CN216442558U - Multifunctional truss manipulator with visual positioning function - Google Patents

Abstract

The utility model belongs to the technical field of truss manipulators, and discloses a multifunctional truss manipulator with a visual positioning function, which comprises a rotary cylinder, wherein the bottom of the rotary cylinder is in transmission connection with a rotary shaft, the bottom of the rotary shaft is fixedly provided with a lifting platform, two ends of the bottom of the lifting platform are both fixedly provided with a fourth motor, the output end of the fourth motor is in transmission connection with a rotary rod, and the surface of the rotary rod is fixedly provided with a directional mechanical claw. According to the utility model, the fourth motor is started under the action of the structures such as the rotary cylinder, the fourth motor and the directional mechanical claw, the directional mechanical claws on the two sides of the lifting platform rotate through the rotating shaft, so that the angle of the workpiece is turned, the directional mechanical claw can automatically turn the workpiece in multiple angles in the horizontal direction and the vertical direction, the working efficiency is improved, and the application range is expanded.

Description

Multifunctional truss manipulator with visual positioning function

Technical Field

The utility model belongs to the technical field of truss manipulators, and particularly relates to a multifunctional truss manipulator with a visual positioning function.

Background

The truss manipulator is a full-automatic industrial device which is established on the basis of three coordinates of right angle X, Y and Z and has the functions of adjusting the work position of a workpiece or realizing the track movement of the workpiece, and the truss manipulator has the advantages of light structure, good stress, high positioning precision, heavy load and simple structure.

Although current truss manipulator all has good effect when snatching and the centre gripping to small-size part, but current manipulator in the use, generally can only carry out the phenomenon of the removal transportation of unidirectional to make when the work piece need carry out the angular rotation, can't accomplish, need adjust. Resulting in a reduction in work schedule.

And present some truss manipulators are because each axial drive arrangement dispersion sets up to lead to the structure not compact enough, thereby lead to the manipulator to appear the focus skew easily when the operation, thereby lead to the unstable condition to take place, lead to snatching work and go wrong, delay the job schedule.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems, and provides a multifunctional truss manipulator with a visual positioning function, which has the advantages of multi-angle automatic overturning and gravity concentration.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a multi-functional truss manipulator with vision positioning function, includes revolving cylinder, revolving cylinder's bottom transmission is connected with the rotation axis, the bottom fixed mounting of rotation axis has lift platform, the equal fixed mounting in both ends of lift platform bottom has the fourth motor, the output transmission of fourth motor is connected with the rotary rod, the fixed surface of rotary rod installs directional gripper.

As a preferred technical solution of the present invention, a lifting toothed plate is fixedly installed at the top of the rotary cylinder, one side of the lifting toothed plate is movably connected with a third motor, a sliding frame is fixedly installed at the bottom of the third motor, a movable support platform is movably connected to the bottom of the sliding frame, a first motor is fixedly installed at one side of the movable support platform, an output end of the first motor is connected with a support rod in a transmission manner, gears are respectively and fixedly installed on the surfaces of the support rods, rollers are movably installed at both sides of the gears, a roller is movably installed below the rollers, the first motor is started to rotate the support rod in a transmission manner, which is connected with the first motor, so as to drive the gears fixedly installed on the support rod to move along a first rack on the fixed frame in a meshing manner, and as the gears, the rollers and the rollers are all fixedly installed on the movable support platform through a fixed plate, therefore, when the gear moves, the roller and the roller can be driven to move together, so that the movable support platform can move longitudinally on the fixed frame.

As a preferred technical scheme of the present invention, a support rod is fixedly installed at the top of the movable support platform, a second motor is fixedly installed at the top of the support rod, a driving wheel is movably installed at the bottom of the support rod, the driving wheel is in transmission connection with the second motor, then the second motor on the movable support platform is started, and the second motor is supported by the support rod, such that the driving wheel below the support rod rotates.

As a preferable technical solution of the present invention, a second rack is fixedly installed at one side of the sliding frame, the second rack is engaged with the driving wheel, and when the driving wheel is operated, the second rack engaged with the driving wheel is also moved together, so as to drive the sliding frame to move.

As a preferred technical solution of the present invention, a fixed frame is movably installed inside the movable supporting platform, the gear and the roller are above the fixed frame, and the roller is below the fixed frame, and the movable supporting platform moves on the fixed frame through the gear, the roller and the roller by placing the gear and the roller above the fixed frame and then placing the roller below the fixed frame.

As a preferred technical scheme of the utility model, a first rack is fixedly arranged in the middle of the fixing frame, the gear is meshed with the first rack, a supporting leg is fixedly arranged at the bottom of the fixing frame, the gear moves along the first rack in the middle of the fixing frame, and the fixing frame is fixedly arranged on the ground through the supporting leg, so that the shaking is avoided.

Compared with the prior art, the utility model has the following beneficial effects:

1. according to the utility model, through the action of the structures such as the rotary cylinder, the fourth motor, the directional mechanical claw and the like, when the angle of the workpiece is not aligned with the angle of the directional mechanical claw, the rotary cylinder is started, the angle of the lifting platform is adjusted through the rotating shaft, so that the directional mechanical claw is convenient to grab the workpiece, the placing angle of the workpiece can be controlled through the rotary cylinder, when the angle of the workpiece needs to be turned, the fourth motor is started, the directional mechanical claws on two sides of the lifting platform are rotated through the rotating shaft, so that the angle of the workpiece is turned, and therefore, the directional mechanical claw can automatically turn the workpiece in multiple angles in the horizontal direction and the vertical direction, the working efficiency is improved, and the application range is expanded.

2. According to the utility model, through the action of the structures such as the first motor, the support rod, the movable support platform and the like, the first motor is started, so that the support rod in transmission connection with the first motor rotates, the gear fixedly arranged on the support rod is driven to move along the first rack on the fixed frame in a meshing manner, and as the gear, the roller and the roller are fixedly arranged on the movable support platform through the fixed plate, the roller and the roller can be driven to move together when the gear moves, so that the movable support platform can move longitudinally on the fixed frame, and most of driving devices are arranged on the movable support platform, so that the phenomenon of uneven gravity and unstable operation is avoided.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic front view of the present invention;

FIG. 3 is a schematic top view of the present invention;

FIG. 4 is a schematic diagram of the right-view structure of the present invention;

FIG. 5 is a schematic diagram of a right-side cross-sectional structure of the present invention;

FIG. 6 is a schematic top cross-sectional view of the present invention;

fig. 7 is a schematic rear view of the cross-sectional structure of the present invention.

In the figure: 1. a first rack; 2. a fixed mount; 3. a carriage; 4. a movable support table; 5. a support bar; 6. a second motor; 7. supporting legs; 8. a rotating cylinder; 9. rotating the rod; 10. a third motor; 11. a lifting toothed plate; 12. orienting the gripper; 13. a driving wheel; 14. a second rack; 15. a first motor; 16. a fourth motor; 17. a lifting platform; 18. a drum; 19. a roller; 20. a rotating shaft; 21. a gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 7, the utility model provides a multifunctional truss manipulator with a visual positioning function, which comprises a rotary cylinder 8, wherein the bottom of the rotary cylinder 8 is in transmission connection with a rotary shaft 20, the bottom of the rotary shaft 20 is fixedly provided with a lifting platform 17, two ends of the bottom of the lifting platform 17 are both fixedly provided with a fourth motor, the output end of the fourth motor is in transmission connection with a rotary rod 9, and the surface of the rotary rod 9 is fixedly provided with a directional mechanical claw 12.

Wherein, the top of the rotary cylinder 8 is fixedly provided with a lifting toothed plate 11, one side of the lifting toothed plate 11 is movably connected with a third motor 10, the bottom of the third motor 10 is fixedly provided with a sliding frame 3, the bottom of the sliding frame 3 is movably connected with a movable supporting platform 4, one side of the movable supporting platform 4 is fixedly provided with a first motor, the output end of the first motor is connected with a supporting rod 5 in a transmission way, the surface of the supporting rod 5 is respectively and fixedly provided with a gear 21, two sides of the gear 21 are movably provided with rollers 19, a roller 18 is movably arranged below the rollers 19, the first motor 15 is started, so that the supporting rod 5 in a transmission way connected with the first motor 15 is rotated, thereby driving the gear 21 fixedly arranged on the supporting rod 5 to move along the first rack 1 on the fixed frame 2 in a meshing way, because the gear 21, the rollers 19 and the roller 18 are all arranged on the movable supporting platform 4, when the gear 21 moves, the rollers 19 and the rollers 18 are moved together, so that the movable support 4 is moved longitudinally on the fixed frame 2.

Wherein, the top fixed mounting of movable supporting platform 4 has bracing piece 5, and the top fixed mounting of bracing piece 5 has second motor 6, and the bottom movable mounting of bracing piece 5 has action wheel 13, and action wheel 13 is connected with the transmission of second motor 6, then starts second motor 6 above the movable supporting platform 4, and second motor 6 passes through bracing piece 5 and supports for action wheel 13 below bracing piece 5 rotates.

Wherein, a second rack 14 is fixedly installed at one side of the sliding rack 3, the second rack 14 is meshed with the driving wheel 13, and when the driving wheel 13 is used, the second rack 14 meshed with the driving wheel also moves together, so as to drive the sliding rack 3 to move.

Wherein, the movable supporting platform 4 is movably provided with a fixed frame 2, a gear 21 and a roller 19 are arranged above the fixed frame 2, a roller 18 is arranged below the fixed frame 2, the gear 21 and the roller 19 are arranged above the fixed frame 2, and the roller 18 is arranged below the fixed frame 2, so that the movable supporting platform 4 moves on the fixed frame 2 through the gear 21, the roller 19 and the roller 18.

Wherein, the middle part fixed mounting of mount 2 has first rack 1, and gear 21 and the meshing of first rack 1, the bottom fixed mounting of mount 2 has supporting leg 7, and gear 21 removes along the first rack 1 at the middle part of mount 2, and mount 2 passes through supporting leg 7 fixed mounting subaerial for avoid rocking.

The working principle and the using process of the utility model are as follows:

the first motor 15 is started, so that the support rod 5 in transmission connection with the first motor 15 rotates, the gear 21 fixedly mounted on the support rod 5 is driven to move in a meshing manner along the first rack 1 on the fixed frame 2, and the gear 21, the roller 19 and the roller 18 are movably mounted on the movable support table 4, so that when the gear 21 moves, the roller 19 and the roller 18 are driven to move together, and the movable support table 4 moves longitudinally on the fixed frame 2;

then, a second motor 6 on the movable support table 4 is started, the second motor 6 is supported by a support rod 5, a driving wheel 13 below the support rod 5 rotates, and a second rack 14 meshed with the support rod is driven to move, and the second rack 14 is fixedly arranged on one side of the sliding frame 3, so that the sliding frame 3 can move along with the movement of the second rack 14 and transversely move;

the third motor 10 on one side of the starting sliding frame 3 is started, so that the lifting toothed plate 11 is lifted along with the rotation of the third motor 10, and the distance between the lifting platform 17 and the workpiece is controlled;

when the lifting platform 17 descends, the lifting platform 17 automatically stops after the lifting platform descends to a proper position due to the action of the CDD camera installed on the directional mechanical claw 12;

when the angle of work piece is not with the angle parallel and level of directional gripper 12, start revolving cylinder 8, through rotation axis 20, adjust lift platform 17's angle, thereby make directional gripper 12 be convenient for snatch the work piece, also can control putting the angle of work piece through revolving cylinder 8, and when the angle to the work piece needs to carry out the upset, start fourth motor 16, through rotary rod 9, make directional gripper 12 of lift platform 17 both sides rotate, thereby the angle of work piece overturns, thereby realized directional gripper 12 can be with the automatic upset of multi-angle of work piece in horizontal direction and vertical direction, and the work efficiency is improved, and the application range is enlarged.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a multi-functional truss manipulator with vision positioning function, includes revolving cylinder (8), its characterized in that: the bottom transmission of revolving cylinder (8) is connected with rotation axis (20), the bottom fixed mounting of rotation axis (20) has lift platform (17), the equal fixed mounting in both ends of lift platform (17) bottom has the fourth motor, the output transmission of fourth motor is connected with rotary rod (9), the fixed surface of rotary rod (9) installs directional gripper (12).

2. The multifunctional truss manipulator with the visual positioning function as claimed in claim 1, wherein: the top fixed mounting of revolving cylinder (8) has lifting pinion plate (11), one side swing joint of lifting pinion plate (11) has third motor (10), the bottom fixed mounting of third motor (10) has carriage (3), the bottom swing joint of carriage (3) has movable supporting bench (4), one side fixed mounting of movable supporting bench (4) has first motor, the output transmission of first motor is connected with bracing piece (5), the surface difference fixed mounting of bracing piece (5) has gear (21), the both sides movable mounting of gear (21) has gyro wheel (19), the below movable mounting of gyro wheel (19) has cylinder (18).

3. The multifunctional truss manipulator with the visual positioning function as claimed in claim 2, wherein: the top fixed mounting of activity brace table (4) has bracing piece (5), the top fixed mounting of bracing piece (5) has second motor (6), the bottom movable mounting of bracing piece (5) has action wheel (13), action wheel (13) with second motor (6) transmission is connected.

4. The multifunctional truss manipulator with the visual positioning function as claimed in claim 2, wherein: one side fixed mounting of carriage (3) has second rack (14), second rack (14) and action wheel (13) meshing.

5. The multifunctional truss manipulator with the visual positioning function as claimed in claim 2, wherein: the inner part of the movable supporting platform (4) is movably provided with a fixed frame (2), the gear (21) and the roller (19) are arranged above the fixed frame (2), and the roller (18) is arranged below the fixed frame (2).

6. The multifunctional truss manipulator with the visual positioning function as claimed in claim 5, wherein: the middle part fixed mounting of mount (2) has first rack (1), gear (21) and first rack (1) meshing, the bottom fixed mounting of mount (2) has supporting leg (7).

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