CN220994474U - Truss manipulator capable of overturning - Google Patents

Abstract

The utility model relates to the technical field of truss manipulators, in particular to a reversible truss manipulator which comprises a frame body and a manipulator assembly arranged on the frame body, wherein the manipulator assembly is driven to move by a driving device along the horizontal direction and the vertical direction of the frame body, the manipulator assembly comprises a frame and two groups of clamps vertically distributed on the frame, each group of clamps comprises a clamping piece I and a clamping piece II which are arranged on opposite sides of the frame, each clamping piece I comprises a cylinder I and a clamping block I which is rotationally connected with the output end of the cylinder I, and each clamping piece II comprises a cylinder II, a surface-changing motor which is fixed with the output end of the cylinder II and a clamping block II which is fixed with the output end of the surface-changing motor. According to the utility model, the two groups of holders which are vertically distributed are arranged on the rack of the manipulator assembly, and the two groups of holders can directly finish the transverse and longitudinal surface changing of the workpiece on the rack, so that the workpiece is not required to be conveyed to other surface changing platforms for surface changing operation, the working time is saved, and the conveying efficiency of the manipulator is improved.

Description

Truss manipulator capable of overturning

Technical Field

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

Background

The truss manipulator is widely applied to carrying, loading, unloading and other steps on products or blank materials and the like in the production and manufacturing process, so that the working efficiency of production and manufacturing can be effectively improved.

When the truss manipulator is used for carrying operation of a workpiece spraying process, in order to enable a to-be-sprayed surface of a workpiece to accurately face a paint spraying head, a turnover mechanism is further arranged on the existing part truss manipulator to realize surface replacement of the workpiece through the turnover mechanism, for example, a turnover truss manipulator is provided in the patent with the existing publication number of CN218110792U, the turnover truss manipulator is used for carrying the workpiece transversely and longitudinally through cooperation between a transversely moving sliding rail and a longitudinally moving sliding rail after clamping the workpiece in the using process, and when the workpiece needs to be turned, a mechanical clamping jaw is used for turning the workpiece placed on the turnover table in cooperation with a turning motor, so that the workpiece can keep the same direction after carrying.

However, when the truss manipulator with the above structure is implemented, the present inventors have found that at least the following problems are still involved, and the workpiece needs to be transported onto the turnover table by the bottom manipulator or the side manipulator to perform the turnover surface, and the workpiece is clamped again by the bottom manipulator or the side manipulator to perform the transportation operation after the turnover surface is completed, so that the operation steps are complicated, and the transportation efficiency is affected.

Disclosure of utility model

(One) solving the technical problems

Aiming at the defects of the prior art, the utility model provides a turnover truss manipulator which can directly finish transverse and longitudinal surface changing of a workpiece on a manipulator assembly, and solves the problem that the original truss manipulator needs to convey the workpiece to a turnover table to turn over the surface, so that the conveying efficiency of the workpiece is low.

(II) technical scheme

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a truss manipulator that can overturn, includes the support body and locates the manipulator subassembly on the support body, the manipulator subassembly is followed by drive arrangement the level of support body, vertical direction drive remove, the manipulator subassembly include the frame and be perpendicular to two sets of holders in the frame, every group the holder is including locating holder one and holder two of opposite side in the frame, holder one includes cylinder one and rotates the clamp splice one of connecting in cylinder one output, holder two include cylinder two, with the fixed face motor that trades of cylinder two output and with the clamp splice two that the face motor output is fixed trades.

Optionally, each group of holders further comprises a rotating motor driven by the driving device to move, and the output end of the rotating motor is fixed with the middle part of the top surface of the frame.

Optionally, the driving device includes a horizontal linear driver and a vertical linear driver, the horizontal linear driver drives the manipulator assembly to move along the length direction of the frame, and the vertical linear driver drives the manipulator assembly to move along the height direction of the frame.

Optionally, the horizontal linear driver comprises a screw rod which is arranged on a beam of the frame and driven to rotate by a first driving motor, and a sliding block which is driven to move by the screw rod along the length direction of the beam, and the vertical linear driver is fixed with the sliding block.

Optionally, the vertical linear drive includes with the fixed fixing base of slider fixed, vertical activity run through the actuating post of fixing base and install actuating motor second on the fixing base, the actuating post lower extreme with the rotating electrical machines is fixed, the outside of actuating post is provided with the rack that distributes along its length direction, actuating motor second's output be fixed with rack-engaged drive gear.

Optionally, the one side of clamp splice one with clamp splice two towards the work piece that is pressed from both sides is provided with the rubber cushion, the rubber cushion with the one side that is pressed from both sides the work piece contact is equipped with and takes the form of annular arch.

(III) beneficial effects

Compared with the prior art, the utility model provides a reversible truss manipulator, which has the following beneficial effects:

1. According to the utility model, the two groups of holders which are vertically distributed are arranged on the rack of the manipulator assembly, and the two groups of holders can directly finish the transverse and longitudinal surface changing of the workpiece on the rack, so that the workpiece is not required to be conveyed to other surface changing platforms for surface changing operation, the working time is saved, and the conveying efficiency of the manipulator is improved;

2. According to the utility model, the clamp holder comprising the rotating motor is arranged, the rack can be driven to horizontally rotate through the rotating motor, so that the workpiece clamped by the clamp holder on the rack can be changed in all directions, and the surface to be sprayed of the workpiece can be ensured to be opposite to the spray head;

3. according to the clamping block I and the clamping block II, the rubber cushion blocks with annular protrusions are arranged on the clamping block I and the clamping block II, friction between the clamping block I and the clamping block II and a clamped workpiece can be increased by the rubber cushion blocks, so that the clamping capacity of the clamp is improved, and in addition, the anti-skid performance of the rubber cushion blocks can be further improved by the arrangement of the annular protrusions.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic diagram of a front view structure of the present utility model;

FIG. 3 is a schematic diagram of a driving apparatus according to the present utility model;

FIG. 4 is an enlarged schematic view of the structure of FIG. 3A according to the present utility model;

FIG. 5 is a schematic perspective view of a manipulator assembly according to the present utility model;

FIG. 6 is a schematic diagram of the front view of a mechanical assembly of the present utility model;

fig. 7 is a schematic view showing the structure of the rubber pad.

In the figure: 1. a frame body; 10. a cross beam; 2. a manipulator assembly; 20. a frame; 21. a holder; 210. a clamping piece I; 2100. a first cylinder; 2101. clamping block I; 211. a second clamping piece; 2110. a second cylinder; 2111. clamping blocks II; 2112. a face-changing motor; 22. a rotating electric machine; 3. a driving device; 30. a horizontal linear driver; 300. driving a first motor; 301. a screw rod; 302. a slide block; 31. a vertical linear drive; 310. a fixing seat; 311. a second driving motor; 312. a drive column; 3120. a rack; 313. a drive gear; 4. and a rubber cushion block.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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.

Examples: referring to fig. 1 to 7, an embodiment of the present utility model provides a technical solution: the utility model provides a truss manipulator that can overturn, including support body 1 and locate manipulator subassembly 2 on support body 1, manipulator subassembly 2 is by drive arrangement 3 along the level of support body 1, vertical direction drive removal, manipulator subassembly 2 includes frame 20 and be two sets of holders 21 that vertically distribute on frame 20, respectively first holder 21 and second holder 21, every holder 21 of group is including locating holder one 210 and holder two 211 on the frame 20 opposite side, holder one 210 includes cylinder one 2100 and rotates the clamp splice one 2101 of connecting at cylinder one 2100 output, holder two 211 include cylinder two 2110, with the fixed face motor 2112 of changing of cylinder two 2110 output and with the fixed clamp splice two 2111 of face motor 2112 output.

When the scheme is implemented, the workpiece can be directly clamped by the matching between the clamping piece I210 and the clamping piece II 211 in the first clamp holder 21 and transversely rotated, so that the transverse surface change of the workpiece is realized, the workpiece can be clamped by the matching between the clamping piece I210 and the clamping piece II 211 in the second clamp holder 21 and longitudinally rotated, the longitudinal surface change of the workpiece is realized, the surface change operation of the workpiece can be completed only by the manipulator assembly 2, the surface change operation from the carrying to other surface change platforms is not required, the working hours are saved, and the carrying efficiency of the manipulator is improved. It should be noted that the lateral and longitudinal exchange of the work pieces may not be performed simultaneously, that is, the two sets of grippers 21 may not operate the work piece exchange simultaneously.

In this embodiment, each group of holders 21 further includes a rotating motor 22 driven by the driving device 3 to move, and an output end of the rotating motor 22 is fixed with a middle part of a top surface of the frame 20, and the rotating motor 22 can drive the frame 20 to horizontally rotate, so that workpieces held by the holders 21 on the frame 20 can be changed in all directions, and a surface to be sprayed of the workpieces is ensured to be opposite to the spray head.

In this embodiment, the driving device 3 includes a horizontal linear driver 30 and a vertical linear driver 31, where the horizontal linear driver 30 drives the manipulator assembly 2 to move along the length direction of the frame 20, and the vertical linear driver 31 drives the manipulator assembly 2 to move along the height direction of the frame 20, and both the horizontal linear driver 30 and the vertical linear driver 31 can use linear motors in the prior art.

As a preferred embodiment, in this embodiment, the horizontal linear driver 30 includes a screw rod 301 disposed on the beam 10 of the frame 20 and driven to rotate by a first driving motor 300, and a slider 302 driven to move by the screw rod 301 along the length direction of the beam 10, the vertical linear driver 31 is fixed to the slider 302, the vertical linear driver includes a fixed seat 310 fixed to the slider 302, a second driving motor 311 vertically movably penetrating the fixed seat 310, and mounted on the fixed seat 310, the lower end of the second driving column 312 is fixed to the rotating motor 22, racks 3120 distributed along the length direction of the driving column 312 are disposed outside the driving column 312, and a driving gear 313 meshed with the racks 3120 is fixed to the output end of the second driving motor 311.

In this embodiment, the first clamping block 2101 and the second clamping block 2111 are provided with the rubber cushion block 4 on the surface facing the clamped workpiece, the annular protrusion is provided on the surface of the rubber cushion block 4 contacting the clamped workpiece, and the rubber cushion block 4 can increase friction between the first clamping block 2101, the second clamping block 2111 and the clamped workpiece, so that the clamping capacity of the clamp holder 21 is improved, and in addition, the annular protrusion can further improve the anti-slip performance of the rubber cushion block 4.

Working principle: firstly, the frame body 1 is placed at a designated position, the manipulator assembly 2 is driven by the horizontal linear driver 30 to move along the length direction of the frame 20, the manipulator assembly 2 is driven by the vertical linear driver 31 to move along the height direction of the frame 20, the workpiece is grabbed after the manipulator assembly 2 is moved to a proper position, the workpiece is positioned on the inner side of the frame 20 during grabbing, the workpiece is clamped by the matching of the clamping piece I210 and the clamping piece II 211 in the first clamp 21 and is transversely rotated, the workpiece is transversely replaced, or the workpiece is clamped by the matching of the clamping piece I210 and the clamping piece II 211 in the second clamp 21 and is longitudinally rotated, the workpiece is longitudinally replaced, finally, the frame 20 can be driven by the rotating motor 22 to horizontally rotate, the surface to be sprayed of the workpiece clamped by the clamp 21 on the frame 20 is opposite to the spray head, the workpiece can be replaced, and then the workpiece can be sprayed.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a truss manipulator that can overturn, includes support body (1) and locates manipulator subassembly (2) on support body (1), manipulator subassembly (2) are followed by drive arrangement (3) the level of support body (1), vertical direction drive remove, a serial communication port, manipulator subassembly (2) include frame (20) and be perpendicular to two sets of holders (21) on frame (20), every group holder (21) including locating holder one (210) and holder two (211) of opposite side on frame (20), holder one (210) include cylinder one (2100) and rotate connect holder one (2101) of cylinder one (2100) output, holder two (211) include cylinder two (2110), with the fixed face motor (2112) of trade face and with the fixed holder two (2111) of face motor (2) output.

2. The reversible truss manipulator of claim 1, wherein: each group of holders (21) further comprises a rotating motor (22) driven to move by the driving device (3), and the output end of the rotating motor (22) is fixed with the middle part of the top surface of the frame (20).

3. The reversible truss manipulator of claim 2, wherein: the driving device (3) comprises a horizontal linear driver (30) and a vertical linear driver (31), the horizontal linear driver (30) drives the manipulator assembly (2) to move along the length direction of the frame (20), and the vertical linear driver (31) drives the manipulator assembly (2) to move along the height direction of the frame (20).

4. A reversible truss manipulator according to claim 3, wherein: the horizontal linear driver (30) comprises a screw rod (301) which is arranged on a cross beam (10) of the frame (20) and driven to rotate by a first driving motor (300) and a sliding block (302) which is driven to move by the screw rod (301) along the length direction of the cross beam (10), and the vertical linear driver (31) is fixed with the sliding block (302).

5. The reversible truss manipulator of claim 4, wherein: the vertical linear driver (31) comprises a fixed seat (310) fixed with the sliding block (302), a driving column (312) vertically penetrating through the fixed seat (310) and a driving motor II (311) installed on the fixed seat (310), wherein the lower end of the driving column (312) is fixed with the rotating motor (22), racks (3120) distributed along the length direction of the driving column (312) are arranged outside the driving column, and a driving gear (313) meshed with the racks (3120) is fixed at the output end of the driving motor II (311).

6. The reversible truss manipulator of claim 1, wherein: one surface of the clamping block I (2101) and one surface of the clamping block II (2111) facing to the clamped workpiece are provided with rubber cushion blocks (4), and one surface of the rubber cushion blocks (4) contacting with the clamped workpiece is provided with annular protrusions.