CN219617774U - Truss manipulator - Google Patents

Abstract

The utility model relates to cylinder conveying equipment, and specifically discloses a truss manipulator, comprising an X-axis system assembly, a linear slide rail arranged on the X-axis system assembly, a sliding plate assembly slidingly connected with the linear slide rail, a connecting The Y-axis system assembly on the slide plate assembly, the Z-axis lifting arm that is connected to the end of the Y-axis system assembly away from the slide plate assembly and can move in the up and down direction, and the Z-axis lifting arm that is connected to the lower end of the Z-axis lifting arm The servo single-arm gripper mechanism, the servo single-arm gripper mechanism includes the clamp body assembly, which is equipped with a left-right symmetrical jaw assembly, a clamp screw assembly, and a clamp drive assembly connected to the clamp screw assembly. The clamp drive The assembly can drive the clamp screw assembly to rotate, and drive the jaw assembly to move, so as to be able to clamp and release the barrel. The truss manipulator of the utility model has the advantages of simple structure, convenient operation and good use effect.

Description

Truss manipulator

technical field

The utility model relates to a cylinder body processing production line, in particular to a truss manipulator.

Background technique

The cylinder body of the structural part of the pump truck chassis is welded by bending the sheet metal. The structure of the cylinder body 11 is shown in Figure 1. The butt weld of 11 is double-sided groove welding, and structures such as gaps, round holes, and waist-shaped holes on the cylinder body 11 are cut and formed after the cylinder main body is formed. The welded cylinder body 11 needs to be hoisted to the cylinder flanging machine station for the next step, while the existing lifting tools for the cylinder body 11 not only need to lift the cylinder body 11 The auxiliary operation is performed manually, and the lifting efficiency of the lifting tool itself is also very low, which affects the overall processing efficiency of the cylindrical body 11 .

In view of this, it is necessary to design a truss manipulator to solve or overcome the above technical problems.

Utility model content

The technical problem to be solved by the utility model is to provide a truss manipulator, which can conveniently carry the barrel, reduce manual work, be convenient to operate, and have good use effect.

In order to solve the above-mentioned technical problems, the utility model provides a truss manipulator, including an X-axis system assembly, a linear slide rail arranged on the X-axis system assembly, and a slide assembly slidingly connected to the linear slide rail , a Y-axis system assembly connected to the slide assembly, a Z-axis lifting arm connected to one end of the Y-axis system assembly away from the slide assembly and capable of moving in the up and down direction, and a connection The servo single-arm gripper mechanism at the lower end of the Z-axis lifting arm, the servo single-arm gripper mechanism includes a gripper body assembly, and the gripper body assembly is provided with a left-right symmetrical gripper jaw assembly, a gripper screw assembly and A clamp drive assembly connected to the clamp screw assembly, the clamp drive assembly can drive the clamp screw assembly to rotate, and drive the jaw assembly to move, so as to be able to clamp and release the barrel.

As a preferred embodiment of the present invention, the clamp body assembly is formed as a box structure, including a plurality of interconnected connecting rods and a clamping jaw assembly mounting plate fixedly connected to the connecting rods.

Preferably, the jaw assembly includes a left jaw and a right jaw, both of the left jaw and the right jaw are formed as an L-shaped arm structure, and the free ends of the two L-shaped arm structures are oppositely arranged .

As another preferred embodiment of the present invention, the clamp screw assembly includes a first screw, an intermediate shaft, and a second screw, and between the first screw and the intermediate shaft, the second screw A coupling shaft is provided between the rod and the intermediate shaft, bearing seat assemblies are provided at both ends of the intermediate shaft, the end of the first screw rod away from the coupling shaft and the end of the second screw rod away from One end of the coupling shaft is provided with a screw support seat and a screw nut support seat.

More preferably, a synchronous pulley is provided between one of the bearing seat assemblies and the coupling shaft.

Further preferably, both the first threaded rod and the second threaded rod are threadedly connected with clamping jaw mounting seats.

Still further preferably, the first screw rod is a left-handed screw rod, and the second screw rod is a right-handed screw rod.

As a specific structural form of the present invention, the servo single-arm gripper mechanism also includes a shield, the clamp drive assembly is arranged on the upper part of the shield, and the jaw assembly is arranged on the shield In the lower part, the clamp body assembly and the clamp screw assembly are arranged inside the shield.

As another specific structural form of the present invention, a cylinder fixing assembly is also provided between the Z-axis lifting arm and the servo single-arm gripper mechanism.

As yet another specific structural form of the present invention, one end of the X-axis system assembly is hinged to an equipment maintenance platform, and the lower part of the X-axis system assembly is also connected to a plurality of columns.

Through the above technical solution, the truss manipulator of the present invention includes an X-axis system assembly, a linear slide rail arranged on the X-axis system assembly, a slide assembly slidingly connected to the linear slide rail, and a sliding plate assembly connected to the X-axis system assembly. The Y-axis system assembly on the slide plate assembly, the Z-axis lifting arm connected to the end of the Y-axis system assembly away from the slide plate assembly and capable of moving up and down, and the Z-axis lift arm connected to the Z The servo single-arm gripper mechanism at the lower end of the shaft lifting arm, the servo single-arm gripper mechanism includes a clamp body assembly, and the gripper body assembly is provided with left and right symmetrical jaw assemblies, clamp screw rod assemblies and clamps The clamp drive assembly connected with the screw assembly can drive the clamp screw assembly to rotate, and drive the jaw assembly to move, so as to be able to clamp and release the barrel. The truss manipulator of the utility model is provided with a linear slide rail on the X-axis system assembly, and the slide plate assembly is slidably connected to the linear slide rail. The slide plate assembly is provided with a Y-axis system assembly, and the Y-axis system assembly The other end of the Z-axis lifting arm is set, and the lower end of the Z-axis lifting arm is set with a servo single-arm gripper mechanism, so that the movement of the servo single-arm gripper mechanism in the X direction can be realized through the slide plate assembly, and the Z-axis lifting arm can Realize the movement of the servo single-arm gripper mechanism in the Z direction, the servo single-arm gripper mechanism can hold the cylinder body, so as to meet the movement of the cylinder body in the X direction and Z direction, the structure is simple, and the use effect good.

Other advantages of the present utility model and technical effects of preferred embodiments will be further described in the specific embodiments below.

Description of drawings

Fig. 1 is a schematic structural view of a typical structure of a cylinder body;

Fig. 2 is a schematic structural view of a specific embodiment of the truss manipulator of the present invention;

Fig. 3 is a top view of the truss manipulator shown in Fig. 2;

Fig. 4 is the left view of the truss manipulator shown in Fig. 2;

Fig. 5 is a structural schematic diagram of a specific embodiment of the servo single-arm gripper mechanism in the truss manipulator of the present invention;

Fig. 6 is a bottom view of the servo single-arm gripper mechanism shown in Fig. 5;

Fig. 7 is a structural schematic diagram of a specific embodiment of the clamp screw assembly in the truss manipulator of the present invention.

Explanation of reference signs

1X axis system assembly 2 Linear slide rail

3 slide plate assembly 4Y axis system assembly

5Z-axis lifting arm 6Servo single-arm gripper mechanism

601 clamp body assembly 602 jaw assembly

603 clamp screw assembly 6031 first screw

6032 intermediate shaft 6033 second screw rod

6034 coupling shaft 6035 bearing seat assembly

6036 screw nut support seat 6037 screw support seat

6038 synchronous pulley 6039 jaw mount

604 fixture drive assembly 605 shield

7 maintenance platform 8 columns

9 Dust removal mechanism 10 Cylinder fixed assembly

11 cylinder body

Detailed ways

The specific embodiment of the utility model will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the utility model, and are not intended to limit the utility model.

In the description of the present utility model, it should be noted that unless otherwise specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or It is an integral connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model according to specific situations.

As shown in Figures 2 to 4, the utility model provides a truss manipulator, including an X-axis system assembly 1, a linear slide rail 2 arranged on the X-axis system assembly 1, and the linear slide rail 2 Slidingly connected slider assembly 3, Y-axis system assembly 4 connected to the slider assembly 3, connected to one end of the Y-axis system assembly 4 away from the slider assembly 3 and capable of The Z-axis lifting arm 5 moving along the up and down direction and the servo single-arm gripper mechanism 6 connected to the lower end of the Z-axis lifting arm 5, the servo single-arm gripper mechanism 6 includes a clamp body assembly 601, the clamp The specific assembly 601 is provided with a left-right symmetrical jaw assembly 602, a clamp screw assembly 603, and a clamp drive assembly 604 connected to the clamp screw assembly 603, and the clamp drive assembly 604 can drive the clamp screw. The assembly 603 rotates and drives the clamping jaw assembly 602 to move so as to be able to clamp and release the barrel.

The truss manipulator of the utility model is mainly used to transport the cylinder body 11 to the welding robot workstation after the sheet material is rolled, and use the servo single-arm gripper mechanism 6 to clamp the cylinder after the cylinder body 11 is welded. Cylinder 11, and put the cylindrical cylinder 11 on the transfer trolley, and transport it to the cylinder flanging machine station by the transfer trolley for the next step.

As mentioned above, the truss manipulator of the present invention includes an X-axis system assembly 1, a linear slide rail 2 arranged on the X-axis system assembly 1, and a slide plate assembly 3 slidingly connected to the linear slide rail 2. Typically, The slide plate assembly 3 may include a slide plate, a slide plate drive assembly that drives the slide plate to slide along the linear slide rail 2, a tensioning mechanism assembly, a limit block and a drag chain support assembly, and the tension mechanism assembly passes through the limit block The rotation of the slide drive assembly is limited to adjust the gear gap in the slide drive assembly. Cables, air pipes, oil pipes and other components can be arranged in the drag chain support assembly to play a role in traction and protection.

It should be noted that moving in the X direction and moving in the Z direction refers to reciprocating motion in the X direction and the Z direction. The Y-axis system assembly 4 of the utility model is fixedly connected to the slide assembly 3 and moves with the slide assembly 3F, but generally does not move in the Y direction. In addition, the X direction of the present invention refers to the direction along the length direction of the X-axis system assembly, and the Y direction refers to the direction along the length direction of the Y-axis system assembly, on the horizontal plane or parallel to the horizontal plane The direction perpendicular to the X direction on the surface, and the Z direction refer to the up and down direction.

The jaw assembly 602 of the servo single-arm gripper mechanism 6 is driven by the clamp screw assembly 603 and moves relatively along the clamp screw assembly 603, and can move closer or farther away from each other, thereby being able to clamp the cylindrical body 11 or put it away. Open the cylinder body 11.

As a preferred embodiment of the present utility model, as shown in Figure 5 and Figure 6, the clamp body assembly 601 is formed as a box structure, including a plurality of interconnected connecting rods and fixedly connected on the connecting rods Gripper assembly mounting plate. The box structure can not only meet the installation requirements, but also reduce the overall weight of the servo single-arm gripper mechanism 6 to a certain extent, and has a simple structure and low production cost.

As another preferred embodiment of the present utility model, the jaw assembly 602 includes a left jaw and a right jaw, both of the left jaw and the right jaw are formed into an L-shaped arm structure, and the two The free ends of the L-shaped arm structure are arranged opposite to each other.

It is conceivable that, in order not to cause damage to the cylindrical body 11 when clamping the cylindrical body 11, and to increase the frictional force between the jaw assembly 602 and the cylindrical body 11, the gripper assembly 602 An anti-slip structure is provided on the surface abutting against the cylindrical body 11 to increase the frictional force and avoid scratching the surface of the cylindrical body 11 .

As another preferred embodiment of the present invention, the clamp screw assembly 603 includes a first screw 6031 , an intermediate shaft 6032 and a second screw 6033 , between the first screw 6031 and the intermediate shaft 6032 1. A coupling shaft 6034 is provided between the second screw rod 6033 and the intermediate shaft 6032, bearing seat assemblies 6035 are provided at both ends of the intermediate shaft 6032, and the first screw rod 6031 is far away from the coupling One end of the shaft 6034 and the end of the second screw 6033 away from the coupling shaft 6034 are provided with a screw support seat 6037 and a screw nut support seat 6036 .

As shown in Figure 7, a coupling shaft 6034 is connected between the first screw mandrel 6031 and the intermediate shaft 6032, and a coupling shaft 6034 is also connected between the second screw mandrel 6033 and the intermediate shaft 6032, both the first screw mandrel 6031, The second screw rod 6033 and the intermediate shaft 6032 are connected to each other and do not affect the mutual rotation of the three shafts. The ends of the first screw 6031 and the second screw 6033 are provided with a screw support 6037 and a screw nut support 6036 for fixing the free ends of the first screw 6031 and the second screw 6033 .

Preferably, a synchronous pulley 6038 is provided between one of the bearing seat assemblies 6035 and the coupling shaft 6034, and a synchronous belt is also connected to the synchronous pulley 6038.

Further preferably, both the first threaded rod 6031 and the second threaded rod 6033 are threadedly connected with a clamping jaw installation seat 6039 .

The jaw mounting seat 6039 on the first screw mandrel 6031 and the jaw mounting seat 6039 on the second screw mandrel 6033 correspond to the left jaw and the right jaw of the jaw assembly 602 respectively, and the jaw mounting seat 6039 and the first Both the screw mandrel 6031 and the second screw mandrel 6033 are threadedly connected, so that during the rotation process of the first screw mandrel 6031 and the second screw mandrel 6033, the jaw mounting base 6039 can move along the first screw mandrel 6031 and the second screw mandrel 6033. The central axis of the screw rod 6033 moves linearly, thereby driving the left and right jaws to move.

More preferably, the first screw rod 6031 is a left-handed screw rod, and the second screw rod 6033 is a right-handed screw rod, so that the left jaw and the right jaw can be formed to move relative to each other, and can move forward or backward toward each other. Therefore, it is possible to clamp the cylindrical body 11 or loosen the cylindrical body 11 .

As a specific structural form of the present invention, the servo single-arm gripper mechanism 6 also includes a shield 605, the clamp driving assembly 604 is arranged on the upper part of the shield 605, and the clamping jaw assembly 602 is arranged on The lower part of the shield 605 , the clamp body assembly 601 and the clamp screw assembly 603 are arranged inside the shield 605 .

As another specific structural form of the present invention, a cylinder fixing assembly 10 is further provided between the Z-axis lifting arm 5 and the servo single-arm gripper mechanism 6 . Through the action of the cylinder fixing assembly 10, it is possible to prevent the cylindrical body 11 from falling due to unexpected causes during the process of the servo single-arm gripper mechanism 6 grasping and moving the cylindrical body 11, and the reliability is higher.

As yet another specific structural form of the utility model, one end of the X-axis system assembly 1 is also hinged with an equipment maintenance platform 7, and the other end is provided with a dust removal mechanism 9, and the lower part of the X-axis system assembly 1 is also connected with a A plurality of columns 8 .

The truss manipulator of the utility model has the following advantages:

First, the truss manipulator of the utility model utilizes the linear slide rail 2 provided on the X-axis system assembly 1, and the slide plate assembly 3 is slidingly connected with the linear slide rail 2, so that the slide plate assembly 3 can slide along the linear The rail 2 reciprocates, and the slide plate assembly 3 is provided with a Y-axis system assembly 4, and the end of the Y-axis system assembly 4 is connected with a Z-axis lifting arm 5, and the Z-axis lifting arm 5 can move up and down along the Z direction. Reciprocating motion, and then make the servo single-arm gripper mechanism 6 reciprocate up and down along the Z direction, by controlling the jaw assembly 602, clamping or releasing the cylindrical body 11, so that the truss manipulator of the present utility model moves on the cylindrical body 11 After the welding is completed, the cylinder body 11 is transported to the station of the cylinder flanging machine for the next step. The structure is simple, the operation is convenient, and the use effect is good.

Second, the Z-axis lifting arm 5 is also provided with a cylinder fixing assembly 10 to ensure that the cylindrical body 11 is prevented from falling due to unexpected reasons during the transportation of the cylindrical body 11 .

It can be seen from the above description that the truss manipulator of the present invention includes an X-axis system assembly 1, a linear slide rail 2 arranged on the X-axis system assembly 1, and a slide plate slidingly connected with the linear slide rail 2 Assembly 3, the Y-axis system assembly 4 connected to the slide assembly 3, connected to the end of the Y-axis system assembly 4 away from the slide assembly 3 and capable of moving in the up and down direction The Z-axis lifting arm 5 and the servo single-arm gripper mechanism 6 connected to the lower end of the Z-axis lifting arm 5, the servo single-arm gripper mechanism 6 includes a clamp body assembly 601, and the clamp body assembly 601 is provided with There are left-right symmetrical jaw assembly 602, clamp screw assembly 603 and clamp drive assembly 604 connected with the clamp screw assembly 603, the clamp drive assembly 604 can drive the clamp screw assembly 603 to rotate, and The jaw assembly 602 is driven to move so as to be able to clamp and release the barrel. In addition, the other end of the Y-axis system assembly 4 is provided with a Z-axis lifting arm 5, and the lower end of the Z-axis lifting arm 5 is fixedly connected with a servo single-arm gripper mechanism 6, and the jaw assembly 602 of the servo single-arm gripper mechanism 6 can Tighten or expand, so that the cylinder body 11 can be clamped or released, and the slide plate 301 is driven to reciprocate in the X direction through the X-axis drive mechanism 302, and the Z-axis lifting arm 5 is driven to move in the Z direction through the Z-axis drive assembly. Direction reciprocating movement, and then meet the operation requirements of the servo single-arm gripper mechanism 6 to carry the cylinder body 11, the structure is simple, the operation is convenient, and the use effect is good.

The preferred embodiment of the utility model has been described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the specific details of the above-mentioned embodiment, and within the scope of the technical concept of the utility model, the technical solution of the utility model can be carried out in many ways. These simple modifications all belong to the protection scope of the present utility model.

In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way if there is no contradiction. The combination method will not be explained separately.

In addition, any combination of various implementations of the present invention can also be made, as long as they do not violate the idea of the present invention, they should also be regarded as the disclosed content of the present invention.

Claims (10)

1. A truss manipulator, characterized in that it comprises an X-axis system assembly (1), a linear slide rail (2) arranged on the X-axis system assembly (1), and the linear slide rail (2) ) slide-connected slide assembly (3), the Y-axis system assembly (4) connected to the slide assembly (3), the Y-axis system assembly (4) connected to the One end of the slide plate assembly (3) and the Z-axis lifting arm (5) that can move in the up and down direction and the servo single-arm gripper mechanism (6) connected to the lower end of the Z-axis lifting arm (5), the The servo single-arm gripper mechanism (6) includes a clamp body assembly (601), and the clamp body assembly (601) is provided with left and right symmetrical jaw assemblies (602), clamp screw rod assemblies (603) and the The clamp driving assembly (604) connected to the clamp screw assembly (603), the clamp drive assembly (604) can drive the clamp screw assembly (603) to rotate, and drive the clamping jaw assembly (602) to move , to be able to clamp and release the cylinder. 2. The truss manipulator according to claim 1, characterized in that, the clamp body assembly (601) is formed as a box structure, comprising a plurality of interconnected connecting rods and clamps fixedly connected to the connecting rods Jaw assembly mounting plate. 3. The truss manipulator according to claim 1, wherein the jaw assembly (602) comprises a left jaw and a right jaw, and both the left jaw and the right jaw are formed as L-shaped arms structure, and the free ends of the two L-shaped arm structures face each other. 4. The truss robot according to claim 1, characterized in that, the clamp screw assembly (603) comprises a first screw (6031), an intermediate shaft (6032) and a second screw (6033), the A coupling shaft (6034) is provided between the first screw mandrel (6031) and the intermediate shaft (6032), and between the second screw mandrel (6033) and the intermediate shaft (6032), and the intermediate shaft The two ends of (6032) are provided with a bearing seat assembly (6035), the end of the first screw rod (6031) away from the coupling shaft (6034) and the end of the second screw rod (6033) away from the coupling One end of the shaft (6034) is provided with a screw support seat (6037) and a screw nut support seat (6036). 5. The truss manipulator according to claim 4, characterized in that, a synchronous pulley (6038) is provided between one of the bearing seat assemblies (6035) and the coupling shaft (6034). 6 . The truss manipulator according to claim 4 , characterized in that, both the first screw rod ( 6031 ) and the second screw rod ( 6033 ) are threadedly connected with clamping jaw mounting seats ( 6039 ). 7. The truss manipulator according to claim 4, characterized in that, the first screw rod (6031) is a left-handed screw rod, and the second screw rod (6033) is a right-handed screw rod. 8. The truss manipulator according to any one of claims 1 to 7, characterized in that, the servo single-arm gripper mechanism (6) further comprises a shield (605), and the gripper drive assembly (604) It is arranged on the upper part of the shield (605), the jaw assembly (602) is arranged on the lower part of the shield (605), the clamp body assembly (601) and the clamp screw assembly (603) It is arranged inside the shield (605). 9. The truss manipulator according to any one of claims 1 to 8, characterized in that, a cylinder fixing assembly is also provided between the Z-axis lifting arm (5) and the servo single-arm gripper mechanism (6) (10). 10. The truss manipulator according to any one of claims 1 to 8, characterized in that, one end of the X-axis system assembly (1) is also hinged to an equipment maintenance platform (7), and the other end is provided with a dust removal mechanism (9), the lower part of the X-axis system assembly (1) is also connected with a plurality of columns (8).