CN219617774U

CN219617774U - Truss manipulator

Info

Publication number: CN219617774U
Application number: CN202320806979.6U
Authority: CN
Inventors: 易伟; 倪川皓; 陈林; 曹瑜琦; 聂一彪
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2023-04-12
Filing date: 2023-04-12
Publication date: 2023-09-01
Anticipated expiration: 2033-04-12

Abstract

The utility model relates to cylinder conveying equipment, in particular to a truss manipulator which comprises an X-axis system assembly, a linear slide rail arranged on the X-axis system assembly, a slide carriage assembly connected with the linear slide rail in a sliding manner, a Y-axis system assembly connected to the slide carriage assembly, a Z-axis lifting arm connected to one end of the Y-axis system assembly far away from the slide carriage assembly and capable of moving along the up-down direction, and a servo single-arm gripper mechanism connected to the lower end of the Z-axis lifting arm, wherein the servo single-arm gripper mechanism comprises a clamp body assembly, a clamp screw assembly and a clamp driving assembly connected with the clamp screw assembly are arranged on the clamp body assembly, and the clamp driving assembly can drive the clamp screw assembly to rotate and drive the clamp screw assembly to move so as to clamp and release a cylinder. The truss manipulator disclosed by the utility model is simple in structure, convenient to operate and good in 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

The cylinder body of the pump truck chassis structural member is formed by welding a plate after bending, the structure of the cylinder body 11 is shown in figure 1, the cylinder body 11 is provided with a notch, a round hole, a kidney-shaped hole and the like, the butt welding seam of the cylinder body 11 is formed by welding double-sided grooves, and the notch, the round hole, the kidney-shaped hole and the like on the cylinder body 11 are formed by cutting after the cylinder body is formed. The welded cylinder 11 needs to be lifted to a cylinder flanging machine station for next operation, and when the existing lifting tool for the cylinder 11 is used for lifting the cylinder 11, auxiliary operation is needed manually, the lifting efficiency of the lifting tool is low, and the overall processing efficiency of the cylinder 11 is affected.

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

Disclosure of Invention

The utility model aims to solve the technical problem of providing the truss manipulator which can conveniently carry the cylinder, reduce manual operation, is convenient to operate and has a good use effect.

In order to solve the technical problems, the utility model provides a truss manipulator which comprises an X-axis system assembly, a linear slide rail arranged on the X-axis system assembly, a slide carriage assembly connected with the linear slide rail in a sliding manner, a Y-axis system assembly connected with the slide carriage assembly, a Z-axis lifting arm connected with one end of the Y-axis system assembly far away from the slide carriage assembly and capable of moving along the up-down direction, and a servo single-arm gripper mechanism connected with the lower end of the Z-axis lifting arm, wherein the servo single-arm gripper mechanism comprises a gripper body assembly, a gripper screw assembly and a gripper driving assembly connected with the gripper screw assembly are arranged on the gripper body assembly, and the gripper driving assembly can drive the gripper screw assembly to rotate and drive the gripper screw assembly to move so as to clamp and release a cylinder.

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

Preferably, the clamping jaw assembly comprises a left clamping jaw and a right clamping jaw, wherein the left clamping jaw and the right clamping jaw are both formed into an L-shaped arm structure, and the free ends of the two L-shaped arm structures are arranged in opposite directions.

As another preferred embodiment of the present utility model, the fixture screw assembly includes a first screw, an intermediate shaft, and a second screw, wherein a coupling shaft is disposed between the first screw and the intermediate shaft, and between the second screw and the intermediate shaft, bearing seat assemblies are disposed at two ends of the intermediate shaft, and a screw support seat and a screw nut support seat are disposed at one end of the first screw far away from the coupling shaft and one end of the second screw far away from the coupling shaft.

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

Further preferably, the first screw rod and the second screw rod are both in threaded connection with a clamping jaw mounting seat.

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

As a specific structural form of the utility model, the servo single-arm gripper mechanism further comprises a shield, the clamp driving assembly is arranged at the upper part of the shield, the clamping jaw assembly is arranged at the lower part of the shield, and the clamp body assembly and the clamp screw assembly are arranged in the shield.

As another specific structural form of the utility model, a cylinder fixing component is arranged between the Z-axis lifting arm and the servo single-arm gripper mechanism.

As another specific structural form of the utility model, one end of the X-axis system assembly is also hinged with an equipment maintenance platform, and the lower part of the X-axis system assembly is also connected with a plurality of upright posts.

Through the technical scheme, the truss manipulator comprises an X-axis system assembly, a linear slide rail arranged on the X-axis system assembly, a slide carriage assembly connected with the linear slide rail in a sliding manner, a Y-axis system assembly connected to the slide carriage assembly, a Z-axis lifting arm connected to one end of the Y-axis system assembly far away from the slide carriage assembly and capable of moving along the up-down direction, and a servo single-arm gripper mechanism connected to the lower end of the Z-axis lifting arm, wherein the servo single-arm gripper mechanism comprises a gripper body assembly, and the gripper body assembly is provided with a clamping jaw assembly which is bilaterally symmetrical, a clamping screw assembly and a clamp driving assembly connected with the clamping screw assembly. According to the truss manipulator disclosed by the utility model, the linear slide rail is arranged on the X-axis system assembly, the slide carriage assembly is connected onto the linear slide rail in a sliding way, the Y-axis system assembly is arranged on the slide carriage assembly, the Z-axis lifting arm is arranged at the other end of the Y-axis system assembly, and the servo single-arm gripper mechanism is arranged at the lower end of the Z-axis lifting arm, so that the movement of the servo single-arm gripper mechanism in the X direction can be realized through the slide carriage assembly, the movement of the servo single-arm gripper mechanism in the Z direction can be realized by the Z-axis lifting arm, and the servo single-arm gripper mechanism can clamp the cylinder body, so that the movement of the cylinder body in the X direction and the Z direction can be met, and the truss manipulator is simple in structure and good in use effect.

Other advantages and technical effects of the preferred embodiments of the present utility model will be further described in the following detailed description.

Drawings

FIG. 1 is a schematic structural view of a typical construction of a cylindrical drum;

FIG. 2 is a schematic view of the structure of one embodiment of the truss manipulator of the present utility model;

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

FIG. 4 is a left side view of the truss manipulator shown in FIG. 2;

FIG. 5 is a schematic diagram of one embodiment of a servo single arm gripper mechanism in a truss manipulator of the present utility model;

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

fig. 7 is a schematic structural view of one embodiment of a clamp screw assembly in a truss manipulator of the present utility model.

Description of the reference numerals

2 linear slide rail of 1X axis system assembly

3 carriage assembly 4Y axle system assembly

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

601 clamp body assembly 602 jaw assembly

603 first screw of clamp screw assembly 6031

6032 intermediate shaft 6033 second screw rod

6034 coupling shaft 6035 bearing frame assembly

6036 screw nut supporting seat 6037 screw supporting seat

6038 synchronous pulley 6039 clamping jaw mount pad

604 clamp drive assembly 605 shroud

7 overhaul platform 8 stand

9 dust removal mechanism 10 cylinder fixed subassembly

11 cylinder body

Detailed Description

The following describes specific embodiments of the present utility model in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the utility model, are not intended to limit the utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either directly or indirectly via an intermediate medium, or in communication with each other or in interaction with each other. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

As shown in fig. 2 to 4, the present utility model provides a truss manipulator, which comprises an X-axis system assembly 1, a linear slide rail 2 disposed on the X-axis system assembly 1, a slide carriage assembly 3 slidably connected with the linear slide rail 2, a Y-axis system assembly 4 connected to the slide carriage assembly 3, a Z-axis lifting arm 5 connected to one end of the Y-axis system assembly 4 far away from the slide carriage assembly 3 and capable of moving in an up-down direction, and a servo single-arm gripper mechanism 6 connected to a lower end of the Z-axis lifting arm 5, wherein the servo single-arm gripper mechanism 6 comprises a gripper body assembly 601, a gripper screw assembly 603 and a gripper driving assembly 604 connected with the gripper screw assembly 603 are disposed on the gripper body assembly 601, and the gripper driving assembly 604 is capable of driving the gripper screw assembly 603 to rotate and driving the gripper screw assembly 603 to move so as to clamp and unclamp a cylinder.

The truss manipulator is mainly used for carrying the cylinder 11 to a welding robot workstation after the plate is rolled, clamping the cylinder 11 by using the servo single-arm gripper mechanism 6 after the cylinder 11 is welded, placing the cylinder 11 on a transfer trolley, and carrying the cylinder 11 to a cylinder flanging machine tool through the transfer trolley for next operation.

As described above, the truss manipulator of the present utility model includes the X-axis system assembly 1, the linear slide rail 2 disposed on the X-axis system assembly 1, the carriage assembly 3 slidably connected with the linear slide rail 2, typically, the carriage assembly 3 may include a carriage, a carriage driving assembly for driving the carriage to slide along the linear slide rail 2, a tensioning mechanism assembly, a stopper, and a drag chain bracket assembly, the rotation of the carriage driving assembly is limited by the tensioning mechanism assembly through the stopper, so as to adjust a gear gap in the carriage driving assembly, and elements such as a cable, an air pipe, and an oil pipe may be disposed in the drag chain bracket assembly, so as to perform traction and protection functions.

The movement in the X direction and the movement in the Z direction mean reciprocating movement in the X direction and the Z direction. The Y-axis system assembly 4 of the present utility model is fixedly connected to the carriage assembly 3, and moves with the carriage assembly 3F, but generally does not move in the Y-direction. In the present utility model, the X direction means a direction along the longitudinal direction of the X-axis system assembly, the Y direction means a direction along the longitudinal direction of the Y-axis system assembly, and the Z direction means an up-down direction in a horizontal plane or a plane parallel to the horizontal plane and perpendicular to the X direction.

The clamping jaw assembly 602 of the servo single-arm gripper mechanism 6 is driven by the clamp screw assembly 603 to relatively move along the clamp screw assembly 603, and can be mutually close to or far away from each other, so that the cylinder 11 can be clamped or released.

As a preferred embodiment of the present utility model, as shown in fig. 5 and 6, the clamp body assembly 601 is formed as a box structure, and includes a plurality of connecting rods connected to each other and a jaw assembly mounting plate fixedly connected to the connecting rods. The box structure not only can meet the installation requirement, but also can reduce the whole weight of the servo single-arm grabbing mechanism 6 to a certain extent, and has simple structure and lower production cost.

As another preferred embodiment of the present utility model, the jaw assembly 602 includes a left jaw and a right jaw, each of which is formed as an L-shaped arm structure with free ends of the two L-shaped arm structures disposed toward each other.

It is conceivable that in order to prevent damage to the cylinder 11 when the cylinder 11 is clamped and to increase the friction between the jaw assembly 602 and the cylinder 11, an anti-slip structure is provided on the surface of the jaw assembly 602 that abuts against the cylinder 11, so that the friction is increased and the surface of the cylinder 11 is prevented from being scratched.

As still another preferred embodiment of the present utility model, the fixture screw assembly 603 includes a first screw 6031, an intermediate shaft 6032, and a second screw 6033, wherein a coupling shaft 6034 is disposed between the first screw 6031 and the intermediate shaft 6032, and between the second screw 6033 and the intermediate shaft 6032, bearing seat assemblies 6035 are disposed at both ends of the intermediate shaft 6032, and a screw support seat 6037 and a screw nut support seat 6036 are disposed at one end of the first screw 6031 away from the coupling shaft 6034, and at one end of the second screw 6033 away from the coupling shaft 6034.

As shown in fig. 7, a coupling shaft 6034 is connected between the first screw 6031 and the intermediate shaft 6032, and a coupling shaft 6034 is also connected between the second screw 6033 and the intermediate shaft 6032, so that the first screw 6031, the second screw 6033 and the intermediate shaft 6032 can be connected to each other without affecting 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 seat 6037 and a screw nut support seat 6036 for fixing the free end ends of the first screw 6031 and the second screw 6033.

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

Further preferably, the first screw 6031 and the second screw 6033 are both in threaded connection with a clamping jaw mounting seat 6039.

Clamping jaw mounting seat 6039 on first lead screw 6031 and clamping jaw mounting seat 6039 on second lead screw 6033 correspond to left clamping jaw and right clamping jaw of clamping jaw subassembly 602 respectively, and clamping jaw mounting seat 6039 all forms threaded connection with first lead screw 6031 and second lead screw 6033 to can be in first lead screw 6031 and second lead screw 6033 rotation in-process, make clamping jaw mounting seat 6039 can be along first lead screw 6031 and second lead screw 6033's central axis rectilinear movement, thereby can drive left clamping jaw and right clamping jaw and remove.

More preferably, the first screw 6031 is a left-handed screw, and the second screw 6033 is a right-handed screw, so that the left jaw and the right jaw can be made to move relatively, and can advance or retreat toward each other, so that the clamping cylinder 11 or the releasing cylinder 11 can be satisfied.

As a specific structural form of the present utility model, the servo single arm gripper mechanism 6 further includes a shroud 605, the clamp driving assembly 604 is disposed at an upper portion of the shroud 605, the clamping jaw assembly 602 is disposed at a lower portion of the shroud 605, and the clamp body assembly 601 and the clamp screw assembly 603 are disposed inside the shroud 605.

As another specific structural form of the utility model, a cylinder fixing assembly 10 is further arranged between the Z-axis lifting arm 5 and the servo single-arm gripper mechanism 6. Through the effect of the cylinder fixing assembly 10, the cylinder barrel 11 is prevented from falling due to sudden reasons in the process of grabbing the cylinder barrel 11 and moving by the servo single-arm grabbing mechanism 6, and the reliability is higher.

As 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, the other end is provided with a dust removing mechanism 9, and the lower part of the X-axis system assembly 1 is also connected with a plurality of upright posts 8.

The truss manipulator has the following advantages:

firstly, the linear slide rail 2 is arranged on the X-axis system assembly 1, the slide carriage assembly 3 is in sliding connection with the linear slide rail 2, so that the slide carriage assembly 3 can reciprocate along the linear slide rail 2, the slide carriage assembly 3 is provided with the Y-axis system assembly 4, the end part of the Y-axis system assembly 4 is connected with the Z-axis lifting arm 5, the Z-axis lifting arm 5 can reciprocate up and down along the Z direction, the servo single-arm gripper mechanism 6 can reciprocate up and down along the Z direction, and the cylinder 11 is clamped or released by controlling the clamping jaw assembly 602, so that the truss manipulator disclosed by the utility model can carry the cylinder 11 to a cylinder flanging machine for next operation after the cylinder 11 is welded, and the truss manipulator has the advantages of simple structure, convenience in operation and good use effect.

Second, still be equipped with cylinder fixed subassembly 10 on the Z axle lifting arm 5, guarantee in the transportation of drum barrel 11, prevent to arouse drum barrel 11 because of the sudden cause and fall.

As can be seen from the above description, the truss manipulator of the present utility model includes an X-axis system assembly 1, a linear slide rail 2 disposed on the X-axis system assembly 1, a slide carriage assembly 3 slidably connected with the linear slide rail 2, a Y-axis system assembly 4 connected to the slide carriage assembly 3, a Z-axis lifting arm 5 connected to one end of the Y-axis system assembly 4 far away from the slide carriage assembly 3 and capable of moving in an up-down direction, and a servo single-arm gripper mechanism 6 connected to a lower end of the Z-axis lifting arm 5, the servo single-arm gripper mechanism 6 includes a gripper body assembly 601, and a gripper driving assembly 604 connected to the gripper screw assembly 603 and a gripper assembly 602 are disposed on the gripper body assembly 601, and the gripper driving assembly 604 is capable of driving the gripper screw assembly 603 to rotate and driving the gripper assembly 602 to move so as to grip and release a cylinder. In addition, the other end of the Y-axis system assembly 4 is provided with a Z-axis lifting arm 5, the lower end of the Z-axis lifting arm 5 is fixedly connected with a servo single-arm gripper mechanism 6, and a clamping jaw assembly 602 of the servo single-arm gripper mechanism 6 can be contracted or expanded so as to clamp or release the cylinder body 11, and the slide carriage 301 is driven to reciprocate in the X direction through the X-axis driving mechanism 302, and the Z-axis lifting arm 5 is driven to reciprocate in the Z direction through the Z-axis driving assembly, so that the operation requirement of carrying the cylinder body 11 by the servo single-arm gripper mechanism 6 is met, and the device has the advantages of simple structure, convenience in operation and good use effect.

The preferred embodiments of the present utility model have been described in detail above with reference to the accompanying drawings, but the present utility model is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present utility model within the scope of the technical concept of the present utility model, and all the simple modifications belong to the protection scope of the present utility model.

In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further.

Moreover, any combination of the various embodiments of the utility model can be made without departing from the spirit of the utility model, which should also be considered as disclosed herein.

Claims

1. The utility model provides a truss manipulator, its characterized in that includes X axle system assembly (1), sets up linear slide rail (2) on X axle system assembly (1), with linear slide rail (2) sliding connection's slide carriage assembly (3), connect Y axle system assembly (4) on slide carriage assembly (3), connect Y axle system assembly (4) keep away from one end of slide carriage assembly (3) and can follow Z axle lift arm (5) that reciprocates and connect servo single arm tongs mechanism (6) of the lower extreme of Z axle lift arm (5), servo single arm tongs mechanism (6) include anchor clamps body subassembly (601), be equipped with bilateral symmetry's clamping jaw subassembly (602), anchor clamps lead screw subassembly (603) and with anchor clamps drive assembly (604) that anchor clamps lead screw subassembly (603) are connected on anchor clamps body subassembly (601), anchor clamps drive assembly (604) can drive anchor clamps lead screw subassembly (603) rotate to drive clamping jaw subassembly (602) can the centre gripping with loosen barrel.

2. 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 a jaw assembly mounting plate fixedly connected to the connecting rods.

3. The truss manipulator of claim 1, wherein the jaw assembly (602) comprises a left jaw and a right jaw, the left jaw and the right jaw each being formed as an L-arm structure with free ends of the two L-arm structures disposed toward each other.

4. The truss manipulator according to claim 1, wherein the clamp screw assembly (603) comprises a first screw (6031), an intermediate shaft (6032) and a second screw (6033), a connecting shaft (6034) is arranged between the first screw (6031) and the intermediate shaft (6032) and between the second screw (6033) and the intermediate shaft (6032), bearing seat assemblies (6035) are arranged at two ends of the intermediate shaft (6032), and a screw support seat (6037) and a screw nut support seat (6036) are arranged at one end, far away from the connecting shaft (6034), of the first screw (6031) and one end, far away from the connecting shaft (6034), of the second screw (6033).

5. The truss manipulator according to claim 4, wherein a timing pulley (6038) is provided between one of the bearing block assemblies (6035) and the coupling shaft (6034).

6. The truss manipulator of claim 4, wherein the first screw (6031) and the second screw (6033) are each threadably connected with a jaw mount (6039).

7. The truss manipulator of claim 4, wherein the first screw (6031) is a left-handed screw and the second screw (6033) is a right-handed screw.

8. The truss manipulator according to any of claims 1 to 7, wherein the servo single-arm gripper mechanism (6) further comprises a shroud (605), the clamp drive assembly (604) is arranged at an upper portion of the shroud (605), the clamp jaw assembly (602) is arranged at a lower portion of the shroud (605), and the clamp body assembly (601) and the clamp screw assembly (603) are arranged inside the shroud (605).

9. Truss manipulator according to any of claims 1 to 8, characterized in that a cylinder fixing assembly (10) is also provided between the Z-axis lifting arm (5) and the servo single-arm gripper mechanism (6).

10. Truss manipulator according to any of claims 1 to 8, characterized in that one end of the X-axis system assembly (1) is further hinged with an equipment maintenance platform (7), the other end is provided with a dust removal mechanism (9), and the lower part of the X-axis system assembly (1) is further connected with a plurality of upright posts (8).