CN211193881U

CN211193881U - Movable truss manipulator

Info

Publication number: CN211193881U
Application number: CN201922134712.3U
Authority: CN
Inventors: 丁大勇
Original assignee: Guangzhou Shenyong Intelligent Equipment Co ltd
Current assignee: Guangzhou Shenyong Intelligent Equipment Co ltd
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2020-08-07
Anticipated expiration: 2029-12-02

Abstract

The utility model discloses a remove truss manipulator, its characterized in that: the method comprises the following steps: the X-rail, the Y-rail, the rectangular bracket arranged on the Y-rail and a plurality of mechanical chucks arranged on the rectangular bracket; a plurality of mechanical chucks are arranged on the rectangular bracket in an array manner; the mechanical chuck includes: the mounting bracket, install in the contact pin guide block of mounting bracket bottom, install the first contact pin that drives on the contact pin guide block, the second drives actuating cylinder and installs the contact pin on first, the second drives actuating cylinder, and first drive actuating cylinder drives actuating cylinder and second and drives actuating cylinder synchronous operation, forms an contained angle between the contact pin on first, the second drives actuating cylinder. The XY track and the mechanical chuck are arranged on the movable truss manipulator, so that flexible and plate-shaped materials can be effectively taken and placed, and the production efficiency is effectively improved; the traditional pneumatic clamping type mechanical arm cannot realize the function.

Description

Movable truss manipulator

Technical Field

The utility model relates to a manipulator technical field, more specifically the utility model relates to a remove truss manipulator that says so.

Background

The truss manipulator is a full-automatic industrial device which is established on the basis of a right-angle X, Y and Z coordinate system, adjusts the station of a workpiece or realizes the functions of the trajectory movement of the workpiece, and the like, the control core of the truss manipulator is realized by an industrial controller (such as a P L C, motion control, a singlechip and the like), the controller analyzes and processes various input (various sensors, buttons and the like) signals, and after certain logic judgment is made, an execution command is issued to each output element (a relay, a motor driver, an indicator light and the like) to complete the joint movement among the X, Y and Z three axes, so that the whole set of full-automatic operation flow is realized.

Aiming at different industrial fields, workpieces and materials required to be transported during automatic processing are different, so that the structure of the truss manipulator is different, and particularly, the manipulator is designed independently according to requirements for transporting flexible materials or plate materials.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a remove truss manipulator.

In order to achieve the above purpose, the utility model adopts the following technical scheme: remove truss manipulator, its characterized in that: the method comprises the following steps: the X-rail, the Y-rail, the rectangular bracket arranged on the Y-rail and a plurality of mechanical chucks arranged on the rectangular bracket; a plurality of mechanical chucks are arranged on the rectangular bracket in an array manner; the mechanical chuck includes: the mounting bracket, install in the contact pin guide block of mounting bracket bottom, install the first contact pin that drives on the contact pin guide block, the second drives actuating cylinder and installs the contact pin on first, the second drives actuating cylinder, and first drive actuating cylinder drives actuating cylinder and second and drives actuating cylinder synchronous operation, forms an contained angle between the contact pin on first, the second drives actuating cylinder.

In a preferred technical solution, the rectangular bracket includes: the outer frame and a plurality of transverse and vertical beams arranged in the outer frame; the plurality of mechanical chucks are distributed on the outer frame and the cross beam in an array manner.

In the preferred technical scheme, two opposite parallel side surfaces are formed on the contact pin guide block, the first driving cylinder and the second driving cylinder are respectively installed on the two side surfaces, and installation gaps for installing the first driving cylinder and the second driving cylinder are formed on the two side surfaces.

In the preferred technical scheme, a groove body used for inserting and installing the contact pin is formed on the contact pin guide block, and the groove body is obliquely formed from the side surface where the first driving cylinder and the second driving cylinder are installed to the bottom surface.

In a preferred technical solution, the first and second driving cylinders are distributed to include: the body, set up drive shaft and chuck on the body, be provided with the contact pin mounting hole on the chuck.

In a preferred embodiment, the chuck includes: the main clamping block and the auxiliary clamping block are correspondingly provided with the mounting holes on the corresponding surfaces of the main clamping block and the auxiliary clamping block.

In a preferred technical scheme, the Y track is installed on the X track and is driven by the first belt driving device to move along the X track.

In the preferable technical scheme, the Y track is arranged on the X track through a sliding plate, and the Y track moves up and down along the sliding plate through a second belt driving device.

In a preferred technical scheme, a protective cover is arranged at the joint of the X track and the Y track.

Known through foretell technical scheme, compare with prior art, the utility model discloses following beneficial effect has: the XY track and the mechanical chuck are arranged on the movable truss manipulator, so that flexible and plate-shaped materials can be effectively taken and placed, and the production efficiency is effectively improved; the traditional pneumatic clamping type mechanical arm cannot realize the function.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the present invention with the protective cover removed;

fig. 3 is a schematic structural diagram of the mechanical chuck of the present invention.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

In the description of the present application, it is to be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the present application. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

A mobile truss manipulator, as shown in fig. 1-3, comprising: x-rail 100, Y-rail 200, rectangular support 300 mounted to Y-rail 200, and a plurality of mechanical chucks 400 mounted to rectangular support 300.

The X-rail 100 and the Y-rail 200 are used to move the mechanical chuck 400 in the XY direction. The X track 100 includes: the Y rail is mounted on the slide rail 110 of the X rail 100 through a slide plate, and is driven by the first belt driving device 120 to move along the slide rail 110. The first belt drive device 120 includes: the two transmission wheels 122 are respectively arranged at two ends of the X rail 100, and the motor 121 drives the transmission wheels 122 to rotate to drive the belt 123 to rotate, so that the sliding plate moves along with the sliding plate.

The Y rail 200 is mounted on the slide plate, the slide plate is also provided with a slide rail, and the Y rail 200 moves up and down along the slide rail on the slide plate under the action of the second belt driving device 210.

The movement of the mechanical chuck 400 in the XY direction can be realized by the above.

The juncture of the Y track 200 and the X track 100 is further provided with a protective cover 220, which can play a good role in protection.

The plurality of mechanical chucks 400 are provided, and the mechanical chucks 400 have the same structure and are arranged on the rectangular support 300 in an array manner so as to be capable of better and larger-area grasping of the block-shaped materials.

Specifically, the rectangular bracket 300 includes: the mechanical chuck assembly comprises an outer frame 310 and a plurality of transverse and vertical beams 320 arranged in the outer frame 310, wherein the plurality of mechanical chucks 400 are arranged on the outer frame 310 and the beams 320 in an array manner.

The mechanical chuck 400 includes: the mounting bracket 410, the pin guide block 420 arranged at the bottom of the mounting bracket 410, the first driving air cylinder 430A and the second driving air cylinder 430B arranged on the pin guide block 420, and the pin 440 arranged on the first driving air cylinder and the second driving air cylinder, wherein the first driving air cylinder 430A and the second driving air cylinder 430B drive the pin 440 to synchronously run, and an included angle is formed between the pin 440 on the first driving air cylinder and the second driving air cylinder.

Two parallel side surfaces are formed on the pin guide block 420, the first driving cylinder 430A and the second driving cylinder 430B are respectively installed on the two side surfaces, and installation gaps for installing the first driving cylinder and the second driving cylinder are formed on the two side surfaces.

The pin guide block 420 is formed with a groove body for inserting and mounting the pin 440, and the groove body is obliquely opened from the side surface where the first and second driving cylinders are mounted to the bottom surface.

The first and second driving cylinder distribution comprises: the pin mounting device comprises a body 431, a driving shaft 432 arranged on the body 431 and a clamping head 433, wherein a pin mounting hole 434 is arranged on the clamping head 433.

The chuck 433 includes: the main clamping block 4331 and the auxiliary clamping block 4332, and the corresponding surfaces of the main clamping block 4331 and the auxiliary clamping block 4332 are correspondingly provided with the mounting holes 434.

Specifically, when the mechanical chuck 400 is driven by the XY rail to move to an effect position, then the first driving cylinder and the second driving cylinder move synchronously, and then the contact pins 440 on the first driving cylinder and the second driving cylinder extend downwards in a crossing manner to act on the material.

When fetching, the mechanical chucks 400 run simultaneously and are inserted into the material through the inserting pins 440, and in the inserting process, the inserting ends of the two inserting pins 440 are continuously far away, so that the material is grabbed in a larger area; when the material is removed, the inserting pin 440 is recovered, the inserting end of the inserting pin 440 is relatively close to the material, and the inserting pin guide block 420 can also be abutted to the material, so that the effect of effectively removing the material is achieved.

The movable truss manipulator in the technology can be matched with other parts of automatic equipment to form an automatic production line, and the production efficiency is improved.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. Remove truss manipulator, its characterized in that: the method comprises the following steps: the X-rail, the Y-rail, the rectangular bracket arranged on the Y-rail and a plurality of mechanical chucks arranged on the rectangular bracket; a plurality of mechanical chucks are arranged on the rectangular bracket in an array manner; the mechanical chuck includes: the mounting bracket, install in the contact pin guide block of mounting bracket bottom, install the first contact pin that drives on the contact pin guide block, the second drives actuating cylinder and installs the contact pin on first, the second drives actuating cylinder, and first drive actuating cylinder drives actuating cylinder and second and drives actuating cylinder synchronous operation, forms an contained angle between the contact pin on first, the second drives actuating cylinder.

2. The mobile truss robot of claim 1, wherein: the rectangular support includes: the outer frame and a plurality of transverse and vertical beams arranged in the outer frame; the plurality of mechanical chucks are distributed on the outer frame and the cross beam in an array manner.

3. The mobile truss robot of claim 1, wherein: the contact pin guide block is provided with two parallel side faces, the first driving air cylinder and the second driving air cylinder are respectively arranged on the two side faces, and installation gaps for installing the first driving air cylinder and the second driving air cylinder are formed on the two side faces.

4. The mobile truss robot of claim 1, wherein: the pin guide block is provided with a groove body for inserting and installing the pin, and the groove body is obliquely arranged from the side surface where the first driving cylinder and the second driving cylinder are installed to the bottom surface.

5. The mobile truss robot of claim 1, wherein: the first and second driving cylinder distribution comprises: the body, set up drive shaft and chuck on the body, be provided with the contact pin mounting hole on the chuck.

6. The mobile truss robot of claim 5, wherein: the chuck includes: the main clamping block and the auxiliary clamping block are correspondingly provided with the mounting holes on the corresponding surfaces of the main clamping block and the auxiliary clamping block.

7. The mobile truss robot of claim 1, wherein: the Y track is arranged on the X track and is driven by the first belt driving device to move along the X track.

8. The mobile truss robot of claim 7, wherein: the Y track is arranged on the X track through a sliding plate, and the Y track moves up and down along the sliding plate through a second belt driving device.

9. The mobile truss robot of claim 1, wherein: and a protective cover is arranged at the joint of the X track and the Y track.