CN220945378U - Go up unloading truss manipulator - Google Patents
Go up unloading truss manipulator Download PDFInfo
- Publication number
- CN220945378U CN220945378U CN202323044612.4U CN202323044612U CN220945378U CN 220945378 U CN220945378 U CN 220945378U CN 202323044612 U CN202323044612 U CN 202323044612U CN 220945378 U CN220945378 U CN 220945378U
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- China
- Prior art keywords
- arm
- angle adjustment
- movable
- adjustment mechanism
- telescopic rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 126
- 230000003028 elevating effect Effects 0.000 claims abstract description 10
- 239000013076 target substance Substances 0.000 claims abstract description 6
- 230000005012 migration Effects 0.000 claims abstract description 3
- 238000013508 migration Methods 0.000 claims abstract description 3
- 238000007599 discharging Methods 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 5
- 241000252254 Catostomidae Species 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Abstract
The utility model relates to a go up unloading truss manipulator, including truss, translation mechanism, elevating system, angle adjustment mechanism and sucking disc snatch the mechanism, the crossbeam rear side of truss is provided with the mounting panel, be provided with the translation mechanism that is used for driving elevating system horizontal migration on the crossbeam on the mounting panel, translation mechanism's output and crossbeam swing joint, be provided with the elevating system that is used for driving the whole reciprocates of angle adjustment mechanism on the mounting panel, elevating system's output department is provided with the vertical beam that is located the mounting panel rear side, vertical beam bottom mounting is provided with angle adjustment mechanism, angle adjustment mechanism's bottom articulates there is sucking disc snatch mechanism that is used for snatching the target substance, angle adjustment mechanism is used for adjusting sucking disc snatch mechanism's turned angle. The sucker grabbing mechanism has wide angle adjustment range in the horizontal and vertical directions, and is convenient to adapt to various operation environments.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a manipulator for feeding and discharging trusses.
Background
The truss manipulator is a full-automatic industrial equipment which is built on the basis of a rectangular X, Y and Z three-coordinate system and is used for adjusting work stations or realizing the functions of track movement and the like of the work pieces, the control core of the full-automatic industrial equipment is realized through an industrial controller, the controller is used for analyzing and processing various input signals, and after certain logic judgment is made, an execution command is issued to each output element to complete the joint movement among X, Y and Z three axes, so that a whole set of full-automatic operation flow is realized.
Truss manipulators in the prior art can only carry out vertical grabbing generally, grabbing angles cannot be adjusted according to actual production needs, the truss manipulators capable of grabbing by changing angles are required to be matched with a production line for customization, and the working environment is single.
Disclosure of utility model
The utility model aims to solve the technical problem of providing the feeding and discharging truss manipulator aiming at the defects.
In order to solve the technical problems, the utility model adopts the following technical scheme:
The utility model provides a go up unloading truss manipulator, includes truss, translation mechanism, elevating system, angle adjustment mechanism and sucking disc snatch the mechanism, the crossbeam rear side of truss is provided with the mounting panel, be provided with the translation mechanism that can horizontal migration on the crossbeam on the mounting panel, translation mechanism's output and crossbeam swing joint, be provided with the elevating system that is used for driving the whole reciprocates of angle adjustment mechanism on the mounting panel, elevating system's output department is provided with the vertical beam that is located the mounting panel rear side, vertical beam bottom fixing is provided with angle adjustment mechanism, angle adjustment mechanism's bottom articulates there is sucking disc snatch mechanism that is used for snatching the target substance, angle adjustment mechanism is used for adjusting sucking disc snatch mechanism's rotation angle;
The angle adjusting mechanism comprises a fixed supporting arm, a movable connecting arm, a movable supporting arm, a torque motor, a first telescopic rod and a second telescopic rod, wherein a fixed supporting frame is fixedly arranged on the front side of the fixed supporting arm of the angle adjusting mechanism, the first telescopic rod which is arranged at the bottom of a cross beam and extends to the top of the movable connecting arm of the angle adjusting mechanism is fixedly arranged at the other end of the fixed supporting frame, the first telescopic rod is used for driving the included angle between the movable connecting arm and the fixed supporting arm through expansion, the left side and the right side of the fixed supporting arm are respectively provided with the second telescopic rod which is arranged at the other end of the second telescopic rod and extends to the left side and the right side of the movable supporting arm of the angle adjusting mechanism, the second telescopic rod is used for adjusting the rotation amplitude of the movable supporting arm and the fixed supporting arm through expansion, and the torque motor is used for driving the sucker grabbing mechanism to rotate on a horizontal plane.
Further, the translation mechanism and the lifting mechanism comprise a gear-rack driving mechanism and a roller guiding mechanism, and driving motors of the gear-rack driving mechanism in the lifting mechanism and the translation mechanism are respectively positioned on the front side and the rear side of the mounting plate.
Further, the vertical fixed support arm that is provided with in bottom of vertical beam, the bottom of fixed support arm articulates there is the swing joint arm, the front end of swing joint arm articulates there is the swing support arm, the bottom mounting of swing support arm is provided with torque motor, torque motor's output sets up down, sucking disc snatchs mechanism and torque motor's output fixed connection.
Further, sucking disc snatchs mechanism includes connecting seat, connecting plate, sucking disc frame and sucking disc, the output fixed connection of connecting seat and torque motor, connecting seat bottom fixedly connected with connecting plate, the bottom fixedly connected with sucking disc frame of connecting plate, be the array on the sucking disc frame and be provided with a plurality of sucking discs, the sucking disc top is linked together with outside air pump through the trachea.
Further, the front side of the fixed support frame is provided with a storage box for storing maintenance tools.
After the technical scheme is adopted, compared with the prior art, the utility model has the following advantages:
According to the utility model, the first telescopic rod, the second telescopic rod and the angle adjusting device are arranged, the rotating angle of the movable connecting arm is controlled through the first telescopic rod, the rotating angle of the movable supporting arm is controlled through the second telescopic rod, the first telescopic rod and the second telescopic rod are matched for use, the movable connecting arm can be matched with the movable supporting arm to rotate back and forth within a certain range, the sucker grabbing mechanism can be rotated back and forth, the sucker grabbing mechanism is driven to rotate horizontally by the aid of the torque motor, the angle of the sucker grabbing mechanism can be adjusted in the horizontal and vertical directions, the adjusting range is wide, the device is convenient to adapt to various operation environments, and small maintenance and maintenance tools are stored through the storage box, so that operators can maintain the truss manipulator in daily life.
The utility model will now be described in detail with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a schematic perspective view of a connection structure of the translation mechanism and the lifting mechanism;
FIG. 3 is a schematic perspective view of the angle adjusting mechanism;
Fig. 4 is a schematic perspective view of the structure of the suction cup grabbing mechanism.
In the drawings, the list of components represented by the various numbers is as follows:
1. Truss; 2. a translation mechanism; 3. a lifting mechanism; 4. an angle adjusting mechanism; 401. fixing the support arm; 402. a movable connecting arm; 403. a movable support arm; 404. a torque motor; 405. a first telescopic rod; 406. a second telescopic rod; 5. a sucker grabbing mechanism; 501. a connecting seat; 502. a connecting plate; 503. a suction cup holder; 504. a suction cup; 6. a mounting plate; 7. a vertical beam; 8. fixing the supporting frame; 9. and storing the box.
Detailed Description
The principles and features of the present utility model are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the utility model and are not to be construed as limiting the scope of the utility model.
In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
As shown in fig. 1-4, the feeding and discharging truss manipulator comprises a truss 1, a translation mechanism 2, a lifting mechanism 3, an angle adjusting mechanism 4 and a sucker grabbing mechanism 5, wherein a mounting plate 6 is arranged at the rear side of a beam of the truss 1, the mounting plate 6 is provided with the translation mechanism 2 capable of horizontally moving on the beam, the output end of the translation mechanism 2 is movably connected with the beam, the mounting plate 6 is provided with the lifting mechanism 3 for driving the angle adjusting mechanism 4 to integrally move up and down, the output end of the lifting mechanism 3 is provided with a vertical beam 7 positioned at the rear side of the mounting plate 6, the bottom end of the vertical beam 7 is fixedly provided with the angle adjusting mechanism 4, the bottom end of the angle adjusting mechanism 4 is hinged with the sucker grabbing mechanism 5 for grabbing target substances, and the angle adjusting mechanism 4 is used for adjusting the rotation angle of the sucker grabbing mechanism 5;
The angle adjustment mechanism 4 comprises a fixed support arm 401, a movable connecting arm 402, a movable support arm 403, a torque motor 404, a first telescopic rod 405 and a second telescopic rod 406, the front side of the fixed support arm 401 of the angle adjustment mechanism 4 is horizontally and fixedly provided with a fixed support frame 8, the bottom of a cross beam of the fixed support frame 8 is fixedly provided with the first telescopic rod 405 of which the other end extends to the top of the movable connecting arm 402 of the angle adjustment mechanism 4, the first telescopic rod 405 is used for driving an included angle between the movable connecting arm 402 and the fixed support arm 401 through expansion, the left side and the right side of the fixed support arm 401 are respectively provided with the second telescopic rods 406 of which the other end extends to the left side and the right side of the movable support arm 403 of the angle adjustment mechanism 4, the second telescopic rods 406 are used for adjusting the rotation amplitude of the movable support arm 403 and the fixed support arm 401 through expansion, and the torque motor 404 is used for driving the sucker grabbing mechanism 5 to rotate on a horizontal plane.
As an embodiment, the translation mechanism 2 and the lifting mechanism 3 each comprise a rack-and-pinion driving mechanism and a roller guiding mechanism, and driving motors of the rack-and-pinion driving mechanisms in the lifting mechanism 3 and the translation mechanism 2 are respectively positioned on the front side and the rear side of the mounting plate 6.
As an implementation manner, a fixed support arm 401 is vertically fixed at the bottom end of the vertical beam 7, a movable connection arm 402 is hinged at the bottom end of the fixed support arm 401, a movable support arm 403 is hinged at the front end of the movable connection arm 402, a torque motor 404 is fixedly arranged at the bottom end of the movable support arm 403, the output end of the torque motor 404 is downward, and the suction cup grabbing mechanism 5 is fixedly connected with the output end of the torque motor 404.
As an implementation manner, the suction cup grabbing mechanism 5 comprises a connecting seat 501, a connecting plate 502, a suction cup frame 503 and suction cups 504, wherein the connecting seat 501 is fixedly connected with the output end of the torque motor 404, the bottom of the connecting seat 501 is fixedly connected with the connecting plate 502, the bottom of the connecting plate 502 is fixedly connected with the suction cup frame 503, a plurality of suction cups 504 are arranged on the suction cup frame 503 in an array, and the top of each suction cup 504 is communicated with an external air pump through an air pipe.
As an embodiment, a storage box 9 for storing maintenance tools is provided on the front side of the fixed support frame 8.
In the utility model, the connection mode of the translation mechanism 2 and the lifting mechanism 3 and the cross beam and the vertical beam 7 is the common connection mode in the prior art, racks are arranged on the cross beam and the vertical beam 7, the sides of a plurality of rollers on the translation mechanism 2 and the lifting mechanism 3 are respectively contacted with the upper side surface and the lower side surface of the cross beam and the left side surface and the right side surface on the vertical beam 7 to guide the cross beam and the vertical beam 7, the edges on the rollers are clamped inside long grooves of the cross beam and the vertical beam 7, and gears arranged on the output shafts of driving motors of the translation mechanism 2 and the lifting mechanism 3 roll on the racks of the cross beam and the vertical beam 7 to realize the movement of the translation mechanism 2 and the lifting mechanism 3.
The working flow of the utility model is as follows: when the truss manipulator is used for feeding, the translation mechanism 2 horizontally moves on the truss, the lifting mechanism 3 enables the vertical beam 7 to start to descend after the translation mechanism 2 moves to a designated position, the vertical beam 7 descends and then drives the angle adjusting mechanism 4 and the sucker grabbing mechanism 5 to descend to a grabbing preset position, after the sucker grabbing mechanism 5 grabs target substances, the lifting mechanism 3 drives the angle adjusting mechanism 4 and the sucker grabbing mechanism 5 to lift through the vertical beam 7, then the translation mechanism 2 drives the lifting mechanism 3 to move to a preset placing position, the lifting mechanism 3 drives the angle adjusting mechanism 4 and the sucker grabbing mechanism 5 to place target substances through the vertical beam 7, when the grabbing angle of the sucker grabbing mechanism 5 needs to be changed, the rotating angle of the movable connecting arm 402 is controlled through the first telescopic rod 405, the rotating angle of the movable supporting arm 403 is controlled through the second telescopic rod 406, the first telescopic rod 405 and the second telescopic rod 406 are matched to be used, the movable connecting arm 402 can be matched with the movable supporting arm 403 to rotate back and forth within a certain range, the sucker grabbing mechanism 5 can be rotated back and forth, and forth in addition, the sucker grabbing mechanism 5 is driven to horizontally rotate through the torque motor 404, and the sucker grabbing mechanism 5 can be rotated within a certain range to adapt to multiple angles to various operating environments conveniently.
The foregoing is illustrative of the best mode of carrying out the utility model, and is not presented in any detail as is known to those of ordinary skill in the art. The protection scope of the utility model is defined by the claims, and any equivalent transformation based on the technical teaching of the utility model is also within the protection scope of the utility model.
Claims (5)
1. The utility model provides a go up unloading truss manipulator, its characterized in that includes truss (1), translation mechanism (2), elevating system (3), angle adjustment mechanism (4) and sucking disc snatchs mechanism (5), the crossbeam rear side of truss (1) is provided with mounting panel (6), be provided with translation mechanism (2) that can horizontal migration on the crossbeam on mounting panel (6), the output and the crossbeam swing joint of translation mechanism (2), still be provided with elevating system (3) that are used for driving angle adjustment mechanism (4) and wholly reciprocate on mounting panel (6), the output department of elevating system (3) is provided with vertical beam (7) that are located mounting panel (6) rear side, vertical beam (7) bottom fixed is provided with angle adjustment mechanism (4), the bottom of angle adjustment mechanism (4) articulates there is sucking disc snatchs mechanism (5) that are used for snatching the target substance, angle adjustment mechanism (4) are used for adjusting the rotation angle that sucking disc snatched mechanism (5);
The angle adjustment mechanism (4) comprises a fixed supporting arm (401), a movable connecting arm (402), a movable supporting arm (403), a torque motor (404), a first telescopic rod (405) and a second telescopic rod (406), the front side of the fixed supporting arm (401) of the angle adjustment mechanism (4) is horizontally and fixedly provided with a fixed supporting frame (8), the bottom of a cross beam of the fixed supporting frame (8) is fixedly provided with a first telescopic rod (405) of the top of the movable connecting arm (402) of the angle adjustment mechanism (4) and the other end of the fixed supporting arm extends to the top of the movable connecting arm (402), the first telescopic rod (405) is used for driving an included angle between the movable connecting arm (402) and the fixed supporting arm (401) through stretching, the left side and the right side of the fixed supporting arm (401) are respectively provided with a second telescopic rod (406) of the other end of the fixed supporting arm (401), and the second telescopic rod (406) is used for adjusting the rotation amplitude of the movable supporting arm (403) and the fixed supporting arm (401) through stretching, and the torque motor (404) is used for driving a sucker grabbing mechanism (5) to rotate on a horizontal plane.
2. The feeding and discharging truss manipulator according to claim 1, wherein the translation mechanism (2) and the lifting mechanism (3) comprise a gear rack driving mechanism and a roller guiding mechanism, and driving motors of the gear rack driving mechanism in the lifting mechanism (3) and the translation mechanism (2) are respectively positioned on the front side and the rear side of the mounting plate (6).
3. The feeding and discharging truss manipulator according to claim 1, wherein a fixed support arm (401) is vertically fixed at the bottom end of the vertical beam (7), a movable connection arm (402) is hinged at the bottom end of the fixed support arm (401), a movable support arm (403) is hinged at the front end of the movable connection arm (402), a torque motor (404) is fixedly arranged at the bottom end of the movable support arm (403), the output end of the torque motor (404) is downward, and the sucker grabbing mechanism (5) is fixedly connected with the output end of the torque motor (404).
4. The feeding and discharging truss manipulator according to claim 3, wherein the sucker grabbing mechanism (5) comprises a connecting seat (501), a connecting plate (502), a sucker frame (503) and a sucker (504), the connecting seat (501) is fixedly connected with the output end of the torque motor (404), the bottom of the connecting seat (501) is fixedly connected with a connecting plate (502), the bottom of the connecting plate (502) is fixedly connected with a sucker frame (503), a plurality of suckers (504) are arranged on the sucker frame (503) in an array, and the top of the sucker (504) is communicated with an external air pump through an air pipe.
5. The loading and unloading truss manipulator according to claim 1, characterized in that a storage box (9) for storing maintenance tools is arranged on the front side of the fixed support frame (8).
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220945378U true CN220945378U (en) | 2024-05-14 |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant |