CN215789859U - Keel type truss manipulator - Google Patents
Keel type truss manipulator Download PDFInfo
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- CN215789859U CN215789859U CN202122427817.5U CN202122427817U CN215789859U CN 215789859 U CN215789859 U CN 215789859U CN 202122427817 U CN202122427817 U CN 202122427817U CN 215789859 U CN215789859 U CN 215789859U
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Abstract
The utility model discloses a keel type truss manipulator which comprises a keel main support, a moving seat, an X-axis moving driving device, a Z-axis, a manipulator mounting frame and a plate body clamping device. The plate clamping device provided by the utility model adopts a novel plate clamping structure, a plurality of plate clamping devices on the manipulator mounting rack can rapidly move along the X-axis and Z-axis directions, the plate clamping devices can better clamp the plate, the plate is prevented from falling in the transferring process, and the plate clamping device is stable and reliable in operation, convenient to operate and low in cost.
Description
Technical Field
The utility model relates to the technical field of truss manipulators, in particular to a keel type truss manipulator.
Background
The truss manipulator is a full-automatic industrial device which is established on the basis of a rectangular X, Y and Z coordinate system and used for adjusting the station of a workpiece or realizing the functions of the workpiece such as track movement and the like. The control core is realized by an industrial controller (such as a PLC, a motion controller, 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 motion among the three axes of X, Y and Z, so that a whole set of full-automatic operation flow is realized.
In the middle of the actual work, the work piece that truss manipulator needs the centre gripping has different shapes, for example the plate body, but current truss manipulator takes place to drop easily at the in-process that the centre gripping plate body shifts, leads to the material to fall ground, causes the damage, produces certain economic loss.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art and provides a keel type truss manipulator.
In order to achieve the purpose, the utility model provides a keel type truss manipulator, which comprises a keel main support, a moving seat, an X-axis moving driving device, a Z-axis, a manipulator mounting frame and a plate body clamping device, wherein the keel main support comprises two supporting legs and two X-axis cross beams, the X-axis cross beams are parallelly arranged at the tops of the two supporting legs, the moving seat is in sliding connection with the two X-axis cross beams through linear sliding rails, the X-axis moving driving device is arranged on the moving seat and can drive the moving seat to move along the X-axis direction, the Z-axis is arranged on the moving seat in a vertically movable manner and is positioned between the two X-axis cross beams, the Z-axis moving driving device is arranged on the moving seat and is in transmission connection with the Z-axis so as to drive the moving seat to move up and down, the bottom of the Z-axis is connected with the manipulator mounting frame, the plate body clamping device is respectively arranged at the bottoms of mounting legs of the manipulator mounting frame, every plate body clamping device all includes that the centre gripping drives actuating cylinder, supporting hook slide and supporting hook, the centre gripping drives actuating cylinder and supporting hook slide and all installs in the bottom of installing the stabilizer blade, supporting hook slidable mounting is in the spout of supporting hook slide, the output pole that the centre gripping drove actuating cylinder is connected with the supporting hook and can drives its horizontal migration, the inboard of supporting hook is equipped with the hook groove.
Preferably, the X-axis moving driving device comprises an X-axis driving motor and an X-axis driving gear, the X-axis driving motor is mounted on the moving seat, the X-axis driving gear is mounted on an output shaft of the X-axis driving motor, and the X-axis driving gear is meshed with an X-axis spur rack mounted on the top of one of the X-axis cross beams.
Preferably, the X-axis driving motor is a reduction integral motor with power of 1500W.
Preferably, the Z-axis moving driving device comprises a Z-axis driving motor and a Z-axis driving gear, the Z-axis driving motor is mounted on the moving seat, the Z-axis driving gear is mounted on an output shaft of the Z-axis driving motor, and the Z-axis driving gear is meshed with a Z-axis spur rack longitudinally mounted on the Z-axis.
Preferably, the Z-axis driving motor is a speed reduction integrated motor with a brake and a power of 1000W.
Preferably, the effective moving stroke of the Z axis in the X axis direction is 5000mm-7000mm, and the effective moving stroke in the Z axis direction is 1000mm-3000 mm.
Preferably, the left end and the right end of the top of the X-axis beam are respectively provided with a limiting seat and anti-collision glue arranged on the limiting seat.
Preferably, the cross section of the clamping hook is in a T shape, and the sliding groove of the sliding seat of the clamping hook is a T-shaped sliding groove.
Preferably, the bottom of the supporting leg is provided with a bottom plate, and a first reinforcing rod is arranged between the supporting leg and the bottom plate.
Preferably, a second reinforcing rod is arranged between the top of the supporting foot and the X-axis beam.
Compared with the prior art, the utility model has the beneficial effects that:
the plate clamping device is reasonable in structural design, adopts a novel plate clamping structure, can rapidly move along the X-axis direction and the Z-axis direction, can better clamp a plate, prevents the plate from falling in the transferring process, and is stable and reliable in operation, convenient to operate and low in cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a keel type truss manipulator provided in an embodiment of the utility model;
figure 2 is an enlarged view of the X, Z axis drive location of a keel truss robot provided in accordance with an embodiment of the utility model;
FIG. 3 is a schematic structural diagram of an X-axis drive gear or a Z-axis drive gear provided by an embodiment of the utility model;
fig. 4 is a schematic structural diagram of a manipulator mounting frame and a plate clamping device provided in an embodiment of the present invention;
fig. 5 is an enlarged view of a plate body clamping device provided in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a keel type truss manipulator, which includes a main keel support 1, a moving seat 2, an X-axis moving driving device 3, a Z-axis moving driving device 4, a Z-axis 5, a manipulator mounting frame 6, and a plate clamping device 7, and the following describes each component of this embodiment in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the main keel support 1 includes two support legs 11 and two X-axis beams 12, the two X-axis beams 12 are installed in parallel on top of the two support legs 11, and a space for the Z-axis 5 to move is formed between the two X-axis beams 12.
Preferably, in order to enhance the structural strength of the main keel support 1, the bottom of the support foot 11 may be provided with a bottom plate 15, and a first reinforcing rod 16 is disposed between the support foot 11 and the bottom plate 15. Further, a second reinforcement bar 17 may be provided between the top of the support foot 11 and the X-axis beam 12.
As shown in fig. 2, the movable base 2 is slidably connected to two X-axis beams 12 through linear slide rails 8, and the X-axis movement driving device 3 is mounted on the movable base 2 and can drive the movable base 2 to move along the X-axis direction.
Specifically, as shown in fig. 2 and 3, the X-axis movement driving device 3 may include an X-axis driving motor 31 and an X-axis driving gear 32, the X-axis driving motor 31 being mounted on the movement base 2, the X-axis driving gear 32 being mounted on an output shaft of the X-axis driving motor 31, the X-axis driving gear 32 being engaged with the X-axis spur rack 9 mounted on a top portion of one of the X-axis cross members 12.
Preferably, the X-axis driving motor 31 may be provided as a reduction integral motor with 1500W power manufactured by the company teda. Of course, other types of motors may be used depending on the actual requirements.
As shown in fig. 1 and 2, the Z-axis 5 is movably mounted on the movable base 2 up and down, such as by a linear sliding rail, the Z-axis 5 passes through the movable base 2 and is located between two X-axis beams 12, and the Z-axis moving driving device 4 is mounted on the movable base 2 and is in transmission connection with the Z-axis 5 to drive the Z-axis 5 to move up and down.
Specifically, as shown in fig. 2 and 3, the Z-axis movement driving device 4 may include a Z-axis driving motor 41 and a Z-axis driving gear 42, the Z-axis driving motor 41 being mounted on the moving base 2, the Z-axis driving gear 42 being mounted on an output shaft of the Z-axis driving motor 41, the Z-axis driving gear 42 being engaged with the Z-axis spur rack 10 longitudinally mounted on the Z-axis.
Preferably, the Z-axis driving motor 41 is a reduction integral motor with a brake having a power of 1000W manufactured by taida corporation.
In this embodiment, the effective moving stroke of the Z-axis in the X-axis direction may be 5000mm to 7000mm, and the effective moving stroke in the Z-axis direction may be 1000mm to 3000 mm.
Both ends can be equipped with spacing seat 13 respectively about the top of X axle crossbeam 12 and install the crashproof glue 14 on spacing seat 13, and this crashproof glue 14 can contact with removing the seat, plays collision buffer function.
As shown in fig. 1, the bottom of the Z-axis 5 is connected to the robot mounting bracket 6, the plate clamping devices 7 are respectively mounted at the bottom of the mounting support legs 61 of the robot mounting bracket 6, and the plate clamping devices 7 may be disposed on both sides (i.e., at least two on the left and right sides) in the length direction and both sides (i.e., at least 1 on the front and rear sides) in the width direction of the robot mounting bracket 6, so that the plate can be clamped from all around.
Specifically, as shown in fig. 4 and 5, each plate clamping device 7 may include a clamping driving cylinder 71, a clamping hook slide carriage 72, and a clamping hook 73, the clamping driving cylinder 71 and the clamping hook slide carriage 72 are both installed at the bottom of the installation leg 61, the clamping hook 73 is slidably installed in a sliding slot of the clamping hook slide carriage 72, an output rod of the clamping driving cylinder 71 is connected to the clamping hook 73 and can drive the clamping hook 73 to move horizontally, and a hook slot 731 for inserting a plate is disposed on the inner side of the clamping hook 73.
Preferably, the cross-sectional shape of the clamping hook 73 may be T-shaped, and accordingly, the slide groove of the clamping hook slide 72 may be configured as a T-shaped slide groove.
In operation, the clamping driving cylinders 71 of the plate clamping devices 7 located on two opposite sides can drive the respective clamping hooks 73 to approach each other, so as to clamp the plate, and the edge of the plate can be clamped into the hook grooves 731 of the clamping hooks 73, and the plate cannot fall off.
In conclusion, the plate clamping device is reasonable in structural design, adopts a novel plate clamping structure, can rapidly move along the X-axis direction and the Z-axis direction by the plate clamping devices on the manipulator mounting frame, can better clamp a plate, prevents the plate from falling in the transferring process, and is stable and reliable in operation, convenient to operate and low in cost.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a fossil fragments formula truss manipulator which characterized in that: the mechanical arm comprises a keel main support, a moving seat, an X-axis moving driving device, a Z-axis, a manipulator mounting frame and a plate body clamping device, wherein the keel main support comprises two supporting legs and two X-axis cross beams, the X-axis cross beams are parallelly mounted at the tops of the two supporting legs, the moving seat is connected with the two X-axis cross beams in a sliding manner through linear slide rails, the X-axis moving driving device is mounted on the moving seat and can drive the moving seat to move along the X-axis direction, the Z-axis can be mounted on the moving seat in a vertically moving manner and is located between the two X-axis cross beams, the Z-axis moving driving device is mounted on the moving seat and is connected with the Z-axis in a transmission manner so as to drive the Z-axis moving driving device to move vertically, the bottom of the Z-axis is connected with the manipulator mounting frame, the plate body clamping device is mounted at the bottom of mounting legs of the manipulator mounting frame respectively, and each plate body clamping device comprises a clamping driving cylinder, Supporting hook slide and supporting hook, the centre gripping drives actuating cylinder and supporting hook slide and all installs in the bottom of installing the stabilizer blade, supporting hook slidable mounting is in the spout of supporting hook slide, the centre gripping drives actuating cylinder's output pole and is connected with the supporting hook and can drive its horizontal migration, the inboard of supporting hook is equipped with the hook groove.
2. The keel type truss manipulator of claim 1, wherein: x axle removes drive arrangement includes X axle driving motor and X axle drive gear, X axle driving motor installs on removing the seat, X axle drive gear installs on X axle driving motor's output shaft, X axle drive gear meshes with the X axle spur rack of installing at one of them X axle crossbeam top mutually.
3. The keel type truss manipulator of claim 2, wherein: the X-axis driving motor is a speed reduction integrated motor with power of 1500W.
4. The keel type truss manipulator of claim 1, wherein: z axle removes drive arrangement includes Z axle driving motor and Z axle drive gear, Z axle driving motor installs on removing the seat, Z axle drive gear installs on Z axle driving motor's output shaft, Z axle drive gear meshes with the Z axle spur rack of vertically installing on Z axle mutually.
5. The keel type truss manipulator of claim 4, wherein: the Z-axis driving motor is a speed reduction integrated motor with 1000W of power and a brake.
6. The keel type truss manipulator of claim 1, wherein: the effective moving stroke of the Z axis in the X axis direction is 5000mm-7000mm, and the effective moving stroke in the Z axis direction is 1000mm-3000 mm.
7. The keel type truss manipulator of claim 1, wherein: and the left end and the right end of the top of the X-axis beam are respectively provided with a limiting seat and anti-collision glue arranged on the limiting seat.
8. The keel type truss manipulator of claim 1, wherein: the cross section of the clamping hook is T-shaped, and the sliding groove of the sliding seat of the clamping hook is a T-shaped sliding groove.
9. The keel type truss manipulator of claim 1, wherein: the bottom of supporting legs is equipped with the bottom plate, be equipped with first stiffener between supporting legs and the bottom plate.
10. The keel type truss manipulator of claim 1, wherein: and a second reinforcing rod is arranged between the top of the supporting leg and the X-axis beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122427817.5U CN215789859U (en) | 2021-10-09 | 2021-10-09 | Keel type truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122427817.5U CN215789859U (en) | 2021-10-09 | 2021-10-09 | Keel type truss manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN215789859U true CN215789859U (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122427817.5U Active CN215789859U (en) | 2021-10-09 | 2021-10-09 | Keel type truss manipulator |
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| CN (1) | CN215789859U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446853A (en) * | 2022-09-08 | 2022-12-09 | 江苏聚力智能机械股份有限公司 | Feeding and discharging manipulator for processing production of upper and lower beams of elevator |
-
2021
- 2021-10-09 CN CN202122427817.5U patent/CN215789859U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446853A (en) * | 2022-09-08 | 2022-12-09 | 江苏聚力智能机械股份有限公司 | Feeding and discharging manipulator for processing production of upper and lower beams of elevator |
| CN115446853B (en) * | 2022-09-08 | 2023-09-22 | 江苏聚力智能机械股份有限公司 | Loading and unloading manipulator for processing and producing upper and lower beams of elevator |
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