CN218534585U - Gantry type multi-shaft truss manipulator - Google Patents

Abstract

The utility model relates to a planer-type multiaxis truss manipulator, including the longmen truss, slidable mounting is at the removal cover on the longmen truss, and fixed mounting is at the inside lifing arm of a lift section of thick bamboo and slidable mounting on removing the cover, the bottom fixed mounting of lifing arm has the base plate, be provided with adsorption apparatus structure on the base plate, the both sides of base plate are provided with fixture. This planer-type multiaxis truss manipulator, through installing a plurality of breathing pipes on two shunt tubes, and install the sucking disc additional at the breathing pipe end, during transport panel, utilize the conveyer pipe to bleed, make the sucking disc adsorb firmly on panel, the main power as panel snatchs the mechanism, then under the extension of biax cylinder, utilize two pushing arms to move two arm locks with the fulcrum seat as the centre of a circle rotation, thereby let the both sides of two rubber's splint centre gripping panel, as the supplementary transport mechanism of panel, two kinds of snatchs the structure and have both guaranteed the stability of snatching panel, still can not cause the loss to panel itself.

Description

Gantry type multi-shaft truss manipulator

Technical Field

The utility model relates to a truss manipulator technical field specifically is a planer-type multiaxis truss manipulator.

Background

Along with the promotion of the automatic consciousness of production, the mill is increasingly high to the demand of automatic pile up neatly, and the pile up neatly of present article generally adopts the manual pile up neatly of manual mode, even there is the small part article to adopt the machine pile up neatly, but pile up neatly inefficiency, needs manual fit to place each article, and is time-consuming, hard, efficiency is not high.

Present pile up neatly machine generally adopts planer-type truss manipulator to carry comparatively fragile object, and traditional planer-type truss manipulator causes the damage to the object very easily in handling, if when carrying the plank, the plank surface is drawn the damage by the manipulator, and during the transport plastic slab, the too big plastic slab that leads to of manipulator grip warp the fracture, provides a planer-type multiaxis truss manipulator for this application.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a planer-type multiaxis truss manipulator possesses advantages such as the injury that reduces the object.

For the purpose of realizing the above-mentioned injury to the object that reduces, the utility model provides a following technical scheme: the utility model provides a planer-type multiaxis truss manipulator, includes the longmen truss, and slidable mounting moves the cover on the longmen truss, and fixed mounting moves a lift section of thick bamboo and slidable mounting on the cover and goes up and down the inside lifing arm at a lift section of thick bamboo, the bottom fixed mounting of lifing arm has the base plate, be provided with adsorption apparatus on the base plate, the both sides of base plate are provided with fixture, adsorption apparatus includes the shunt tubes of fixed mounting on the base plate, equidistant fixed mounting has the breathing pipe that extends to the base plate bottom on the shunt tubes, breathing pipe bottom fixed mounting has the sucking disc, fixed mounting has the conveyer pipe on the shunt tubes, fixture includes the fulcrum seat of fixed mounting in the base plate both sides, the inboard of fulcrum seat is rotated and is installed the arm lock, two the equal fixed mounting in relative one side of arm lock bottom has splint, the top fixed mounting of base plate has the biax cylinder, the equal fixed mounting of two outputs of biax cylinder has the catch arm of being connected with the arm lock rotation.

Further, the lateral wall fixed mounting of a lift section of thick bamboo has the crossbearer, and the bottom fixed mounting of crossbearer has the activity hanger plate that is used for passing the conveyer pipe, and the bottom of crossbearer just is located one side fixed mounting of activity hanger plate and has the fixed hanger plate that is used for fixed conveyer pipe.

Further, the shunt tubes are provided with two and are distributed on the front side and the rear side of the lifting arm, and the two shunt tubes are fixedly connected with the conveying pipe through connecting pipes.

Furthermore, the movable hanging plate is a Contraband-shaped frame plate, the movable hanging plate is connected with the conveying pipe in a sliding mode, one end, far away from the flow dividing pipe, of the conveying pipe penetrates through the movable hanging plate to be fixedly connected with the fixed hanging plate, and a connecting pipe fixedly connected with the conveying pipe is fixedly installed on the other side of the fixed hanging plate.

Furthermore, the fulcrum seat is the triangular seat, and the fulcrum seat passes through the axostylus axostyle and is connected with the arm lock rotation, and splint are the rubber slab, and the equal fixed mounting in the relative one side of two splint has anti-skidding tooth, and the apical trough has been seted up on the top of arm lock, and the inner wall fixed mounting in apical trough has the apical axis of being connected with the catch arm rotation.

Further, the pushing arm comprises a horizontal arm fixedly installed at the output end of the double-shaft cylinder, an inclined arm rotatably connected with the top shaft is fixedly installed at the other end of the horizontal arm, and the double-shaft cylinder is located at the center of the top of the base plate.

Compared with the prior art, the utility model provides a planer-type multiaxis truss manipulator possesses following beneficial effect:

this planer-type multiaxis truss manipulator, through installing a plurality of breathing pipes on two shunt tubes, and install the sucking disc additional at the breathing pipe end, during transport panel, utilize the conveyer pipe to bleed, make the sucking disc adsorb firmly on panel, the main power as panel snatchs the mechanism, then under the extension of biax cylinder, utilize two catch arms to promote two arm lock simultaneously and use the fulcrum seat to rotate as the centre of a circle, thereby let the both sides of two rubber's splint centre gripping panel, as the supplementary transport mechanism of panel, two kinds of snatchs the structure and have both guaranteed to snatch the stability of panel, and simultaneously, still can not cause the loss to panel itself.

Drawings

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

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

fig. 3 is a schematic view of the clamping structure of the present invention.

In the figure: 1 gantry truss, 2 moving sleeves, 3 lifting cylinders, 4 lifting arms, 5 base plates, 6 shunt tubes, 7 air suction pipes, 8 suckers, 9 delivery pipes, 10 crossbearers, 11 movable hanging plates, 12 fixed hanging plates, 13 fulcrum seats, 14 clamping arms, 15 clamping plates, 16 pushing arms, 161 horizontal arms, 162 oblique arms and 17 double-shaft air cylinders.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, a gantry type multi-shaft truss manipulator includes a gantry truss 1, a moving sleeve 2 is slidably mounted on the gantry truss 1, a lifting cylinder 3 is fixedly mounted on a side wall of the moving sleeve 2, a lifting arm 4 is slidably mounted inside the lifting cylinder 3, and a base plate 5 is fixedly mounted at a bottom end of the lifting arm 4.

The common accessories of the gantry truss manipulator in the prior art are adopted in the structure, and the gantry truss manipulator is simple in technology and easy to maintain.

An adsorption mechanism is provided on the substrate 5 for adsorbing the plate.

Referring to fig. 2, the suction mechanism includes two shunt tubes 6 fixedly mounted on the substrate 5, a plurality of suction tubes 7 extending to the bottom of the substrate 5 are fixedly mounted on the two shunt tubes 6 at equal intervals, suction cups 8 are fixedly mounted at the bottom of the suction tubes 7, and delivery tubes 9 are fixedly mounted on the shunt tubes 6.

Wherein, two shunt tubes 6 distribute in the front and back both sides of lifing arm 4, two shunt tubes 6 all with conveyer pipe 9 fixed connection through the connecting pipe.

Referring to fig. 2, a cross frame 10 is fixedly installed on the sidewall of the lifting cylinder 3, a movable hanging plate 11 for passing through the conveying pipe 9 is fixedly installed at the bottom of the cross frame 10, and a fixed hanging plate 12 for fixing the conveying pipe 9 is fixedly installed at the bottom of the cross frame 10 and at one side of the movable hanging plate 11.

The movable hanging plate 11 is a frame plate in the shape of Contraband, the movable hanging plate 11 is in sliding connection with the conveying pipe 9, one end, far away from the shunt pipe 6, of the conveying pipe 9 penetrates through the movable hanging plate 11 to be fixedly connected with the fixed hanging plate 12, a connecting pipe fixedly connected with the conveying pipe 9 is fixedly installed on the other side of the fixed hanging plate 12, and the redundant conveying pipe 9 is lifted through the movable hanging plate 11, so that the conveying pipe is prevented from being rubbed on the ground.

Clamping mechanisms are arranged on two sides of the base plate 5 and used for clamping the plate.

Referring to fig. 3, the clamping mechanism includes pivot seats 13 fixedly installed at both sides of the substrate 1, clamping arms 14 rotatably installed at inner sides of the pivot seats 13, clamping plates 15 fixedly installed at opposite sides of bottom ends of the two clamping arms 14, a biaxial cylinder 17 fixedly installed at a top of the substrate 5, and pushing arms 16 rotatably connected with the clamping arms 14 and fixedly installed at both output ends of the biaxial cylinder 17.

Wherein, fulcrum seat 13 is the triangular seat, and fulcrum seat 13 rotates through axostylus axostyle and arm lock 14 to be connected, after biax cylinder 17 extended, can promote simultaneously and promote catch arm 16, and then let two arm lock 14 use fulcrum seat 13 as the centre of a circle to rotate, thereby accomplish the centre gripping to panel.

Secondly, splint 15 is the rubber slab, has anti-skidding tooth in the equal fixed mounting in two relative one sides of splint 15 simultaneously, adopts flexible adoption can avoid the injury to panel, can also play skid-proof effect simultaneously.

In addition, a top groove is formed at the top end of the clamping arm 14, and a top shaft rotatably connected with the pushing arm 16 is fixedly mounted on the inner wall of the top groove.

Referring to fig. 3, the pushing arm 16 includes a horizontal arm 161 fixedly installed at the output end of the dual-axis cylinder 17, an inclined arm 162 rotatably connected to the top axis is fixedly installed at the other end of the horizontal arm 161, the included angle between the inclined arm 162 and the horizontal plane is between 20 and 30 degrees, and the dual-axis cylinder 17 is located at the center of the top of the substrate 5.

This embodiment is when using, when carrying panel, on moving a lifting cylinder 3 and moving panel by removing cover 2, drive lifting arm 4 through a lifting cylinder 3 afterwards and descend, let sucking disc 8 paste panel, utilize conveyer pipe 9 to bleed afterwards, make sucking disc 8 firmly adsorb on panel, the main power as panel snatchs the mechanism, then under the extension of biax cylinder 17, utilize two pushing arms 16 to promote two arm lock 14 simultaneously and use fulcrum seat 13 to rotate as the centre of a circle, thereby let the both sides of the splint 15 centre gripping panel of two rubbers, as the supplementary transport mechanism of panel, two kinds of structure of snatching both sides have been guaranteed to snatch the stability of panel, and simultaneously, still can not cause the loss to panel itself, afterwards, it rises to utilize a lifting cylinder 3 to drive lifting arm 4, it can to let at last to move cover 2 area panel removal assigned position.

The electrical components shown herein are electrically connected to a main controller and a power supply, the main controller can be a conventional known device controlled by a computer, and the conventional power connection technology disclosed in the prior art is not described in detail herein.

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. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

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 invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a planer-type multiaxis truss manipulator, includes portal truss (1), movable sleeve (2) of slidable mounting on portal truss (1), a lifting cylinder (3) and the inside lifing arm (4) of slidable mounting at a lifting cylinder (3) of fixed mounting on movable sleeve (2), its characterized in that: a base plate (5) is fixedly mounted at the bottom end of the lifting arm (4), an adsorption mechanism is arranged on the base plate (5), and clamping mechanisms are arranged on two sides of the base plate (5);

the adsorption mechanism comprises a shunt tube (6) fixedly arranged on the base plate (5), air suction tubes (7) extending to the bottom of the base plate (5) are fixedly arranged on the shunt tube (6) at equal intervals, suckers (8) are fixedly arranged at the bottom of the air suction tubes (7), and conveying tubes (9) are fixedly arranged on the shunt tube (6);

fixture includes fulcrum seat (13) of fixed mounting in base plate (5) both sides, the inboard of fulcrum seat (13) is rotated and is installed arm lock (14), two the equal fixed mounting in one side relatively of arm lock (14) bottom has splint (15), the top fixed mounting of base plate (5) has biax cylinder (17), two equal fixed mounting of output of biax cylinder (17) have with arm lock (14) rotate catch arm (16) of being connected.

2. The gantry-type multi-axis truss robot of claim 1, wherein: the side wall fixed mounting of a lift section of thick bamboo (3) has crossbearer (10), and the bottom fixed mounting of crossbearer (10) has movable hanger plate (11) that are used for passing conveyer pipe (9), and the bottom of crossbearer (10) just is located one side fixed mounting of movable hanger plate (11) has fixed hanger plate (12) that are used for fixed conveyer pipe (9).

3. The gantry-type multi-axis truss robot of claim 1, wherein: shunt tubes (6) are provided with two, and two shunt tubes (6) distribute in the front and back both sides of lifing arm (4), and two shunt tubes (6) all with conveyer pipe (9) fixed connection through the connecting pipe.

4. The gantry-type multi-axis truss robot of claim 2, wherein: the movable hanging plate (11) is a Contraband-shaped frame plate, the movable hanging plate (11) is in sliding connection with the conveying pipe (9), one end, far away from the shunt pipe (6), of the conveying pipe (9) penetrates through the movable hanging plate (11) to be fixedly connected with the fixed hanging plate (12), and a connecting pipe fixedly connected with the conveying pipe (9) is fixedly installed on the other side of the fixed hanging plate (12).

5. The gantry-type multi-axis truss robot of claim 1, wherein: the supporting point seat (13) is a triangular seat, the supporting point seat (13) is rotatably connected with the clamping arm (14) through a shaft rod, the clamping plate (15) is a rubber plate, anti-skidding teeth are fixedly mounted on one opposite sides of the two clamping plates (15), a top groove is formed in the top end of the clamping arm (14), and a top shaft rotatably connected with the pushing arm (16) is fixedly mounted on the inner wall of the top groove.

6. The gantry-type multi-axis truss robot of claim 5, wherein: the push arm (16) comprises a horizontal arm (161) fixedly installed at the output end of the double-shaft air cylinder (17), the other end of the horizontal arm (161) is fixedly installed with an inclined arm (162) rotatably connected with the top shaft, and the double-shaft air cylinder (17) is located in the center of the top of the base plate (5).

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