CN217394939U

CN217394939U - Truss manipulator used in limited space environment

Info

Publication number: CN217394939U
Application number: CN202123454542.0U
Authority: CN
Inventors: 蒋小丽; 袁学超; 束明智; 杨宸; 丁云峰; 张林萍; 汪波
Original assignee: Wuhu Googol Automation Technology Co ltd
Current assignee: Wuhu Googol Automation Technology Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-09-09
Anticipated expiration: 2031-12-31

Abstract

The utility model provides a truss manipulator for under limited environment in space, include: stand, the crossbeam frame by the stand supports, wherein: at least two cross beam frames are arranged, each cross beam frame is provided with a driving mechanism and a clamp which is driven by the driving mechanism to move along the X, Y, Z axial direction, all the cross beam frames are arranged in parallel, and every two adjacent cross beam frames share one row of upright posts. The utility model discloses effectively reduced the area of stand, and in use, can increase and decrease the quantity of crossbeam frame at will according to the place change of factory building to ensure the maximize that the place space utilized.

Description

Truss manipulator used in limited space environment

Technical Field

The utility model relates to a truss technical field, concretely relates to truss manipulator for under limited environment in space.

Background

The truss manipulator is a full-automatic industrial device which is established on the basis of a rectangular X, Y and Z 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 truss manipulator can replace workers to carry out heavy, monotonous and dangerous work, can be repeatedly operated uninterruptedly, and greatly improves the labor productivity of enterprises while improving the automation level. With the continuous improvement of the automation degree of various industries, a plurality of enterprises begin to introduce automatic equipment, and due to the special working property of the palletizing industry, a truss manipulator is widely adopted in the palletizing industry. But is limited by the factory site and space, so that the existing truss manipulator cannot reasonably utilize the site space.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem that the background art exists, the utility model provides a truss manipulator for under the limited environment in space.

The utility model provides a truss manipulator for under limited environment in space, include: stand, the crossbeam frame by the stand supports, wherein:

at least two cross beam frames are arranged, each cross beam frame is provided with a driving mechanism and a clamp which is driven by the driving mechanism to move along the X, Y, Z axial direction, all the cross beam frames are arranged in parallel, and every two adjacent cross beam frames share one row of upright posts.

Preferably, the upright columns comprise a first side column, a second side column and a middle column, and along the arrangement direction of the beam frames, the first side column is connected with the beam frames arranged at the head position, and the second side column is connected with the beam frames arranged at the tail position; the middle column is positioned between the first side column and the second side column, and the top of the middle column is provided with a first installation station and a second installation station positioned on one side of the first installation station; the side edge of the beam frame is fixed on the first mounting station through a fastener, and the side edge of another beam frame adjacent to the beam frame is fixed on the second mounting station.

Preferably, the top of the middle column is provided with a mounting plate, the mounting plate is horizontally arranged, the mounting plate comprises a first mounting area and a second mounting area located on one side of the first mounting area, a mounting hole is formed in the first mounting area to form a first mounting station, and a mounting hole is formed in the second mounting area to form a second mounting station.

Preferably, a first reinforcing rib is arranged below the first mounting area, and a second reinforcing rib is arranged below the second mounting area.

Preferably, the drive mechanism comprises a first drive unit, a second drive unit and a third drive unit; the crossbeam frame includes the bed frame, removes frame and leading truck, wherein: the base frame is supported by the upright post, and a first guide rail arranged along the X-axis direction is arranged on the base frame; the moving frame is slidably assembled on the first guide rail and can move along the X-axis direction under the driving of the first driving unit; the moving frame is provided with a second guide rail arranged along the Y-axis direction, the guide frame is assembled on the second guide rail in a sliding mode and can move along the Y-axis direction under the driving of the second driving unit, the guide frame is provided with a third guide rail arranged along the Z-axis direction, and the clamp is assembled on the third guide rail in a sliding mode and can move along the Z-axis direction under the driving of the third driving unit.

Preferably, the base frame comprises a first cross beam and a second cross beam, wherein the first cross beam and the second cross beam are both provided with a first guide rail, the first cross beam is opposite to the second cross beam, and two ends of the first cross beam and two ends of the second cross beam are respectively connected through a connecting beam to form a whole; the movable frame is positioned above the first cross beam and the second cross beam and is respectively connected with the first guide rails on the first cross beam and the second cross beam in a sliding manner.

Preferably, the first cross beam and the second cross beam are provided with upright posts below.

Preferably, the moving frame comprises a third beam and a fourth beam, wherein second guide rails are mounted on the third beam and the fourth beam, the third beam is opposite to the fourth beam, two ends of the third beam and two ends of the fourth beam are respectively connected through connecting parts to form a whole, one ends of the third beam and the fourth beam are both positioned above the first beam, and the other ends of the third beam and the fourth beam are both positioned above the second beam; and sliding seats which are assembled with the third beam and the third beam in a sliding manner are further arranged on the third beam and the third beam, and the guide frame is positioned between the third beam and the fourth beam and is fixedly arranged on the sliding seats.

The utility model discloses in, the crossbeam frame is equipped with two at least, all installs actuating mechanism on every crossbeam frame and by the drive of actuating mechanism along the holder that X, Y, Z axle directions removed, and all crossbeam frames arrange side by side, and one row of stand of per two adjacent crossbeam frame sharings. The floor area of the stand column is effectively reduced through the structural design, and in use, the number of the cross beam frames can be increased or decreased at will according to the change of the plant site, so that the maximization of site space utilization is ensured.

Drawings

Fig. 1 is a front view of a truss manipulator used in a space-limited environment according to the present invention.

Fig. 2 is a side view of a truss manipulator for use in a space-limited environment according to the present invention.

Fig. 3 is a schematic structural diagram of the beam frame in the truss manipulator used in the limited space environment according to the present invention.

Detailed Description

Referring to fig. 1-2, the utility model provides a truss manipulator for under limited space environment, include: stand 1, the crossbeam frame 2 that is supported by stand 1, wherein:

at least two cross beams 2 are provided, and each cross beam 2 is provided with a driving mechanism and a clamping device 3 driven by the driving mechanism to move along the direction of X, Y, Z shafts so as to form a plurality of mutually independent stacking units. All crossbeams 2 arrange side by side, and every two adjacent crossbeams 2 share one row of stand 1 to reduce the occupation of land space of stand 1, avoid the interior heel post of factory building simultaneously.

From the above, the utility model discloses a this kind of structural design has effectively reduced stand 1's area, and in use, can change according to the place of factory building, increases and decreases the quantity of crossbeam frame 2 at will to be applicable to various places, and ensure the maximize that the place space utilized.

Specifically, the method comprises the following steps: the upright column 1 comprises a first side column 11, a second side column 12 and a middle column 13, and along the arrangement direction of the beam frames 2, the first side column 11 is connected with the beam frame 2 arranged at the head position, and the second side column 12 is connected with the beam frame 2 arranged at the tail position; the middle column 13 is positioned between the first side column 11 and the second side column 12, and the top of the middle column 13 is provided with a first installation station and a second installation station positioned on one side of the first installation station; the side edge of the beam frame 2 is fixed to the first mounting station by a fastener, and the side edge of another beam frame 2 adjacent to the beam frame 2 is fixed to the second mounting station.

In addition, in order to meet the common requirement of the two cross beam frames 2 and reduce the occupied space of the middle column 13, the mounting plate 4 is arranged at the top of the middle column 13, the mounting plate 4 is horizontally arranged, the mounting plate 4 comprises a first mounting area and a second mounting area positioned on one side of the first mounting area, mounting holes are formed in the first mounting area to form a first mounting station, and mounting holes are formed in the second mounting area to form a second mounting station. During installation, the first installation station and the second installation station are respectively positioned below the side where the two cross beam frames 2 are close to each other, then the side edge of one of the cross beam frames 2 is fixed to the first installation station by using a fastener, and the side edge of the other adjacent cross beam frame 2 is fixed to the second installation station.

Specifically, the method comprises the following steps: a first reinforcing rib 5 is arranged below the first mounting area, and a second reinforcing rib 6 is arranged below the second mounting area. So as to enhance the supporting strength of the first mounting region and the second mounting region.

Referring to fig. 3, the driving mechanism includes a first driving unit, a second driving unit, and a third driving unit; the cross-beam frame 2 comprises a base frame 21, a moving frame 22 and a guide frame 23, wherein: the base frame 21 is supported by the upright post 1, and a first guide rail arranged along the X-axis direction is arranged on the base frame 21; the moving frame 22 is slidably mounted on the first guide rail and can move in the X-axis direction under the driving of the first driving unit; the moving frame 22 is provided with a second guide rail arranged along the Y-axis direction, the guide frame 23 is slidably assembled on the second guide rail and can move along the Y-axis direction under the driving of the second driving unit, the guide frame 23 is provided with a third guide rail arranged along the Z-axis direction, and the clamp 3 is slidably assembled on the third guide rail and can move along the Z-axis direction under the driving of the third driving unit. The design mode enables the third guide rail in the Z-axis direction to be in a fixed state, and the requirement of Z-axis movement is met through the up-and-down movement of the clamp 3 on the third guide rail. Then, the problem that the workshop needs a large height space due to the fact that the guide rail of the existing truss manipulator in the Z-axis direction needs to move up and down is solved.

Specifically, the method comprises the following steps: the base frame 21 comprises a first cross beam and a second cross beam, wherein first guide rails are arranged on the first cross beam and the second cross beam respectively, the first cross beam is opposite to the second cross beam, stand columns 1 are arranged below the first cross beam and the second cross beam respectively, and two ends of the first cross beam and two ends of the second cross beam are connected through connecting beams respectively to form a whole; the moving frame 22 is located above the first cross beam and the second cross beam and is connected with the first guide rails on the first cross beam and the second cross beam in a sliding manner.

Specifically, the method comprises the following steps: the moving frame 22 comprises a third beam and a fourth beam, wherein the third beam and the fourth beam are both provided with a second guide rail, the third beam is opposite to the fourth beam, two ends of the third beam and the fourth beam are respectively connected through a connecting part to form a whole, one ends of the third beam and the fourth beam are both positioned above the first beam, and the other ends of the third beam and the fourth beam are both positioned above the second beam; and sliding seats 7 which are assembled with the third beam and the fourth beam in a sliding manner are further arranged on the third beam and the third beam, and a guide frame 23 is positioned between the third beam and the fourth beam and is fixedly arranged on the sliding seats 7.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A truss manipulator for use in a space-constrained environment, comprising: stand (1), crossbeam frame (2) by stand (1) support, wherein:

the number of the cross beam frames (2) is at least two, each cross beam frame (2) is provided with a driving mechanism and a clamp holder (3) driven by the driving mechanism to move along the X, Y, Z axis direction, all the cross beam frames (2) are arranged in parallel, and every two adjacent cross beam frames (2) share one row of upright columns (1).

2. The truss manipulator for use in space-limited environments as claimed in claim 1, wherein the vertical column (1) comprises a first side column (11), a second side column (12) and a middle column (13), and the first side column (11) is connected to the first row of beam frames (2) and the second side column (12) is connected to the last row of beam frames along the arrangement direction of the beam frames (2); the middle column (13) is positioned between the first side column (11) and the second side column (12), and the top of the middle column (13) is provided with a first installation station and a second installation station positioned on one side of the first installation station; the side edge of the cross beam frame (2) is fixed on the first mounting station through a fastener, and the side edge of another cross beam frame (2) adjacent to the cross beam frame (2) is fixed on the second mounting station.

3. The truss manipulator for use in a space-limited environment as claimed in claim 2, wherein the top of the intermediate column (13) is provided with a mounting plate (4), the mounting plate (4) is arranged horizontally, the mounting plate (4) comprises a first mounting area and a second mounting area located at one side of the first mounting area, mounting holes are provided in the first mounting area to form a first mounting station, and mounting holes are provided in the second mounting area to form a second mounting station.

4. The truss manipulator for use in space-limited environments as claimed in claim 3 wherein the first mounting region has a first stiffener (5) disposed thereunder and the second mounting region has a second stiffener (6) disposed thereunder.

5. The truss manipulator for use in space-limited environments as defined in any one of claims 1-4 wherein the drive mechanism includes a first drive unit, a second drive unit, and a third drive unit; crossbeam frame (2) include bed frame (21), remove frame (22) and leading truck (23), wherein: the base frame (21) is supported by the upright post (1), and a first guide rail arranged along the X-axis direction is arranged on the base frame (21); the moving frame (22) is slidably assembled on the first guide rail and can move along the X-axis direction under the driving of the first driving unit; a second guide rail is arranged on the moving frame (22) along the Y-axis direction, the guide frame (23) is assembled on the second guide rail in a sliding mode and can move along the Y-axis direction under the driving of the second driving unit, a third guide rail is arranged on the guide frame (23) along the Z-axis direction, and the clamp holder (3) is assembled on the third guide rail in a sliding mode and can move along the Z-axis direction under the driving of the third driving unit.

6. The truss manipulator used in the limited space environment as claimed in claim 5, wherein the base frame (21) comprises a first cross beam and a second cross beam, the first cross beam and the second cross beam are respectively provided with a first guide rail, the first cross beam is opposite to the second cross beam, and two ends of the first cross beam and the second cross beam are respectively connected through a connecting beam to form a whole; the moving frame (22) is positioned above the first cross beam and the second cross beam and is respectively connected with the first guide rails on the first cross beam and the second cross beam in a sliding way.

7. The truss manipulator for use in a limited space environment as claimed in claim 6, wherein a column (1) is provided below each of the first and second beams.

8. The truss manipulator used in the limited space environment as claimed in claim 5, wherein the moving frame (22) includes a third beam and a fourth beam, the third beam and the fourth beam are respectively installed with a second guide rail, the third beam is opposite to the fourth beam, two ends of the third beam and the fourth beam are respectively connected through a connecting component to form a whole, and one end of the third beam and one end of the fourth beam are both located above the first beam, and the other end of the third beam and the other end of the fourth beam are both located above the second beam; and sliding seats (7) which are assembled with the third beam and the third beam in a sliding manner are further arranged on the third beam and the third beam, and a guide frame (23) is positioned between the third beam and the fourth beam and is fixedly arranged on the sliding seats (7).