5a) arranged on the truss (1), the mounting base (2) is slidably connected to the slide rail (5a) through a slide block, a screw rod along the length direction of the slide rail (5a) and a servo motor capable of driving the screw rod to rotate are further arranged on the truss (1), and a nut screwed with the screw rod is arranged at the bottom of the mounting base (2).

3. The dual-arm truss manipulator as claimed in claim 1 or 2, wherein the second driving structure (6) comprises a rack (6a) fixed on one side of the vertical rod (3) along the height direction thereof, a driving motor is fixed on the mounting base (2), a gear is fixed on the output shaft of the driving motor, and the gear is meshed with the rack (6 a).

4. The dual-arm truss manipulator as claimed in claim 2, wherein two of the upright rods (3) are arranged on the mounting base (2) in parallel and spaced along the length direction of the slide rails (5 a).

5. The double-arm truss manipulator as claimed in claim 1 or 2, wherein the mechanical clamping jaw (4) comprises a clamping cylinder (4b) and two oppositely arranged holding jaws (4a), the two holding jaws (4a) are provided with arc-shaped clamping grooves (4a1) on opposite sides, the clamping cylinder (4b) is arranged vertically downwards, the upper end of the shell of the clamping cylinder (4b) is fixedly connected with the lower end of the vertical rod (3), the two holding jaws (4a) are connected to the output shaft of the clamping cylinder (4b), and the clamping cylinder (4b) can drive the two holding jaws (4a) to form clamping and loosening actions.

6. A dual-arm truss manipulator as claimed in claim 1 or 2 wherein a console (7) is provided on one side of the truss (1), said console (7) having a display (7a) and control keys (7 b).