CN117886114A - Truss manipulator and control system thereof - Google Patents

Abstract

The invention provides a truss manipulator and a control system thereof, which can replace manual work, and has high operation accuracy and high material transportation efficiency. The material conveying device comprises a processing part, a material conveying part and a feeding part, wherein the processing part is used for processing materials, the material conveying part can convey the materials between the processing part and the feeding part, the material conveying part comprises a conveying support frame, a transverse sliding part, a vertical sliding part and a clamping part, the transverse sliding part is arranged on the conveying support frame and moves transversely along the conveying support frame, the vertical sliding part is arranged on the transverse sliding part and can move vertically along the transverse sliding part, the clamping part is arranged on the vertical sliding part and is used for clamping the materials, the feeding part is positioned at one side of the processing part, and the feeding part comprises more than two feeding conveyor belts; the transportation support frame comprises a vertical support rod and a transverse support rod, wherein the transverse support rod is arranged at the upper end of the vertical support rod, and the vertical support rod is arranged between the processing part and the material transportation part.

Description

Truss manipulator and control system thereof

Technical Field

The invention relates to the technical field of automatic mechanical control, in particular to a truss manipulator and a control system thereof.

Background

The existing manipulator structure for conveying materials is like a high-speed truss manipulator disclosed in China patent publication No. CN105522573A, and the manipulator mainly comprises a support frame, wherein a first sliding block is horizontally and slidably connected to the support frame, the first sliding block can slide along the X direction, a second sliding block is fixedly arranged on the first sliding block, a third sliding block is slidably connected to the second sliding block, the third sliding block can slide along the Y direction, a mechanical clamping jaw is slidably connected to the third sliding block, and the mechanical clamping jaw can slide along the Z direction; correspondingly, three independent driving parts are also arranged and used for driving the first sliding block, the third sliding block and the mechanical clamping jaw to move respectively.

The high-speed truss manipulator can mainly grab and transport materials. Referring to fig. 1 of the prior art, the main support structure of the support frame comprises two vertical supporting legs arranged vertically, a transverse beam arranged transversely, and two vertical supporting legs arranged at two ends of the transverse beam.

Firstly, in the actual installation process, the processing equipment is usually installed between two vertical support legs, so that the installation position of the processing equipment is limited, the installation flexibility is low, and the processing equipment is not suitable for the processing equipment beyond the distance range of the two vertical support legs;

secondly, except processing equipment matched with the existing manipulator, a storage frame and a single conveying belt are further arranged, namely the conveying belt conveys materials to be processed to a designated position, the manipulator clamps the materials to be processed at the position, the manipulator conveys the materials to be processed to the processing equipment for processing, the processed materials are conveyed to the storage frame for processing, an operator conveys the storage frame to other positions, the materials in the storage frame need to be taken out one by one, the operation is complex, and the processing efficiency is low.

Disclosure of Invention

In view of the above, a first object of the present invention is to provide a truss manipulator, which can replace manual operation, and has high operation accuracy and high material transportation efficiency; on the other hand, the mounting flexibility is high.

In order to solve the technical problems, the technical scheme of the invention is as follows:

the truss manipulator comprises a processing part, a material transferring part and a feeding part, wherein the processing part is used for processing materials, the material transferring part can transfer the materials between the processing part and the feeding part, the material transferring part comprises a transferring support frame, a transverse sliding piece, a vertical sliding piece and a clamping piece, the transverse sliding piece is arranged on the transferring support frame and moves transversely along the transferring support frame, the vertical sliding piece is arranged on the transverse sliding piece and can move vertically along the transverse sliding piece, the clamping piece is arranged on the vertical sliding piece and is used for clamping the materials,

the feeding part is positioned at one side of the processing part and comprises more than two feeding conveyor belts;

the transportation support frame is T-shaped structure, transportation support frame includes vertical support pole, horizontal bracing piece install in vertical support pole's upper end position, vertical support pole install in processing portion with between the material transportation portion, horizontal bracing piece is separated by vertical support pole and is left section of sliding, right section of sliding, the holder slidable extremely left side section of sliding and be located processing portion's upper position, the holder slidable extremely right section of sliding and be located material transportation portion's upper position.

Through the technical scheme, firstly, the material to be processed is placed on one of the feeding conveyor belts, the transverse sliding piece and the vertical sliding piece are matched with each other to act, the clamping piece moves to the position above the feeding conveyor belt, and the clamping piece transfers and conveys the material to be processed on the feeding conveyor belt into the processing part to be processed; after the processing part is processed, the transverse sliding piece and the vertical sliding piece are mutually matched again, the clamping piece transfers the processed material to another feeding conveyor belt, and the feeding conveyor belt transfers the processed material to other positions; the truss manipulator can replace manual operation in the processing process, the operation accuracy is high, and the material transportation efficiency is high;

secondly, because the transportation support frame is T-shaped structure, only one connection point between the transportation support frame and the ground is arranged between the processing part and the feeding part, the installation requirements of the processing parts with different sizes and the feeding conveyor belts with different numbers can be adapted, the limit of the installation positions of the processing parts and the feeding parts is relieved, and the installation flexibility is high.

Preferably, two feeding conveyor belts in the feeding part are arranged, the two conveyor belts are arranged in parallel, and the transverse sliding direction of the transverse sliding piece is perpendicular to the conveying direction of the conveyor belts.

Through the technical scheme, on one hand, the conveyor belts are arranged in parallel, so that the installation space is saved; on the other hand, the transverse sliding piece realizes the purpose of transferring materials to different conveyor belts by smaller transverse movement distance, and the feeding efficiency is high.

Preferably, the feeding device further comprises a protective fence, wherein the protective fence is arranged at the periphery of the feeding part.

Through above-mentioned technical scheme, the protection rail can effectively reduce the possibility that operating personnel contacted with the material on the pay-off portion.

Preferably, the upper end of the vertical supporting rod is provided with a rod driving piece, the transverse supporting rod is transversely connected to the upper end of the vertical supporting rod in a sliding mode, and the rod driving piece is used for driving the transverse supporting rod to transversely slide left and right.

Through above-mentioned technical scheme, under different use scenes, need with the processing portion of different width, the pay-off conveyer belt of different quantity use of cooperation, for example: when the left sliding section is matched with the processing part with wider width, the rod driving piece drives the transverse supporting rod to transversely slide, the length of the left sliding section correspondingly becomes longer, and the left sliding section can be matched with the processing part with wider width; when the feeding conveyor belts are matched with the feeding conveyor belts with more arrangement, the rod driving part drives the transverse supporting rods to transversely slide, the length of the right sliding section can be correspondingly prolonged, and the feeding conveyor belts with more arrangement can be matched.

Preferably, the rod driving piece comprises a rod driving self-locking motor arranged at the upper end position of the vertical supporting rod, a rod driving gear is arranged at the end part of the rod driving self-locking motor, a rod driving tooth surface is arranged on the transverse supporting rod, and the rod driving gear is meshed with the rod driving tooth surface.

Through above-mentioned technical scheme, pole drive self-locking motor drives pole drive gear and carries out the positive and negative rotation, and pole drive gear and pole drive tooth face intermeshing, whole horizontal bracing piece alright take place stable reciprocating motion.

Preferably, the transverse sliding piece comprises a transverse sliding table and a transverse sliding driving piece, the transverse sliding table is connected to the transverse supporting rod in a sliding manner, the transverse sliding driving piece is used for driving the transverse sliding table to move, and the vertical sliding piece comprises a vertical sliding driving piece arranged on the transverse sliding table;

the clamping piece comprises a main clamping frame, an auxiliary clamping frame and clamping claws, wherein the auxiliary clamping frame is vertically connected with the main clamping frame in a sliding manner, the vertical sliding driving piece is used for driving the auxiliary clamping frame to vertically slide, and the clamping claws are arranged on the auxiliary clamping frame;

the main clamping frame is rotationally connected to the transverse sliding table;

the rotary clamping device comprises a main clamping frame, and is characterized by further comprising a rotary driving piece, wherein the rotary driving piece is used for driving the main clamping frame to rotate, and the rotary plane of the main clamping frame is a vertical plane.

Through the technical scheme, in the first application scene, according to the multi-angle workpiece taking requirements of different workpieces, the main clamping frame can be driven to rotate by the rotary driving piece, at the moment, the main clamping frame and the auxiliary clamping frame are obliquely arranged, and when the auxiliary clamping frame is driven to move by the vertical sliding driving piece, the clamping claw can move obliquely, so that the interval requirements of different angles can be adapted;

application scene two, when needs are accomodate the installation, for saving accommodation space, traditional arm needs to independently dismantle the installation respectively, in this design, accessible rotation driving piece drive main clamping frame, vice clamping frame, gripper jaw carry out circumference rotation to make main clamping frame, vice clamping frame, gripper jaw three and horizontal bracing piece parallel arrangement mutually, can furthest practice thrift accommodation space, and in the installation use, only need rotate driving piece drive main clamping frame, vice clamping frame, gripper jaw again carry out circumference rotation can, the installation is convenient.

Preferably, the vertical sliding driving piece comprises a vertical sliding driving motor, a vertical sliding driving gear is mounted on an output shaft of the vertical sliding driving motor, a vertical sliding driving rack is mounted on the auxiliary clamping frame, and the vertical sliding driving gear is meshed with the vertical sliding driving rack.

Through above-mentioned technical scheme, vertical driving gear that slides of vertical sliding drive motor drive rotates, and vertical driving gear that slides cooperates with vertical driving rack each other, can carry out stable drive to vice centre gripping frame.

Preferably, the rotation driving piece comprises a rotation driving motor arranged on the main clamping frame, and a rotation driving gear is arranged on an output shaft of the rotation driving motor;

the horizontal sliding table is provided with a circular slideway, the center of the slideway is concentric with the driving axle center of the vertical sliding driving motor, the inner ring surface of the slideway is provided with a chute, the main clamping frame is provided with a supporting arm, the end part of the supporting arm is connected in the chute in a sliding way, the side wall of the slideway is provided with a rotation driving tooth surface, and the rotation driving gear is meshed with the rotation driving tooth surface.

Through above-mentioned technical scheme, rotate driving motor and drive rotation drive gear and rotate drive tooth face intermeshing, whole main centre gripping frame, vice centre gripping frame, gripper three alright take place rotatoryly, simultaneously, the support arm tip on the main centre gripping frame can mutually slide the cooperation with the spout of anchor clamps in the slide, and the rotation stability of whole main centre gripping frame, vice centre gripping frame, gripper three is higher.

The second object of the invention is to provide a control system which can replace manual operation, has high operation accuracy and higher material transportation efficiency.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a control system for a vehicle, comprising a control system,

step one: sequentially placing materials to be processed on a first feeding conveyor belt;

step two: the transverse sliding driving piece drives the clamping piece to transversely move and transfer the clamping piece to the first feeding conveyor belt;

step three: the vertical sliding driving piece drives the auxiliary clamping frame to move downwards, and the clamping claw clamps the materials on the first feeding conveyor belt;

step four: the transverse sliding driving piece and the vertical sliding driving piece are matched with each other, and the clamping claw conveys the material to be processed on the first feeding conveyor belt into the processing part for processing;

step five: after the materials in the step four are processed, the transverse sliding driving piece and the vertical sliding driving piece are matched with each other, and the processed materials are clamped onto the second feeding conveyor belt by the clamping claws.

Through above-mentioned technical scheme, solved the problem that traditional manual work was gone up unloading and pay-off, make full use of the cooperation relation of manipulator and conveyer belt, operation accuracy is high, and material transport efficiency is higher.

Preferably, step six: according to the position relation between the processing part and the feeding part, the rod driving part drives the transverse supporting rod to transversely move, and the length proportion of the left sliding section and the right sliding section on the two sides is adjusted to an ideal length;

step seven: according to the required clamping angle of the object to be clamped, the rotary driving piece drives the vertical sliding piece to rotate and swing, so that the relative angle between the vertical sliding piece and the transverse supporting rod is controlled;

the control step is arranged before the first step of the control system, wherein the sixth step and the seventh step can be exchanged.

Through the technical scheme, the device can be adapted to the installation requirements of processing parts with different widths and different numbers of feeding parts with feeding conveyor belts;

secondly, the material clamping requirements of multiple angles can be adapted;

again, the vertical slider can be rotated to an angle flush with the lateral support bar for easy stowing.

Drawings

FIG. 1 is a schematic diagram of a first embodiment;

FIG. 2 is a schematic view of a material transferring portion according to the first embodiment;

FIG. 3 is a schematic view of a part of a vertical sliding driving member in a first embodiment, for focusing on the engagement relationship between a rotation driving gear and a rotation driving tooth surface;

FIG. 4 is a schematic view in partial section of a vertical sliding drive in accordance with a first embodiment, for highlighting the engagement relationship between the support arm and the slideway;

fig. 5 is an enlarged view of a portion a of fig. 4;

FIG. 6 is a schematic diagram of the structure of the third embodiment;

fig. 7 is an enlarged view of a portion B of fig. 6;

FIG. 8 is a schematic top view of a third embodiment;

FIG. 9 is a schematic diagram of the structure of two feeding conveyors in the third embodiment, which are staggered up and down;

FIG. 10 is a partial cross-sectional view of a feed conveyor belt of the fourth embodiment;

FIG. 11 is a schematic top view of a feeding conveyor belt according to a fourth embodiment;

fig. 12 is a schematic bottom view of a feeding conveyor in the fourth embodiment.

Reference numerals: 1. a processing section; 2. a material transfer part; 21. a transfer support frame; 22. a vertical support rod; 23. a transverse support bar; 231. a left slip segment; 232. a right slip segment; 24. a lateral slider; 241. a transverse sliding table; 242. a lateral slip drive; 26. a clamping member; 261. a main clamping frame; 262. a secondary clamping frame; 263. clamping claws; 3. a feeding part; 31. a feeding conveyor belt; 4. a protective fence; 5. a lever driving member; 51. the rod drives the self-locking motor; 52. a lever drive gear; 53. a lever drive tooth face; 6. a vertical slip drive; 61. a vertical sliding driving motor; 62. a vertical slip driving gear; 7. a rotary driving member; 71. a rotary drive motor; 72. a rotation driving gear; 8. a slideway; 9. rotating the drive tooth surface; 10. a chute; 11. a vertical slider; 12. a vertical sliding driving rack; 13. a support arm; 14. a left rail; 15. a right rail; 16. a belt body; 17. a conveying roller; 18. a connection station; 19. a slip arm; 20. a lifting driving member; 21. pushing the frame piece; 202. a telescopic sleeve; 23. a transverse thrust piece; 204. a first conveyor belt; 25. a second conveyor belt; 26. a groove; 27. a support; 28. a main stay; 29. an auxiliary supporting bar; 30. a roller groove; 31. a driving groove; 32. a roller driving member; 33. and a driving block.

Description of the embodiments

The following detailed description of the invention is provided in connection with the accompanying drawings to facilitate understanding and grasping of the technical scheme of the invention.

Examples

The truss manipulator, see figure 1, mainly comprises a processing part 1, a material transferring part 2 and a feeding part 3, wherein the processing part 1, the material transferring part 2 and the feeding part 3 are sequentially and transversely arranged.

Regarding the processing section 1:

the processing part 1 can be a numerical control machine tool, and the processing part 1 is used for processing materials.

Regarding the material transfer section 2:

the material transferring portion 2 is used for transferring material between the processing portion 1 and the feeding portion 3.

The material transfer part 2 comprises a transfer support frame 21, a transverse sliding piece 24, a vertical sliding piece 11 and a clamping piece 26.

Referring to fig. 1 and 2, the lateral slider 24 is mounted to the transfer support 21 and moves laterally along the transfer support 21. The vertical slider 11 is mounted on the lateral slider 24 and is capable of vertical movement along the lateral slider 24, and the clamping member 26 is mounted on the vertical slider 11 and is used for clamping a material.

Referring to fig. 1 and 2, the transverse sliding member 24 includes a transverse sliding table 241 and a transverse sliding driving member 242, wherein the transverse sliding table 241 is slidably connected to the transverse supporting bar 23, and the transverse sliding driving member 242 is used for driving the transverse sliding table 241 to move.

Referring to fig. 1 and 2, the vertical slider 11 includes a vertical slider drive 6 mounted on a lateral slider 241. The clamping member 26 includes a main clamping frame 261, a sub clamping frame 262, and a clamping claw 263, wherein the sub clamping frame 262 is vertically slidably connected to the main clamping frame 261, the vertical sliding driving member 6 is used for driving the sub clamping frame 262 to vertically slide, and the clamping claw 263 is mounted on the sub clamping frame 262.

Referring to fig. 1 and 2, the vertical sliding driving member 6 includes a vertical sliding driving motor 61, a vertical sliding driving gear 62 is mounted on an output shaft of the vertical sliding driving motor 61, a vertical sliding driving rack 12 is mounted on the main clamping frame 261, and the vertical sliding driving gear 62 is meshed with the vertical sliding driving rack 12.

Referring to fig. 1 and 2, the main structure of the transferring support frame 21 is in a T-shaped structure, the transferring support frame 21 includes a vertical support bar 22 and a horizontal support bar 23, the horizontal support bar 23 is mounted at an upper end of the vertical support bar 22, and the vertical support bar 22 is mounted between the processing portion 1 and the material transferring portion 2.

Referring to fig. 1 and 2, the horizontal support bar 23 is divided into a left sliding section 231 and a right sliding section 232 by the vertical support bar 22, the clamping member 26 can slide to the left sliding section 231 and be located at the upper position of the processing portion 1, and the clamping member 26 can slide to the right sliding section 232 and be located at the upper position of the material transferring portion 2.

Regarding the feeding portion 3:

referring to fig. 1, the feeding portion 3 is located at a side of the processing portion 1, and the feeding portion 3 includes more than two feeding conveyor belts 31;

in this embodiment, two feeding conveyors 31 are disposed in the feeding portion 3, the two feeding conveyors 31 are disposed parallel to each other, and the lateral sliding direction of the lateral sliding member 24 is perpendicular to the conveying direction of the feeding conveyor 31.

And protective fences 4 are further arranged at the periphery of the feeding part 3 and used for improving safety protection.

In order to adapt to the installation requirements of the processing part 1 and the feeding part 3 with larger size ranges, a rod driving piece 5 is arranged at the upper end of the vertical supporting rod 22, the transverse supporting rod 23 is connected to the upper end position of the vertical supporting rod 22 in a transverse sliding mode, and the rod driving piece 5 is used for driving the transverse supporting rod 23 to move in a transverse sliding mode left and right.

The rod driving part 5 comprises a rod driving self-locking motor 51 arranged at the upper end position of the vertical supporting rod 22, a rod driving gear 52 is arranged at the end part of the rod driving self-locking motor 51, a rod driving tooth surface 53 is arranged on the transverse supporting rod 23, and the rod driving gear 52 is meshed with the rod driving tooth surface 53.

In addition, referring to fig. 2 and 3, in order to achieve a relative angular change between the vertical slider 11 and the lateral support bar 23. The main clamping frame 261 is rotatably coupled to the lateral sliding table 241. The device further comprises a rotation driving piece 7, wherein the rotation driving piece 7 is used for driving the main clamping frame 261 to rotate, and the rotation plane of the main clamping frame 261 is a vertical plane.

The rotation driving member 7 includes a rotation driving motor 71 mounted on the main grip frame 261, and a rotation driving gear 72 is mounted on an output shaft of the rotation driving motor 71;

referring to fig. 4 and 5, the transverse sliding table 241 is provided with a circular slide 8, the center of the slide 8 is concentric with the driving axis of the vertical sliding driving motor 61, the inner ring surface of the slide 8 is provided with a chute 10, the main clamping frame 261 is provided with a supporting arm 13, the end of the supporting arm 13 is slidingly connected in the chute 10, the side wall of the slide 8 is provided with a rotation driving tooth surface 9, and the rotation driving gear 72 is meshed with the rotation driving tooth surface 9.

Examples

A control system comprises the following control steps:

step one: placing the materials to be processed on a first feeding conveyor 31 in sequence; the first feeding conveyor 31 sequentially conveys the materials to be processed to a designated position;

step two: the transverse sliding driving piece 242 drives the clamping piece 26 to transversely move and transfer onto the first feeding conveyor belt 31;

step three: the vertical sliding driving piece 6 drives the auxiliary clamping frame 262 to move downwards, and the clamping claw 263 clamps the material on the first feeding conveyor belt 31;

step four: the transverse sliding driving piece 242 and the vertical sliding driving piece 6 are matched with each other, and the clamping claw 263 conveys the material to be processed on the first feeding conveyor 31 into the processing part 1 for processing;

step five: after the material in the fourth step is processed, the transverse sliding driving piece 242 and the vertical sliding driving piece 6 are matched with each other, and the clamping claw 263 clamps the processed material onto the second feeding conveyor belt 31; the second feeding conveyor 31 conveys the processed material to a designated position;

step six: according to the position relation between the processing part 1 and the feeding part 3, the rod driving piece 5 drives the transverse supporting rod 23 to transversely move, and the length proportion of the left sliding section 231 and the right sliding section 232 at the two sides is adjusted to be the ideal length; when the left sliding section 231 is matched with the processing part 1 with the wider width, the rod driving piece 5 drives the transverse supporting rod 23 to transversely slide, and the length of the left sliding section 231 correspondingly becomes longer, so that the left sliding section can be matched with the processing part 1 with the wider width; when the horizontal support rod 23 is matched with the feeding conveyor belts 31 with more arrangement, the rod driving piece 5 drives the horizontal support rod 23 to horizontally slide, the length of the right sliding section 232 is correspondingly longer, and the horizontal support rod can be matched with more feeding conveyor belts 31;

step seven: according to the required clamping angle of the object to be clamped, the rotary driving piece 7 drives the vertical sliding piece 11 to rotate and swing, so that the relative angle between the vertical sliding piece 11 and the transverse supporting rod 23 is controlled; firstly, according to multi-angle workpiece taking requirements of different workpieces, the main clamping frame 261 can be driven to rotate by the rotary driving piece 7, at the moment, the main clamping frame 261 and the auxiliary clamping frame 262 are obliquely arranged, and when the auxiliary clamping frame 262 is driven to move by the vertical sliding driving piece 6, the clamping claw 263 can obliquely move, so that the requirements of intervals with different angles can be met; secondly, when accomodating the installation, in order to practice thrift the accommodation space, traditional arm needs to dismantle the installation independently respectively, in this design, accessible rotation driving piece 7 drive main clamping frame 261, vice clamping frame 262, clamping jaw 263 carry out the circumference rotation to make main clamping frame 261, vice clamping frame 262, clamping jaw 263 three and horizontal bracing piece 23 parallel arrangement, can practice thrift the accommodation space to the maximum extent, and in the installation use, only need rotate driving piece 7 drive main clamping frame 261, vice clamping frame 262, clamping jaw 263 carry out the circumference rotation can, the installation is convenient.

The sixth step and the seventh step are disposed before the first step of the control system. Step six and step seven can be exchanged back and forth.

Examples

Based on the structure of the first embodiment, the following structural features are added.

Referring to fig. 6, the protective rail 4 is divided into a left rail 14 and a right rail 15, and the left rail 14 and the right rail 15 are slidably connected with each other; the arrangement direction between the left rail 14 and the right rail 15 coincides with the arrangement direction between the two feeding conveyor belts 31.

Referring to fig. 8, the feeding conveyor 31 includes a belt body 16, two conveyor rollers 17, and the belt body 16 is wound around the two conveyor rollers 17;

referring to fig. 6 and 7, the end of the conveying roller 17 is rotatably connected with a connecting table 18, a sliding arm 19 is fixedly connected to the connecting table 18, the sliding arm 19 is vertically slidingly connected to the left rail 14, and a lifting driving piece 20 for driving the connecting table 18 and the conveying roller 17 to vertically lift up and down is arranged on the left rail 14;

referring to fig. 8, a pushing frame member 21 is further included, and the pushing frame member 21 is used to drive the left rail 14 and the right rail 15 to move relative to each other.

Therefore, firstly, when the overall height of the feeding conveyor belt 31 needs to be adjusted, the lifting driving member 20 drives the corresponding feeding conveyor belt 31 to adaptively lift up and down so as to adapt to feeding requirements of different heights;

secondly, after one of the feeding conveyor belts 31 is lifted to a designated height, the frame pushing piece 21 drives the left rail 14 or the right rail 15 to move, and the left rail 14 and the right rail 15 can move mutually, at this time, the two feeding conveyor belts 31 can be distributed up and down, and meanwhile, the left rail 14 and the right rail 15 can be combined left and right; according to the actual installation requirement, the arrangement mode of the feeding conveyor belt 31 and the size of the protective fence 4 can be changed without manual participation through an automatic driving mode, so that the installation space can be saved, and the upper and lower layered feeding can be realized.

Wherein, referring to fig. 7, the left rail 14 is vertically slidably connected with a telescopic sleeve 202, and the sliding arm 19 is horizontally and horizontally slidably connected in the telescopic sleeve 202; the telescopic sleeve 202 is provided with a transverse thrust piece 23, the thrust end of the transverse thrust piece 23 is connected to the sliding arm 19, and the thrust direction of the transverse thrust piece 23 is parallel to the conveying direction of the feeding conveyor belt 31.

Therefore, when one of the feeding conveyors 31 moves to the upper designated height position, the lateral thrust piece 23 can push the feeding conveyor 31 to move laterally, so that horizontal dislocation is formed between the upper and lower feeding conveyors 31, and the state is as shown in fig. 9; in this state, the gripper 263 can divide the material into at least two feeding conveyor belts 31 for conveying, so as to achieve the purpose of automatic material dividing and conveying; the horizontal dislocation gap formed between the upper and lower feeding conveyor belts 31, as shown in fig. 9, gives a certain discharging space to the holding claws 263.

Embodiment four: on the basis of the third embodiment, the following technical features are added.

As shown in fig. 10, the two feeding conveyor belts 31 are a first conveyor belt 204 and a second conveyor belt 25, respectively, and the side walls of the belt body 16 in the first conveyor belt 204 opposite to the belt body 16 in the second conveyor belt 25 are provided with belt grooves 26, and the belt grooves 26 are arranged along the length direction of the belt body 16; a support 27 is slidably connected in the groove 26 of the first conveyor belt 204, the support 27 comprises a main support bar 28 and a plurality of auxiliary support bars 29, the main support bar 28 is distributed along the length direction of the belt body 16, one end of each auxiliary support bar 29 is fixedly connected to the main support bar 28, and the end of each auxiliary support bar 29, which is away from the main support bar 28, faces to one side of the second conveyor belt 25; secondary support bar 29 in conveyor one 204 is insertable into slot 26 in conveyor two 25, primary support bar 28 being made of a deformable material;

referring to fig. 12, a roller groove 30 is provided on the outer roller surface of the transfer roller 17, a driving block 33 is provided on the main stay 28, a driving groove 31 is provided on the belt body 16, and the driving block 33 passes through the driving groove 31 and is caught in the roller groove 30;

referring to fig. 11, a roller driving member 32 is mounted on the connection table 18, and an end portion of the transfer roller 17 is rotatably and slidably coupled to the connection table 18, the roller driving member 32 includes a roller driving cylinder, a driving end of the roller driving cylinder is rotatably coupled to an end portion of the transfer roller 17, and the roller driving member 32 is configured to drive the transfer roller 17 to move along a length direction thereof.

Therefore, when the volume of the material to be transported is large, the two feeding conveyor belts 31 are flush with each other, on one hand, the frame pushing member pushes the left rail 14 and the right rail 15 to approach each other, and at the same time, the two feeding conveyor belts 31 are also close to each other;

the roller driving piece 32 drives the corresponding conveying roller 17 to move towards the feeding conveyor belt 31 on the adjacent side until the end parts of the conveying rollers 17 in the adjacent two feeding conveyor belts 31 are propped against each other, meanwhile, the roller grooves 30 on the conveying rollers 17 can drive the driving blocks 33, the main supporting bars 28 and the auxiliary supporting bars 29 to correspondingly move, and the auxiliary supporting bars 29 can be inserted into the groove 26 in the adjacent feeding conveyor belt 31, so that the two belt bodies 16 are connected with each other, the structural strength between the two belt bodies 16 is greatly enhanced, and the possibility of collapse deformation possibly generated between the two belt bodies 16 is reduced.

As shown in fig. 11, the auxiliary supporting bar 29 in the belt groove 26 of the first belt 204 and the auxiliary supporting bar 29 in the belt groove 26 of the second belt 25 are arranged in a staggered manner.

Therefore, when the auxiliary supporting bars 29 in the first conveyor belt 204 and the second conveyor belt 25 are close to each other, the auxiliary supporting bars 29 are spliced in a staggered manner, so that the butt joint stability between the first conveyor belt 204 and the second conveyor belt 25 is higher, and the supporting stability is also higher.

In addition, referring to fig. 11, the end of the conveying roller 17 is inserted into the connection table 18. The roller driving member 32 may be a roller driving cylinder or an oil cylinder, and the driving end of the roller driving member 32 abuts against the end portion of the conveying roller 17, so as to push the conveying roller 17 to move.

Of course, the above is only a typical example of the invention, and other embodiments of the invention are also possible, and all technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of the invention claimed.

Claims (10)

1. Truss manipulator, including processing portion (1), material transfer portion (2), pay-off portion (3), processing portion (1) are used for carrying out processing to the material, material transfer portion (2) can with the material transfer in processing portion (1) with between pay-off portion (3), material transfer portion (2) are including transporting support frame (21), horizontal slider (24), vertical slider (11), clamping piece (26), horizontal slider (24) are installed in transporting support frame (21) and are carried out lateral shifting along transporting support frame (21), vertical slider (11) install in horizontal slider (24) and can carry out vertical movement along horizontal slider (24), clamping piece (26) install in on vertical slider (11) and be used for the centre gripping material, characterized by:

the feeding part (3) is positioned at one side of the processing part (1), and the feeding part (3) comprises more than two feeding conveyor belts (31);

the transfer support frame (21) is T-shaped structure, transfer support frame (21) includes vertical support bar (22), horizontal bracing piece (23) install in the upper end position of vertical support bar (22), vertical support bar (22) install in processing portion (1) with between material transfer portion (2), horizontal bracing piece (23) separate by vertical support bar (22) for left slip section (231), right slip section (232), clamping piece (26) slidable to left slip section (231) and be located the top position of processing portion (1), clamping piece (26) slidable to right slip section (232) and be located the top position of material transfer portion (2).

2. The truss manipulator of claim 1, wherein: two feeding conveyor belts (31) in the feeding part (3) are arranged, the two feeding conveyor belts (31) are arranged in parallel, and the transverse sliding direction of the transverse sliding piece (24) is perpendicular to the conveying direction of the feeding conveyor belts (31).

3. The truss manipulator of claim 1, wherein: the feeding device further comprises a protective fence (4), wherein the protective fence (4) is arranged at the periphery of the feeding part (3).

4. The truss manipulator of claim 1, wherein: the upper end of the vertical supporting rod (22) is provided with a rod driving piece (5), the transverse supporting rod (23) is transversely connected to the upper end of the vertical supporting rod (22) in a sliding mode, and the rod driving piece (5) is used for driving the transverse supporting rod (23) to transversely slide left and right.

5. The truss manipulator of claim 4, wherein: the rod driving piece (5) comprises a rod driving self-locking motor (51) arranged at the upper end position of the vertical supporting rod (22), a rod driving gear (52) is arranged at the end part of the rod driving self-locking motor (51), a rod driving tooth surface (53) is arranged on the transverse supporting rod (23), and the rod driving gear (52) is meshed with the rod driving tooth surface (53).

6. The truss manipulator of claim 4 or 5, wherein:

the transverse sliding piece (24) comprises a transverse sliding table (241) and a transverse sliding driving piece (242), the transverse sliding table (241) is connected to the transverse supporting rod (23) in a sliding mode, the transverse sliding driving piece (242) is used for driving the transverse sliding table (241) to move, and the vertical sliding piece (11) comprises a vertical sliding driving piece (6) arranged on the transverse sliding table (241);

the clamping piece (26) comprises a main clamping frame (261), a secondary clamping frame (262) and clamping claws (263), the secondary clamping frame (262) is vertically connected with the main clamping frame (261) in a sliding mode, the vertical sliding driving piece (6) is used for driving the secondary clamping frame (262) to vertically slide, and the clamping claws (263) are arranged on the secondary clamping frame (262);

the main clamping frame (261) is rotatably connected to the transverse sliding table (241);

the novel clamping device comprises a main clamping frame (261) and is characterized by further comprising a rotation driving piece (7), wherein the rotation driving piece (7) is used for driving the main clamping frame (261) to rotate, and the rotation plane of the main clamping frame (261) is a vertical plane.

7. The truss manipulator of claim 6, wherein: the vertical sliding driving piece (6) comprises a vertical sliding driving motor (61), a vertical sliding driving gear (62) is mounted on an output shaft of the vertical sliding driving motor (61), a vertical sliding driving rack (12) is mounted on the auxiliary clamping frame (262), and the vertical sliding driving gear (62) is meshed with the vertical sliding driving rack (12).

8. The truss manipulator of claim 7, wherein: the rotary driving piece (7) comprises a rotary driving motor (71) arranged on the main clamping frame (261), and a rotary driving gear (72) is arranged on an output shaft of the rotary driving motor (71);

be equipped with annular slide (8) on horizontal sliding table (241), the center of slide (8) concentric in the drive axle center of vertical slip driving motor (61), be equipped with spout (10) on the interior anchor ring of slide (8), be equipped with support arm (13) on main centre gripping frame (261), support arm (13) tip slide connect in spout (10), be equipped with on slide (8) lateral wall and rotate drive tooth face (9), rotate drive gear (72) with rotate drive tooth face (9) intermeshing.

9. A control system, comprising the control steps of:

step one: sequentially placing materials to be processed on a first feeding conveyor belt (31);

step two: the transverse sliding driving piece (242) drives the clamping piece (26) to transversely move and transfer onto the first feeding conveyor belt (31);

step three: the vertical sliding driving piece (6) drives the auxiliary clamping frame (262) to move downwards, and the clamping claw (263) clamps the material on the first feeding conveyor belt (31);

step four: the transverse sliding driving piece (242) and the vertical sliding driving piece (6) are matched with each other, and the clamping claw (263) conveys materials to be processed on the first feeding conveyor belt (31) into the processing part (1) for processing;

step five: after the materials in the fourth step are processed, the transverse sliding driving piece (242) and the vertical sliding driving piece (6) are matched with each other, and the processed materials are clamped onto the second feeding conveyor belt (31) by the clamping claw (263).

10. The control system according to claim 9, wherein the control step is that:

step six: according to the position relation between the processing part (1) and the feeding part (3), the rod driving piece (5) drives the transverse supporting rod (23) to transversely move, and the length proportion of the left sliding section (231) and the right sliding section (232) at the two sides is adjusted to be the ideal length;

step seven: according to the required clamping angle of the object to be clamped, the rotary driving piece (7) drives the vertical sliding piece (11) to rotate and swing, so that the relative angle between the vertical sliding piece (11) and the transverse supporting rod (23) is controlled;

the control step is arranged before the first step of the control system according to claim 9, wherein the sixth and seventh steps can be exchanged.