CN218891881U

CN218891881U - Movable truss manipulator

Info

Publication number: CN218891881U
Application number: CN202320090245.2U
Authority: CN
Inventors: 陈曦
Original assignee: Beijing Zhonghai Xingda Construction Co ltd
Current assignee: Beijing Zhonghai Xingda Construction Co ltd
Priority date: 2023-01-31
Filing date: 2023-01-31
Publication date: 2023-04-21
Anticipated expiration: 2033-01-31

Abstract

The utility model provides a movable truss manipulator, which relates to the technical field of manipulators and comprises a door-shaped frame, a three-dimensional moving assembly, a truss moving assembly and a manipulator; the door-shaped frame comprises a cross beam and upright posts connected with two ends of the cross beam; the three-dimensional moving assembly is arranged on the door-shaped frame; the truss moving assembly is arranged at the bottom of the upright post; the manipulator is arranged on the three-dimensional moving assembly and used for grabbing a workpiece. According to the utility model, the truss moving assembly is powered by the driving motor to drive the screw rod to rotate, so that the universal wheel jacks up the truss, and the truss is separated from the ground, so that the whole device has a moving function, and a worker can conveniently push the device and adjust a working area.

Description

Movable truss manipulator

Technical Field

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

Background

Truss manipulators are commonly used for connecting a stock bin and a machine tool, and are industrial equipment which is established on the basis of a rectangular X, Y and Z three-coordinate system and is used for adjusting work stations of workpieces or realizing functions such as track movement of the workpieces. At present, the whole frame of the existing truss manipulator is fixed, is usually in threaded connection with the ground, lacks a moving function, and is inconvenient for workers to move and adjust a working area.

Disclosure of Invention

The utility model aims to provide a movable truss manipulator which aims to solve the problems. In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the application provides a movable truss manipulator which comprises a door-shaped frame, a three-dimensional moving assembly, a truss moving assembly and a manipulator; the door-shaped frame comprises a cross beam and upright posts connected with two ends of the cross beam; the three-dimensional moving assembly is arranged on the door-shaped frame and can move in parallel on rectangular X, Y and Z coordinates; the truss moving assembly is arranged at the bottom of the upright post and used for moving the whole device; the manipulator is arranged on the three-dimensional moving assembly and used for grabbing a workpiece.

Further, the truss moving assembly comprises a truss driving motor, a screw rod, a second polished rod, a sliding block, universal wheels, a driving cross rod and a driving block; the truss driving motor output shaft is connected with the upper end of a screw rod, the lower end of the screw rod is connected with the bottom surface of the upright post, the screw rod is provided with external threads, the driving block is in threaded connection with the screw rod, and the driving block is fixedly connected with the driving cross rod; the sliding blocks are symmetrically arranged at two ends of the driving cross rod; the upper end of the second polish rod is connected with the upright post, and the lower end of the second polish rod penetrates through the sliding block; the sliding block is in sliding fit with the second polished rod and the driving cross rod; the universal wheel is arranged at the bottom of the sliding block.

Further, the three-dimensional moving assembly comprises an X-axis moving assembly, a Y-axis moving assembly and a Z-axis moving assembly; the Z-axis moving assembly is arranged on the cross beam; the Y-axis moving assembly is parallel to the cross beam, and the top of the Y-axis moving assembly is connected with the bottom of the Z-axis moving assembly; the X-axis moving assembly is perpendicular to the Y-axis moving assembly and is connected with the bottom of the Y-axis moving assembly.

Further, the X-axis moving assembly comprises an X-axis sliding rail, an X-axis driving motor is arranged at one end of the X-axis sliding rail, and X-axis limiters are respectively arranged at two ends of the X-axis sliding rail.

Further, the X-axis limiter comprises a connecting seat, a metal sheet, an induction joint and a fixing column; the connecting seat is arranged on the X-axis sliding rail and slides along the X-axis sliding rail; the side surface of the connecting seat is provided with a metal sheet, and the induction joint is fixed in a chute on the side surface of the X-axis sliding rail through a fixed column; when the connecting seat slides to the two ends of the X-axis sliding rail, the end part of the metal sheet, which is far away from the connecting seat, passes through the induction joint.

Further, the X-axis driving motor adopts a servo motor.

Further, the X-axis driving motor is fixedly connected with the X-axis sliding rail through a coupler.

Further, the Y-axis moving assembly structure is identical to the X-axis moving assembly structure, the Y-axis moving assembly structure comprises a Y-axis sliding rail, a Y-axis driving motor is arranged at one end of the Y-axis sliding rail, Y-axis limiters are respectively arranged at two ends of the Y-axis sliding rail, and the Y-axis limiters are identical to the X-axis limiters in structure.

Further, the Z-axis moving assembly comprises a Z-axis driving cylinder and linear bearings, wherein the Z-axis driving cylinder is arranged in the middle of the cross beam, the linear bearings are symmetrically and vertically arranged at two ends of the cross beam relative to the Z-axis driving cylinder, the linear bearings are connected with a first polished rod, an output shaft of the first polished rod and an output shaft of the Z-axis driving cylinder penetrate through the cross beam, and the bottom of the first polished rod is parallel to the bottom of the output shaft of the Z-axis driving cylinder.

Further, the manipulator comprises an air cylinder driving module and clamping modules connected with two ends of the air cylinder driving module, and the top of the air cylinder driving module is connected with the bottom of the X-axis sliding rail.

The beneficial effects of the utility model are as follows:

according to the utility model, the truss moving assembly is powered by the driving motor to drive the screw rod to rotate, so that the universal wheel jacks up the truss, the whole device has a moving function, and the device is convenient for a worker to push and adjust a working area. The manipulator has the function of moving in the X-axis, Y-axis and Z-axis directions through the three-dimensional moving assembly.

Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the utility model. The objectives and other advantages of the utility model will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of a truss movement assembly according to the present utility model;

FIG. 3 is a schematic view of the structure of the X-axis moving assembly, Y-axis moving assembly and Z-axis moving assembly of the present utility model;

FIG. 4 is a schematic view of a stopper according to the present utility model;

FIG. 5 is a schematic view of a retainer installation of the present utility model;

fig. 6 is a schematic view of the structure of the manipulator according to the present utility model.

The marks in the figure: 100. an X-axis moving assembly; 101. a chute; 200. a Y-axis moving assembly; 300. a Z-axis movement assembly; 400. a truss movement assembly; 500. a manipulator; 600. a column; 700. a cross beam;

110. an X-axis driving motor; 120. an X-axis limiter; 121. a connecting seat; 122. a metal sheet; 123. an induction joint; 124. fixing the column;

210. a Y-axis driving motor; 220. a Y-axis limiter;

310. a Z-axis driving cylinder; 320. a first polish rod; 330. a linear bearing;

401. a truss driving motor; 402. a screw; 403. a second polish rod; 404. a slide block; 405. a universal wheel; 406. a drive rail; 407. a driving block;

510. a cylinder driving module; 520. and clamping the module.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present utility model, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

Embodiment one:

as shown in fig. 1, the present embodiment provides a mobile truss manipulator including a door-type frame, a three-dimensional moving assembly, a truss moving assembly 400, and a manipulator 500; the door frame comprises a cross beam 700 and upright posts 600 connected with two ends of the cross beam 700; the three-dimensional moving assembly is arranged on the door-shaped frame; the truss movement assembly 400 is disposed at the bottom of the column 600; the manipulator 500 is disposed on the three-dimensional moving assembly, and is used for gripping a workpiece.

As shown in fig. 2, the truss moving assembly 400 includes a truss driving motor 401, a screw 402, a second polished rod 403, a slider 404, a universal wheel 405, a driving cross bar 406, and a driving block 407; the truss driving motor 401 is connected with the upper end of the screw 402 through an output shaft, the lower end of the screw 402 is connected with the bottom surface of the upright post 600, the bottom surface of the upright post 600 is usually connected with the ground through threads, the screw 402 is provided with external threads, the driving block 407 is in threaded connection with the screw 402, and the driving block 407 is fixedly connected with the driving cross rod 406; the sliding blocks 404 are symmetrically arranged at two ends of the driving cross bar 406; the upper end of the second polish rod 403 is connected with a stand column 600, and the lower end penetrates through the sliding block 404; the sliding block 404 is in sliding fit with the second polished rod 403 and the driving cross bar 406; the universal wheel 405 is arranged at the bottom of the slider 404.

At least one truss movement assembly 400 is mounted to each of the columns 600. The truss movement assembly 400 works according to the following principle: when the truss is not required to be moved, the driving block 407 is located at an upper position of the screw 402, and the universal wheel 405 is located at a certain distance from the ground and does not contact the ground. When the truss needs to be moved, firstly, the screw connected with the bottom surface of the upright post 600 and the ground is taken down, the truss driving motor 401 is started, the output shaft of the truss driving motor 401 drives the screw 402 to rotate, the screw 402 drives the driving block 407 to move downwards, and the driving block 407 drives the connected driving cross rod 406 to move downwards, so that the universal wheel 405 gradually approaches the ground, and when the driving block 407 moves to the position that the universal wheel 405 just contacts the ground, the truss driving motor 401 continues to rotate until the driving block 407 is positioned at the outer thread at the lower end of the screw 402, the universal wheel 405 jacks up the truss, the truss driving motor 401 is stopped, and a worker pushes the truss to adjust a working area.

As shown in fig. 3, the three-dimensional moving assembly includes an X-axis moving assembly 100, a Y-axis moving assembly 200, and a Z-axis moving assembly 300; the Z-axis moving assembly 300 is disposed on the cross beam 700; the Y-axis moving assembly 200 is parallel to the cross beam 700, and the top is connected with the bottom of the Z-axis moving assembly 300; the X-axis moving assembly 100 is perpendicular to the Y-axis moving assembly 200 and is connected to the bottom of the Y-axis moving assembly 200.

The X-axis moving assembly 100 comprises an X-axis sliding rail, an X-axis driving motor 110 is arranged at one end of the X-axis sliding rail, and X-axis limiters 120 are respectively arranged at two ends of the X-axis sliding rail.

The X-axis driving motor 110 adopts a servo motor, and has a positioning function.

The X-axis driving motor 110 is fixedly connected with the X-axis sliding rail through a coupling.

The Y-axis moving assembly 200 has the same structure as the X-axis limiter 120, and includes a Y-axis sliding rail, a Y-axis driving motor 210, and a Y-axis limiter 220, where the Y-axis sliding rail is parallel to the cross beam 700 and perpendicular to the X-axis sliding rail.

The Z-axis moving assembly 300 comprises a Z-axis driving cylinder 310 and linear bearings 330, wherein the Z-axis driving cylinder 310 is vertically arranged in the middle of the cross beam 700, the linear bearings 330 are symmetrically and vertically arranged at two ends of the cross beam 700, the linear bearings 330 are connected with a first polished rod 320, output shafts of the first polished rod 320 and the Z-axis driving cylinder 310 penetrate through the cross beam 700, the bottoms of the first polished rod 320 and the bottoms of output shafts of the Z-axis driving cylinder 310 are parallel, the Z-axis driving cylinder 310 is used for driving an X-axis sliding rail and a Y-axis sliding rail to move in the Z-axis direction, and the linear bearings 330 and the first polished rod 320 are used for guaranteeing parallelism of the Y-axis sliding rail.

As shown in fig. 4 and 5, the X-axis limiter 120 includes a connecting base 121, a metal plate 122, an induction joint 123, and a fixing post 124; the connecting seat 121 is arranged on the X-axis sliding rail and slides along the X-axis sliding rail; the side surface of the connecting seat 121 is provided with a metal sheet 122, and the induction joint 123 is fixed in the chute 101 on the side surface of the X-axis sliding rail through a fixing column 124; when the connecting seat 121 slides to the two ends of the X-axis sliding rail, the end part of the metal sheet 122, which is far away from the connecting seat 121, passes through the sensing joint 123, and the sensing joint 123 sends out an overtravel signal. The Y-axis limiter 220 has the same structure as the X-axis limiter 120.

As shown in fig. 6, the manipulator 500 includes a cylinder driving module 510 and a clamping module 520 connected to two ends of the cylinder driving module, wherein the top of the cylinder driving module 510 is connected to the bottom of the X-axis slide rail. The shape of the clamping module 520 is adjusted according to the field requirement. The clamping module 520 of fig. 1 and 2 is used to grasp a workpiece having a rectangular cross section, and the clamping module 520 of fig. 6 is used to grasp a workpiece having a circular cross section.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims

1. A mobile truss manipulator, comprising:

the door-shaped frame comprises a cross beam (700) and upright posts (600) connected with two ends of the cross beam (700);

the three-dimensional moving assembly is arranged on the door-shaped frame;

a truss movement assembly (400), the truss movement assembly (400) being disposed at the bottom of the column (600);

and the manipulator (500), the manipulator (500) is set up on the three-dimensional moving assembly.

2. The mobile truss manipulator of claim 1, wherein: the truss moving assembly (400) comprises a truss driving motor (401), a screw (402), a second polished rod (403), a sliding block (404), universal wheels (405), a driving cross rod (406) and a driving block (407); the truss driving motor (401) is connected with the upper end of the screw rod (402), the lower end of the screw rod (402) is connected with the bottom surface of the upright post (600), the screw rod (402) is provided with external threads, the driving block (407) is in threaded connection with the screw rod (402), and the driving block (407) is fixedly connected with the driving cross rod (406); the sliding blocks (404) are symmetrically arranged at two ends of the driving cross rod (406); the upper end of the second polished rod (403) is connected with an upright post (600), and the lower end of the second polished rod penetrates through the sliding block (404); the sliding block (404) is in sliding fit with the second polished rod (403) and the driving cross rod (406); the universal wheel (405) is arranged at the bottom of the sliding block (404).

3. The mobile truss manipulator of claim 1, wherein: the three-dimensional moving assembly comprises an X-axis moving assembly (100), a Y-axis moving assembly (200) and a Z-axis moving assembly (300); the Z-axis moving assembly (300) is arranged on the cross beam (700); the Y-axis moving assembly (200) is parallel to the cross beam (700), and the top of the Y-axis moving assembly is connected with the bottom of the Z-axis moving assembly (300); the X-axis moving assembly (100) is perpendicular to the Y-axis moving assembly (200) and is connected with the bottom of the Y-axis moving assembly (200).

4. A mobile truss manipulator as defined in claim 3 wherein: the X-axis moving assembly (100) comprises an X-axis sliding rail, an X-axis driving motor (110) is arranged at one end of the X-axis sliding rail, and X-axis limiters (120) are respectively arranged at two ends of the X-axis sliding rail.

5. A mobile truss manipulator as defined in claim 3 wherein: the Y-axis moving assembly (200) comprises a Y-axis sliding rail, a Y-axis driving motor (210) is arranged at one end of the Y-axis sliding rail, and Y-axis limiters (220) are respectively arranged at two ends of the Y-axis sliding rail.

6. A mobile truss manipulator as defined in claim 3 wherein: the Z-axis moving assembly (300) comprises a Z-axis driving cylinder (310) and linear bearings (330), wherein the Z-axis driving cylinder (310) is arranged in the middle of the cross beam (700), the linear bearings (330) are symmetrically and vertically arranged at two ends of the cross beam (700) relative to the Z-axis driving cylinder (310), the linear bearings (330) are connected with a first polished rod (320), an output shaft of the first polished rod (320) and an output shaft of the Z-axis driving cylinder (310) penetrate through the cross beam (700), and the bottom of the first polished rod (320) is parallel to the bottom of the output shaft of the Z-axis driving cylinder (310).

7. The mobile truss manipulator of claim 4 wherein: the X-axis limiter (120) comprises a connecting seat (121), a metal sheet (122), an induction joint (123) and a fixing column (124); the connecting seat (121) is arranged on the X-axis sliding rail and slides along the X-axis sliding rail; the side surface of the connecting seat (121) is provided with a metal sheet (122), and the induction joint (123) is fixed in the chute (101) on the side surface of the X-axis sliding rail through a fixing column (124); when the connecting seat (121) slides to two ends of the X-axis sliding rail, the end part, far away from the connecting seat (121), of the metal sheet (122) penetrates through the induction joint (123).

8. The mobile truss manipulator of claim 4 wherein: the manipulator (500) comprises an air cylinder driving module (510) and clamping modules (520) connected with two ends of the air cylinder driving module, and the top of the air cylinder driving module (510) is connected with the bottom of the X-axis sliding rail.

9. The mobile truss manipulator of claim 4 wherein: the X-axis driving motor (110) adopts a servo motor.

10. The mobile truss manipulator of claim 4 wherein: the X-axis driving motor (110) is fixedly connected with the X-axis sliding rail through a coupler.