CN215149107U

CN215149107U - Truss manipulator capable of being adjusted in multiple directions

Info

Publication number: CN215149107U
Application number: CN202121670484.2U
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: 2021-07-21
Filing date: 2021-07-21
Publication date: 2021-12-14
Anticipated expiration: 2031-07-21

Abstract

The utility model provides a truss manipulator of multidirectional regulation belongs to manipulator technical field. The mechanical arm on the machine tool solves the technical problems that the adjustability of the existing mechanical arm on the machine tool is poor and the like. The multidirectional-adjustment truss manipulator comprises a mounting seat arranged on a truss, wherein the mounting seat is arranged on the truss in a sliding mode, a first driving structure capable of driving the mounting seat to move back and forth along the truss is arranged on the truss, a vertical upright rod is arranged on the mounting seat, a second driving structure capable of driving the upright rod to move back and forth up and down is further arranged on the mounting seat and/or the upright rod, and a mechanical clamping jaw is arranged at the lower end of the upright rod; the mechanical clamping jaw is hinged to the lower end of the vertical rod, and a third driving structure capable of pushing the mechanical clamping jaw to swing around a hinged point is further arranged on the vertical rod. The utility model provides a manipulator passes through the inclination that mechanical clamping jaw can be adjusted to drive structure three, realizes multidirectional regulation, better, more accurate last unloading, and work efficiency is high.

Description

Truss manipulator capable of being adjusted in multiple directions

Technical Field

The utility model belongs to the technical field of the manipulator, a truss manipulator of multidirectional regulation 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 No.: CN 207223405U; the announcement day: 2018-04-13 discloses a double-arm manipulator for a numerical control machine, which comprises an L-shaped beam, wherein the L-shaped beam is connected with a mechanical arm in a sliding manner, the upper part of the mechanical arm is provided with a conveyor part, the lower part of the mechanical arm is a hollow square frame, one side of the hollow square frame is provided with a chain moving part, a pair of mechanical arms are vertically arranged in the hollow square frame, the mechanical arms comprise a fixed frame sliding in the hollow square frame, telescopic arms fixed in the fixed frame and guide rods driving the telescopic arms, the middle parts of the telescopic arms are provided with circular slide rails 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 above patent document cannot adjust the inclination angle of the manipulator, and is poor in adaptability and versatility.

Disclosure of Invention

The utility model discloses to the above-mentioned problem that prior art exists, provide a truss manipulator of multidirectional regulation, the utility model aims to solve the technical problem that: how to improve the adjustability of the robot.

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

the multidirectional-adjustment truss manipulator comprises a mounting seat arranged on a truss, wherein the mounting seat is arranged on the truss in a sliding mode, and a first driving structure capable of driving the mounting seat to move back and forth along the truss is arranged on the truss; the mechanical clamping jaw is hinged to the lower end of the vertical rod, and a third driving structure capable of pushing the mechanical clamping jaw to swing around a hinged point is further arranged on the vertical rod.

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 truss manipulator adjusted in multiple directions 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 an article. The manipulator can adjust the inclination angle of the mechanical clamping jaw through the driving structure III, so that multidirectional adjustment and better and more accurate feeding and discharging are realized.

In the above multidirectional-adjustment truss manipulator, the first driving structure comprises a slide rail arranged on a truss, the mounting base is connected to the slide rail through a slide block in a sliding manner, 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-mentioned multidirectional-adjustment 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, and an output shaft of the driving motor is fixedly provided with a gear which is meshed 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 multi-direction adjusting truss manipulator, the lower end of the upright rod is fixedly provided with a connecting seat, and the bottom surface of the connecting seat is hinged with a swinging plate; the mechanical clamping jaw is fixedly arranged on the swinging plate; the driving structure III comprises an adjusting cylinder which is fixedly arranged on the side surface of the vertical rod and faces downwards vertically, an output shaft of the adjusting cylinder is connected with an adjusting frame, and the adjusting frame is hinged with one end of the swinging plate.

In the above-mentioned multidirectional truss manipulator of adjusting, the mechanical clamping jaw includes die clamping cylinder, be equipped with two relative jack catchs and two jack catchs can draw close each other or keep away from on die clamping cylinder's the output shaft, die clamping cylinder's casing upper end has set firmly the connecting plate, the connecting plate with the swing board is connected.

In the multi-direction adjusting truss manipulator, the middle part of the upper side of the connecting plate is connected to the middle part of the lower side of the swinging plate, adjusting bolts are screwed on two sides of the connecting plate, and the end parts of the adjusting bolts abut against the position, close to the edge, of the lower side of the swinging plate. Although the connecting plate is connected to the swinging plate, the connecting plate and the swinging plate are not completely fixed, and the inclination angle of the connecting plate relative to the swinging plate can be adjusted by screwing the adjusting bolts at the two sides of the connecting plate, so that the balance of the mechanical clamping jaw is adjusted.

In the above-mentioned multi-directional adjustable truss manipulator, two of the clamping cylinders are arranged side by side on the connecting plate. Therefore, the bearing capacity can be improved, and the workpiece can be stably and reliably clamped; the efficiency of unloading can also be improved.

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

1. the manipulator can adjust the inclination angle of the mechanical clamping jaw through the driving structure III, so that multidirectional adjustment and better and more accurate feeding and discharging are realized.

2. The mechanical arm is provided with the two mechanical clamping jaws, so that the bearing capacity can be improved, and the stability and reliability of clamping workpieces can be kept; two mechanical clamping jaws set up side by side, and the distance is close, and unloading in can be faster improves work efficiency.

Drawings

Fig. 1 is a partial configuration diagram i of the present manipulator.

Fig. 2 is a partial configuration diagram ii of the present manipulator.

In the figure, 1, a vertical rod; 2. a second driving structure; 2a, a rack; 3. a mechanical jaw; 3a, clamping a cylinder; 3b, a claw; 4. a driving structure III; 4a, adjusting an air cylinder; 4b, an adjusting frame; 5. a connecting seat; 6. a swing plate; 7. a connecting plate; 8. and adjusting the bolt.

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 is arranged on a machine tool, the multi-direction adjusting truss manipulator comprises an installation seat arranged on the truss, the installation seat is arranged on the truss in a sliding manner, a first driving structure capable of driving the installation seat to reciprocate along the truss is arranged on the truss, a vertical upright 1 is arranged on the installation seat, a second driving structure 2 capable of driving the upright 1 to reciprocate up and down is further arranged on the installation seat and/or the upright 1, and a mechanical clamping jaw 3 is arranged at the lower end of the upright 1; mechanical clamping jaw 3 articulates the lower extreme at pole setting 1, still is equipped with on the pole setting 1 to promote mechanical clamping jaw 3 around the drive structure three 4 of pin joint swing. When using this multidirectional truss manipulator of adjusting, drive mount pad and pole setting 1 through drive structure one and remove to suitable position along the width or the length direction of truss, drive structure two 2 drive pole setting 1 and mechanical clamping jaw 3 reciprocate to suitable height, then mechanical clamping jaw 3 action snatchs article. The mechanical arm can adjust the inclination angle of the mechanical clamping jaw 3 through the driving structure III 4, so that multidirectional adjustment and better and more accurate feeding and discharging are realized.

Furthermore, the first driving structure comprises a slide rail arranged on a truss, the mounting seat is connected to the slide rail through a slide block in a sliding mode, a screw rod and a servo motor are further arranged on the truss along the length direction of the slide rail and can drive the screw rod to rotate, and a screw nut in threaded connection with the screw rod is arranged at the bottom of the mounting seat. 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 manner, and the transverse position of the mechanical clamping jaw 3 is adjusted. The driving structure II 2 comprises a rack 2a fixedly arranged on one side of the vertical rod 1 along the height direction of the vertical rod, a driving motor is fixedly arranged on the mounting seat, and a gear is fixedly arranged on an output shaft of the driving motor and meshed with the rack 2 a. The driving motor drives the gears to rotate forwards and backwards, so that the rack 2a and the upright rod 1 are driven to move up and down in a reciprocating manner, and the height position of the mechanical clamping jaw 3 is adjusted.

As shown in fig. 2, a connecting seat 5 is fixedly arranged at the lower end of the upright rod 1, and a swinging plate 6 is hinged on the bottom surface of the connecting seat 5; the mechanical clamping jaw 3 is fixedly arranged on the swinging plate 6; drive structure three 4 is connected with alignment jig 4b including setting firmly on the side of pole setting 1 and vertical decurrent adjusting cylinder 4a on adjusting cylinder 4 a's the output shaft, and alignment jig 4b is articulated mutually with the one end of swinging plate 6. The mechanical clamping jaw 3 comprises a clamping cylinder 3a, two opposite clamping jaws 3b are arranged on an output shaft of the clamping cylinder 3a, the two clamping jaws 3b can be close to or far away from each other, a connecting plate 7 is fixedly arranged at the upper end of a shell of the clamping cylinder 3a, and the connecting plate 7 is connected with a swinging plate 6; the upside middle part of connecting plate 7 is connected in the downside middle part of swing board 6, and the equal spiro union in both sides of connecting plate 7 has adjusting bolt 8, and adjusting bolt 8's tip supports and leans on the downside that swings board 6 and is close to the border position. Although the connecting plate 7 is connected to the swing plate 6, the connecting plate 7 is not completely fixed, and the inclination angle of the connecting plate 7 with respect to the swing plate 6 can be adjusted by screwing the adjusting bolts 8 on both sides of the connecting plate 7, thereby adjusting the balance of the mechanical gripper 3.

Preferably, the clamping cylinders 3a are arranged side by side on the connecting plate 7 in the present embodiment. Therefore, the bearing capacity can be improved, and the workpiece can be stably and reliably clamped; the efficiency of unloading can also be improved.

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 multidirectional-adjustment truss manipulator comprises a mounting seat arranged on a truss, wherein the mounting seat is arranged on the truss in a sliding mode, and a first driving structure capable of driving the mounting seat to move back and forth along the truss is arranged on the truss; mechanical clamping jaw (3) articulate the lower extreme of pole setting (1), still be equipped with on pole setting (1) and promote mechanical clamping jaw (3) are around pin joint wobbling drive structure three (4).

2. The multi-directional adjustable truss manipulator as claimed in claim 1, wherein the driving structure includes a slide rail disposed on the truss, the mounting base is slidably connected to the slide rail through a slide block, the truss is further provided with a lead screw along 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 nut screwed with the lead screw.

3. The truss manipulator with multidirectional adjustment as claimed in claim 1 or 2, wherein the second driving structure (2) comprises a rack (2a) fixedly arranged on one side of the vertical rod (1) along the height direction of the vertical rod, a driving motor is fixedly arranged on the mounting seat, a gear is fixedly arranged on an output shaft of the driving motor, and the gear is meshed with the rack (2 a).

4. The truss manipulator with multidirectional adjustment as claimed in claim 1 or 2, wherein a connecting seat (5) is fixedly arranged at the lower end of the upright (1), and a swinging plate (6) is hinged to the bottom surface of the connecting seat (5); the mechanical clamping jaw (3) is fixedly arranged on the swinging plate (6); drive structure three (4) including set firmly on the side of pole setting (1) and vertical decurrent adjusting cylinder (4a), be connected with on the output shaft of adjusting cylinder (4a) alignment jig (4b), alignment jig (4b) with the one end of swing board (6) is articulated mutually.

5. The truss manipulator with multidirectional adjustment as claimed in claim 4, wherein the mechanical clamping jaw (3) comprises a clamping cylinder (3a), two opposite clamping jaws (3b) are arranged on an output shaft of the clamping cylinder (3a), the two clamping jaws (3b) can move close to or away from each other, a connecting plate (7) is fixedly arranged at the upper end of a shell of the clamping cylinder (3a), and the connecting plate (7) is connected with the swinging plate (6).

6. The truss manipulator with multidirectional adjustment as claimed in claim 5, wherein the upper middle part of the connecting plate (7) is connected to the lower middle part of the swinging plate (6), adjusting bolts (8) are screwed on both sides of the connecting plate (7), and the ends of the adjusting bolts (8) abut against the lower side of the swinging plate (6) close to the edge position.

7. Multidirectional adjusted truss robot as claimed in claim 6, wherein said clamping cylinders (3a) are two and arranged side by side on said connection plate (7).