CN215968724U - Truss manipulator - Google Patents

Abstract

The utility model discloses a truss manipulator, which relates to the technical field of machining equipment, and adopts the technical scheme that: including the truss body, slide and manipulator, the top of truss body is provided with the slide rail, the outside of truss body is provided with guide rail set spare, slide rail and guide rail set spare parallel arrangement, slide and slide rail, guide rail set spare slides and is connected, the both ends of truss body are provided with bolster one respectively, bolster two, and bolster one, bolster two all provides the buffering to the slide, the manipulator slides with the slide and is connected, be provided with driving piece one that can drive the slide and transversely slide on the slide, driving piece two that the manipulator vertically slided. The slide rail bears the load of slide and manipulator, and guide rail set spare is then to the glide direction of slide to guarantee the pay-off precision of manipulator, bolster one, bolster two pairs of slides provide the buffering, avoid the part to take place the displacement under the inertia effect, thereby guarantee the transport accuracy of part, this truss manipulator's stability is better.

Description

Truss manipulator

Technical Field

The utility model relates to the technical field of machining equipment, in particular to a truss manipulator.

Background

At present, in the process of machining parts by a numerical control machine tool, due to the low efficiency of manually clamping the parts and high labor intensity of workers, the conventional common truss manipulator replaces manual feeding and blanking. The truss manipulator generally comprises a fixed truss and a manipulator arranged on the side edge of the truss in a sliding mode, the span of the manipulator is large, and parts are conveyed conveniently.

Because the strength of the mechanical arm needs to be ensured, the weight of the mechanical arm is generally heavier, so that the static load and the dynamic load of the mechanical arm on the truss are larger, the load borne by the truss is larger, and the common truss has the problem of poor machining precision due to poor stability of parts with higher precision machining requirements.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide a truss manipulator which has the advantage of good stability.

The technical purpose of the utility model is realized by the following technical scheme: the utility model provides a truss manipulator, includes truss body, slide and manipulator, the top of truss body is provided with the slide rail, the outside of truss body is provided with guide rail assembly, slide rail and guide rail assembly parallel arrangement, the slide with slide rail, guide rail assembly slide and connect, the both ends of truss body are provided with bolster one, bolster two respectively, just bolster one, bolster two homoenergetic can be right the slide provides the buffering, the manipulator with the slide slides and connects, be provided with on the slide and drive driving piece one, the drive of slide horizontal sliding the driving piece two of manipulator longitudinal sliding.

According to the technical scheme, after the driving part II drives the mechanical arm to longitudinally slide and clamp the part, the driving part I drives the sliding seat and the mechanical arm to synchronously slide along the length direction of the sliding rail, so that feeding of the mechanical arm is realized; the in-process that the slide slided, the slide rail mainly bears the load of slide and manipulator, guide rail set spare is then to the direction of sliding of slide, thereby guarantee the pay-off precision of manipulator, and simultaneously, both ends at the slide stroke of sliding are provided with bolster one respectively, bolster two, make the slide when transversely sliding to the starting point or the terminal point of stroke, bolster one, bolster two can provide the buffering to the slide, avoid the slide to stop suddenly at the starting point or the terminal point of stroke, lead to the part to take place the displacement under the inertia effect, thereby guarantee the transport precision of part, this truss manipulator's stability is better.

Preferably, a bearing sliding strip is arranged on the sliding seat, and the sliding seat is connected with the sliding rail in a sliding manner through the bearing sliding strip.

Through above-mentioned technical scheme, the slide slides through the bearing draw runner and is connected with the slide rail for the slide rail can effectively bear the load of slide and manipulator, further guarantees the stability that the slide slided.

Preferably, the top of the truss body is provided with a first rack, the first rack and the slide rail are distributed at intervals, the first driving piece comprises a first driving motor fixed on the slide seat, the output end of the first driving motor is provided with a first gear, and the first gear is meshed with the first rack.

Through the technical scheme, the sliding seat is connected with the sliding rail and the guide rail assembly in a sliding mode, the first driving motor is fixed with the sliding seat, and after the first driving gear of the driving motor rotates, the first gear rolls along the length direction of the first rack, so that the sliding seat can be driven to slide, and the sliding seat can slide transversely.

Preferably, the manipulator comprises a guide rod, a second rack, a rotary cylinder and a three-jaw cylinder, the guide rod is connected with the sliding seat in a sliding manner, the second rack is arranged on one side of the guide rod close to the sliding seat, the rotary cylinder is arranged at the lower end of the guide rod, and the three-jaw cylinder is arranged at the output end of the rotary cylinder; the driving piece II comprises a driving motor II fixed on the sliding seat, a gear II is arranged at the output end of the driving motor II, and the gear II is meshed with the rack II.

Through the technical scheme, the driving motor II drives the gear II to rotate, so that the rack II and the guide rod can be driven to synchronously slide, and the longitudinal sliding of the manipulator is realized.

Preferably, the outside at guide bar both ends is provided with rubber block one, rubber block two respectively, be provided with the stopper on the slide, just the stopper is located between rubber block one, the rubber block two, rubber block one, rubber block two can respectively with the stopper supports and leans on.

Through above-mentioned technical scheme, the drive of driving motor two, when the manipulator slided to stroke starting point or terminal point, rubber piece one or rubber piece two can contact with the stopper for the stopper is spacing to rubber piece one or rubber piece two, from the control of realization to the manipulator stroke of sliding, simultaneously, rubber piece one or rubber piece two also can provide the buffering to the manipulator, has further improved the stability that the manipulator slided.

Preferably, the outer side of the guide rod is provided with a first protective cover, and the first rubber block, the second rubber block and the second rack are all located on the inner side of the first protective cover.

Through the technical scheme, the first rubber block, the second rubber block and the second rack are shielded by the first protective cover, so that the manipulator is not influenced by external sundries when sliding, and the application range is wide.

Preferably, the sliding seat comprises an installation seat and a positioning plate, the bearing slide bar is arranged on the installation seat, one side of the installation seat is connected to the guide rail assembly in a sliding manner, and the positioning plate is fixed on the installation seat; one of the buffer parts comprises a first hydraulic damping part, the second buffer part comprises a second hydraulic damping part, the first hydraulic damping part and the second hydraulic damping part are arranged on one side of the sliding seat, the truss body is far away from the first hydraulic damping part and the second hydraulic damping part, the positioning plate slides between the first hydraulic damping part and the second hydraulic damping part, and the working ends of the first hydraulic damping part and the second hydraulic damping part can be respectively opposite to the positioning plate for limitation.

Through above-mentioned technical scheme, the mount pad all slides with slide rail, guide rail set spare and is connected, and the locating plate slides along with the mount pad is synchronous, slides when the start point or the terminal point of stroke at the mount pad, and hydraulic damping one, hydraulic damping two can provide buffering and spacing to the locating plate to the realization is to the buffering of slide.

Preferably, the truss body is provided with a second protective cover, and the first hydraulic damping, the second hydraulic damping and the positioning plate are located on the inner side of the second protective cover.

Through the technical scheme, the first hydraulic damping, the second hydraulic damping and the positioning plate can be surrounded by the second protective cover, so that the positioning plate is not influenced by the external environment in the sliding process, and the first hydraulic damping, the second hydraulic damping and the positioning plate can be protected.

Preferably, a first kidney-shaped hole and a second kidney-shaped hole are arranged on the truss body at intervals, the first kidney-shaped hole is used for installing the first hydraulic damper, and the second kidney-shaped hole is used for installing the second hydraulic damper.

Through the technical scheme, the position of the first hydraulic damper in the first waist-shaped hole and the position of the second hydraulic damper in the second waist-shaped hole are adjusted, so that the buffering effect of the first hydraulic damper and the second hydraulic damper on the two pairs of positioning plates can be changed, and meanwhile, the adjustment, the assembly and the disassembly of the first hydraulic damper and the second hydraulic damper are convenient to adjust.

Preferably, the guide rail assembly comprises a first guide rail and a second guide rail, the first guide rail and the second guide rail are arranged on the outer side of the truss body at intervals, and the first guide rail and the second guide rail can guide the sliding seat.

Through the technical scheme, the first guide rail and the second guide rail guide the sliding direction of the sliding seat at the same time, so that the sliding precision of the sliding seat is further improved.

Drawings

FIG. 1 is a schematic external structural view of an embodiment;

FIG. 2 is another schematic external structural view of the embodiment (omitting the machining center);

FIG. 3 is a schematic structural view of FIG. 3 with the first and second protective covers omitted;

FIG. 4 is a schematic side view of the structure of FIG. 3;

FIG. 5 is another side view of FIG. 3;

FIG. 6 is a schematic view of the left side structure of FIG. 3;

FIG. 7 is a schematic structural diagram of a slider according to an embodiment;

fig. 8 is another side view of fig. 7.

Reference numerals: 1. a machining center;

100. a truss body; 110. a slide rail; 120. a guide rail assembly; 121. a first guide rail; 122. a second guide rail; 130. a first buffer part; 131. performing hydraulic damping I; 140. a second buffer part; 141. hydraulic damping II; 150. a first rack; 160. a second protective cover; 170. a waist-shaped hole I; 180. a second waist-shaped hole;

200. a slide base; 210. a load bearing runner; 220. a limiting block; 230. a mounting seat; 240. positioning a plate;

300. a manipulator; 310. a guide bar; 311. a first rubber block; 312. a second rubber block; 313. a first protective cover; 320. a second rack; 330. a rotating cylinder; 340. a three-jaw cylinder;

400. a first driving part; 410. driving a motor I; 411. a first gear;

500. a driving part II; 510. a second driving motor; 511. and a second gear.

Detailed Description

In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

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

A truss manipulator comprises a truss body 100, a sliding seat 200 and a manipulator 300, wherein a sliding rail 110 is arranged at the top of the truss body 100, a guide rail assembly 120 is arranged on the outer side of the truss body 100, the sliding rail 110 and the guide rail assembly 120 are arranged in parallel, a bearing sliding bar 210 is fixed on the sliding seat 200, the bearing sliding bar 210 is connected with the sliding rail 110 in a sliding manner, namely, the sliding seat 200 is connected with the sliding rail 110 in a sliding manner through the bearing sliding bar 210, one side of the sliding seat 200 is connected with the guide rail assembly 120 in a sliding manner, a first buffer part 130 and a second buffer part 140 are respectively arranged at two ends of the truss body 100, the first buffer part 130 and the second buffer part 140 can buffer the sliding seat 200, the manipulator 300 is connected with the sliding seat 200 in a sliding manner, and a first driving part 400 capable of driving the sliding seat 200 to slide transversely and a second driving part 500 capable of driving the manipulator 300 to slide longitudinally are arranged on the sliding seat 200.

Preferably, the first rack 150 is disposed on the top of the truss body 100, the first rack 150 and the sliding rail 110 are spaced apart, the first driving member 400 includes a first driving motor 410 fixed on the sliding base 200, an output end of the first driving motor 410 faces the truss body 100, and an output end of the first driving motor 410 is provided with a first gear 411, and the first gear 411 is engaged with the first rack 150 and can roll along a length direction of the first rack 150.

Preferably, the manipulator 300 comprises a guide rod 310, a second rack 320, a rotary cylinder 330 and a three-jaw cylinder 340, wherein the guide rod 310 is connected with the sliding seat 200 in a sliding manner, the second rack 320 is fixed on one side of the guide rod 310 close to the sliding seat 200 through a screw, the rotary cylinder 330 is fixed at the lower end of the guide rod 310, and the three-jaw cylinder 340 is arranged at the output end of the rotary cylinder 330; the second driving member 500 includes a second driving motor 510 fixed on the sliding base 200, an output end of the second driving motor 510 faces the guide bar 310, and a second gear 511 is disposed at an output end of the second driving motor 510, and the second gear 511 is engaged with the second rack 320 and can roll along a length direction of the second rack 320. Further, at least two three-jaw cylinders 340 are provided, and the center lines of the two three-jaw cylinders 340 are perpendicular.

Further, the outer sides of the two ends of the guide rod 310 are respectively provided with a rubber block one 311 and a rubber block two 312, the sliding seat 200 is provided with a limiting block 220, the limiting block 220 is located between the rubber block one 311 and the rubber block two 312, and the rubber block one 311 and the rubber block two 312 can be abutted against the limiting block 220 respectively.

The outer side of the guide rod 310 is connected with a first protective cover 313 through welding or bolts, and the first rubber block 311, the second rubber block 312 and the second rack 320 are all located on the inner side of the first protective cover 313.

Preferably, the sliding seat 200 includes a mounting seat 230 and a positioning plate 240, the load-bearing slide bar 210 is connected to the mounting seat 230 by welding or bolts, the mounting seat 230 is connected to the guide rail assembly 120 by sliding blocks, the positioning plate 240 is fixed on the mounting seat 230, and the fixing plate is far away from the sliding seat 200; the first buffer 130 is preferably a first hydraulic damper 131, the second buffer 140 is preferably a second hydraulic damper 141, the first hydraulic damper 131 and the second hydraulic damper 141 are both disposed on a side of the truss body 100 away from the slider 200, the positioning plate 240 slides between the first hydraulic damper 131 and the second hydraulic damper 141, and working ends of the first hydraulic damper 131 and the second hydraulic damper 141 can limit the positioning plate 240 respectively.

As another solution, the first buffer 130 and the second buffer 140 may also adopt a common spring in the prior art.

The truss body 100 is provided with a second protective cover 160, and the first hydraulic damper 131, the second hydraulic damper 141 and the positioning plate 240 are all located on the inner side of the second protective cover 160.

The end face, deviating from the sliding seat 200, of the truss body 100 is provided with a first kidney-shaped hole 170 and a second kidney-shaped hole 180 at intervals, the first kidney-shaped hole 170 is used for installing a first hydraulic damper 131, and the second kidney-shaped hole 180 is used for installing a second hydraulic damper 141. Of course, the number of the first waist-shaped holes 170 and the second waist-shaped holes 180 can be increased according to actual requirements.

Preferably, the guide rail assembly 120 includes a first guide rail 121 and a second guide rail 122, the first guide rail 121 and the second guide rail 122 are disposed at an interval on one side of the truss body 100 close to the sliding base 200, and both the first guide rail 121 and the second guide rail 122 can guide the sliding base 200.

The working principle of the truss manipulator is as follows:

the truss manipulator is arranged outside the machining center 1 and used for feeding and discharging the machining center 1.

The second gear 511 is driven by the second driving motor 510 to rotate, the second gear 511 drives the second rack 320 and the guide rod 310 to integrally slide downwards, after the guide rod 310 slides to the end point of the stroke, the first rubber block 311 is in contact with the limiting block 220, and at the moment, a three-jaw air cylinder 340 is used for clamping parts to finish the material taking of the manipulator 300. And then the second driving motor 510 drives the second rack 320 and the guide rod 310 to integrally slide upwards, and after the guide rod 310 slides to the second rubber block 312 and abuts against the limiting block 220, the stroke of the guide rod 310 is finished.

The first driving motor 410 drives the first gear 411 to rotate, the first rotating gear 411 drives the sliding base 200 to slide towards the machining center 1, the first guide rail 121 and the second guide rail 122 guide the sliding base 200, and after the positioning plate 240 is contacted with the first hydraulic damper 131, the first hydraulic damper 131 reduces the sliding speed of the sliding base 200 and the manipulator 300, so that the sliding base 200 and the manipulator 300 can stably slide to the upper side of the machining center 1.

Then the second driving motor 510 drives the guide rod 310 to slide downwards, so that the three-jaw cylinder 340 loads the part into the machining center 1, and the feeding to the machining center 1 is realized.

In the sliding process of the sliding seat 200, the sliding rail 110 mainly bears the loads of the sliding seat 200 and the manipulator 300, and the first guide rail 121 and the second guide rail 122 guide the sliding direction of the sliding seat 200, so that the feeding precision of the manipulator 300 is ensured; the hydraulic damping I131 and the hydraulic damping II 141 which can buffer the sliding seat 200 are respectively arranged at the two ends of the sliding stroke of the sliding seat 200, so that the sliding seat 200 is prevented from suddenly stopping at the starting point or the end point of the stroke, the part is prevented from displacing under the action of inertia, the conveying precision of the part is ensured, and the purpose of better stability of the truss manipulator is achieved.

The above description is intended to be illustrative of the present invention and not to limit the scope of the utility model, which is defined by the claims appended hereto.

Claims (10)

1. A truss manipulator, its characterized in that: comprises a truss body (100), a sliding seat (200) and a manipulator (300), wherein the top of the truss body (100) is provided with a sliding rail (110), a guide rail assembly (120) is arranged on the outer side of the truss body (100), the slide rail (110) and the guide rail assembly (120) are arranged in parallel, the sliding seat (200) is connected with the sliding rail (110) and the guide rail component (120) in a sliding way, a first buffer part (130) and a second buffer part (140) are respectively arranged at two ends of the truss body (100), the first buffer piece (130) and the second buffer piece (140) can buffer the sliding seat (200), the manipulator (300) with slide (200) slide and be connected, be provided with on slide (200) and drive piece one (400), the drive that can drive slide (200) transversely slided drive piece two (500) that manipulator (300) vertically slided.

2. The truss manipulator of claim 1, wherein: be provided with bearing draw runner (210) on slide (200), slide (200) pass through bearing draw runner (210) with slide rail (110) are connected that slides.

3. The truss manipulator of claim 2, wherein: the top of truss body (100) is provided with rack one (150), rack one (150) with slide rail (110) interval distribution, driving piece one (400) including be fixed in driving motor one (410) on slide (200), the output of driving motor one (410) is provided with gear one (411), just gear one (411) with rack one (150) meshing.

4. The truss manipulator of any of claims 2-3, wherein: the manipulator (300) comprises a guide rod (310), a second rack (320), a rotary cylinder (330) and a three-jaw cylinder (340), the guide rod (310) is connected with the sliding seat (200) in a sliding mode, the second rack (320) is arranged on one side, close to the sliding seat (200), of the guide rod (310), the rotary cylinder (330) is arranged at the lower end of the guide rod (310), and the three-jaw cylinder (340) is arranged at the output end of the rotary cylinder (330); the driving part II (500) comprises a driving motor II (510) fixed on the sliding seat (200), a gear II (511) is arranged at the output end of the driving motor II (510), and the gear II (511) is meshed with the rack II (320).

5. The truss manipulator of claim 4, wherein: the outside at guide bar (310) both ends is provided with rubber block one (311), rubber block two (312) respectively, be provided with stopper (220) on slide (200), just stopper (220) are located between rubber block one (311), the rubber block two (312), rubber block one (311), rubber block two (312) can respectively with stopper (220) support and lean on.

6. The truss robot of claim 5, wherein: the outer side of the guide rod (310) is provided with a first protective cover (313), and the first rubber block (311), the second rubber block (312) and the second rack (320) are located on the inner side of the first protective cover (313).

7. The truss manipulator of claim 2, wherein: the sliding seat (200) comprises an installation seat (230) and a positioning plate (240), the bearing sliding strip (210) is arranged on the installation seat (230), one side of the installation seat (230) is connected to the guide rail assembly (120) in a sliding mode, and the positioning plate (240) is fixed on the installation seat (230); buffer member one (130) includes hydraulic damping one (131), buffer member two (140) includes hydraulic damping two (141), hydraulic damping one (131), hydraulic damping two (141) set up in truss body (100) is kept away from one side of slide (200), just locating plate (240) slide in between hydraulic damping one (131), hydraulic damping two (141), the working end of hydraulic damping one (131), hydraulic damping two (141) can be respectively right locating plate (240) are spacing.

8. The truss manipulator of claim 7, wherein: the truss structure is characterized in that a second protective cover (160) is arranged on the truss body (100), and the first hydraulic damper (131), the second hydraulic damper (141) and the positioning plate (240) are located on the inner side of the second protective cover (160).

9. The truss manipulator of claim 7, wherein: the truss body (100) is provided with a first kidney-shaped hole (170) and a second kidney-shaped hole (180) at intervals, the first kidney-shaped hole (170) is used for installing the first hydraulic damper (131), and the second kidney-shaped hole (180) is used for installing the second hydraulic damper (141).

10. The truss manipulator of claim 1, wherein: the guide rail assembly (120) comprises a first guide rail (121) and a second guide rail (122), the first guide rail (121) and the second guide rail (122) are arranged on the outer side of the truss body (100) at intervals, and the first guide rail (121) and the second guide rail (122) can guide the sliding base (200).

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