CN220992626U - Multi-stroke truss feeding manipulator - Google Patents
Multi-stroke truss feeding manipulator Download PDFInfo
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- CN220992626U CN220992626U CN202323030450.9U CN202323030450U CN220992626U CN 220992626 U CN220992626 U CN 220992626U CN 202323030450 U CN202323030450 U CN 202323030450U CN 220992626 U CN220992626 U CN 220992626U
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- 238000003825 pressing Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 9
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000030279 gene silencing Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000003584 silencer Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of automatic stamping part conveying, in particular to a multi-stroke truss feeding manipulator which comprises a truss girder, wherein a feeding device is arranged on the truss girder and comprises an X-axis transferring component, a Z-axis lifting component and a Y-axis transferring component, wherein the X-axis transferring component is in sliding connection with the truss girder, the Z-axis lifting component is in sliding connection with the X-axis transferring component, the Y-axis transferring component is connected with the Y-axis lifting component, the Y-axis transferring component comprises a Y motor seat connected with the bottom of the Z-axis lifting component, the bottom of the Y motor seat is in sliding connection with a Y-bottom plate component, and the lower end of the Y-bottom plate component is provided with a material taking component.
Description
Technical Field
The utility model relates to the technical field of automatic stamping part conveying, in particular to a multi-stroke truss feeding manipulator.
Background
In the stamping industry, truss feeding manipulators are mainly used for station adjustment of workpieces or realizing track movement of the workpieces, and the truss feeding manipulators are generally divided into two types based on a rectangular X, Y, Z three-coordinate system or a X, Z two-coordinate system.
The utility model provides a chinese patent of publication No. CN213946476U a triaxial truss manipulator, this manipulator includes truss and fixed connection's crossbeam on the truss, be provided with fortune material mechanism and the actuating mechanism who controls its motion on the crossbeam, fortune material mechanism includes the horizontal fortune material subassembly of sliding connection on the crossbeam and rather than sliding connection's vertical fortune material subassembly, horizontal fortune material subassembly includes two fixed connection's slide rail on the crossbeam and rather than sliding connection's slider, fixedly connected with horizontal fortune work or material rest on the slider, vertical fortune material subassembly includes the vertical fortune material seat of perpendicular to crossbeam fixed connection on horizontal fortune work or material rest, sliding connection has vertical fortune work or material rest on the vertical fortune material seat, the one end that vertical fortune work or material rest is located vertical fortune material seat below is provided with and gets the material subassembly.
When the existing truss manipulator is a two-coordinate system, the movement of the Y axis is usually replaced by the rotary movement of the manipulator grabbing clamp, the movement amplitude is small, and the flexibility is low; when the device is designed to be based on a three-coordinate system, the movement of the Y axis is usually designed to be single-belt transmission to drive the material taking device to move in the Y direction, and the stability of the device can be further improved by the single-belt transmission mode.
Disclosure of utility model
The utility model aims to provide a multi-stroke truss feeding manipulator which can flexibly move along three directions X, Y, Z, has higher matching degree with a workpiece and improves the stability of a device.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
The utility model provides a multi-stroke truss feeding manipulator, includes the truss girder, be provided with material feeding unit on the truss girder, material feeding unit includes that X axle with truss girder sliding connection transfers subassembly, with X axle transfer subassembly sliding connection's Z axle lifting unit and with Z axle lifting unit's Y axle transfer subassembly, Y axle transfer subassembly includes Y motor seat, Y motor seat is connected with Z axle lifting unit bottom, Y motor seat bottom sliding connection has Y bottom plate subassembly, be provided with driving belt on the Y bottom plate subassembly and set up in driving belt outlying driven belt, Y bottom plate subassembly both ends are provided with the driving clamp plate that is used for fixed driving belt both ends respectively, still be provided with on the Y motor seat be used for with driving belt cooperation and provide power source's power motor Y, Y motor seat bottom both ends are provided with the driven clamp plate that is used for fixed driven belt both ends respectively, Y bottom plate subassembly lower extreme is provided with and gets the material subassembly.
Preferably, an X sliding rail and an X rack are arranged on the truss girder, and a first sensor for origin detection is arranged on the lower end face of the truss girder.
Preferably, the feeding device is provided with a connecting bottom plate for connecting the X-axis transferring assembly and the Z-axis lifting assembly, an X sliding block which is used for being in sliding connection with the X sliding rail is arranged on the back of the connecting bottom plate, a power motor X is arranged on the front of the connecting bottom plate, and an output shaft of the power motor X is connected with an X gear meshed with the X rack.
Preferably, the front of the connecting bottom plate is provided with a Z sliding block, the Z-axis lifting assembly comprises a lifting main beam, the lower end of the lifting main beam is connected with a Y motor seat, a Z rack and a Z sliding rail which is used for being in sliding connection with the Z sliding block are arranged on the lifting main beam, the back of the connecting bottom plate is provided with a power motor Z, and an output shaft of the power motor Z is connected with a Z gear meshed with the Z rack.
Preferably, the connecting bottom plate is further provided with a Z balance cylinder for assisting the Z-axis lifting assembly in lifting and lowering the Z-axis load.
Preferably, the upper end face of the Y bottom plate assembly is provided with an upper sliding rail, the lower end face of the Y bottom plate assembly is provided with a lower sliding rail, and the bottom of the Y motor seat is provided with an upper sliding block which is in sliding connection with the upper sliding rail.
Preferably, the material taking assembly comprises an arm bottom plate, a lower sliding block which is used for being in sliding connection with the lower sliding rail is arranged on the arm bottom plate, a belt pressing plate used for fixing a driven belt is further arranged on the upper end face of the arm bottom plate, and an arm quick socket used for butt joint of the arm device is arranged on the lower end face of the arm bottom plate.
The beneficial effects of the utility model are as follows: the utility model can flexibly control the workpiece taking and placing in three directions X, Y, Z, has large movement amplitude and is suitable for a multi-station production line; according to the utility model, a single-power-source double-belt design is adopted on the movement of the Y-axis direction, the power motor Y provides a power source to cooperate with the driving belt to drive the Y bottom plate assembly to move, the Y bottom plate assembly moves to drive the driven belt to move, the material taking assembly is indirectly driven to move, the single-power-source double-belt multi-stroke design reduces the tension of the driven belt in the starting process, reduces the impact on the material taking assembly connected to the driven belt, ensures that the material taking assembly operates stably, and simultaneously reduces the damage to the driven belt.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present utility model;
FIG. 2 is an enlarged view at A in FIG. 1;
FIG. 3 is a schematic front perspective view of the feeding device of the present utility model;
FIG. 4 is a schematic view of a rear perspective of the feeding device of the present utility model;
FIG. 5 is a cross-sectional view of the Y-axis transfer assembly of the present utility model;
The labels in the figure: the device comprises a truss main beam 1, a feeding device 2, an X-axis transferring assembly 21, a Z-axis lifting assembly 22, a Y-axis transferring assembly 23, a material taking assembly 24, a connecting bottom plate 25, an X-sliding rail 11, an X-rack 12, a first sensor 13, an X-sliding block 211, a power motor X212, an X-gear 213, a lifting main beam 221, a Z-rack 222, a Z-sliding rail 223, a power motor Z224, a Z-balance cylinder 225, a Y-motor seat 231, a Y-bottom plate assembly 232, a driving belt 233, a driven belt 234, a driving pressing plate 235, a power motor Y236, a driven pressing plate 237, an upper sliding rail 238, a lower sliding rail 239, an arm bottom plate 241, an arm device 242 and an arm quick socket.
Detailed Description
Example 1
In the embodiment 1, the multi-stroke truss feeding manipulator as shown in fig. 1-5 comprises a truss girder 1, wherein a feeding device 2 is arranged on the truss girder 1, the feeding device 2 comprises an X-axis transferring assembly 21 in sliding connection with the truss girder 1, a Z-axis lifting assembly 22 in sliding connection with the X-axis transferring assembly 21 and perpendicular to the truss girder 1, and a Y-axis transferring assembly 23 connected with the Z-axis lifting assembly 22, wherein the X-axis transferring assembly 21, the Y-axis transferring assembly 23 and the Z-axis lifting assembly 22 are respectively used for moving and taking in three directions X, Y, Z.
As shown in fig. 5, the Y-axis transferring assembly 23 includes a Y-motor seat 231, the Y-motor seat 231 is connected with the bottom of the Z-axis lifting assembly 22, the bottom of the Y-motor seat 231 is slidably connected with a Y-bottom plate assembly 232, a driving belt 233 and a driven belt 234 disposed on the periphery of the driving belt 233 are disposed on the Y-bottom plate assembly 232, driving pressure plates 235 for fixing two ends of the driving belt 233 are disposed at two ends of the Y-bottom plate assembly 232, a power motor Y236 for cooperating with the driving belt 233 and providing a power source is disposed on the Y-motor seat 231, the power motor Y236 and the driving synchronous wheel are tightly fixed by a tightening sleeve, and the driving belt 233 is disposed on the outer surface of the driving synchronous wheel, so that when the power motor Y236 rotates, the power of the power motor Y236 is transmitted to the driving belt 233 by means of friction between the driving synchronous wheel and the driving belt 233, the driving belt 233 cooperates with the driving synchronous wheel, the power source is provided by the power motor Y236, and the Y-bottom plate assembly 232 can be driven to perform transferring movement; in one embodiment, two driven carrier rollers are further arranged below the driving synchronizing wheel, and the two driven carrier rollers are used for restraining the degree of freedom of the driving belt 233, so that the driving belt 233 and the driving synchronizing wheel can be further rotated stably; driven pressing plates 237 for fixing two ends of the driven belt 234 are respectively arranged at two ends of the bottom of the Y motor seat 231, and a material taking assembly 24 is arranged at the lower end of the Y bottom plate assembly 232.
In one embodiment, the inner sides of the driving pressing plates 235 are provided with expansion blocks for adjusting the expansion driving belts 233, wherein the expansion blocks are used as mechanical fixing limiting at the same time, and the driven pressing plates 237 can also be arranged in the same way.
In one embodiment, an origin detection sensor is mounted at the Y-axis transfer assembly 23.
As shown in fig. 4 and 5, an upper end surface of the Y bottom plate assembly 232 is provided with an upper slide rail 238, a lower end surface of the Y bottom plate assembly 232 is provided with a lower slide rail 239, the upper slide rail 238 and the lower slide rail 239 are opposite lock slide rails, the upper slide rail 238 is a counter bore, the lower slide rail 239 is a tooth hole, fixed slide rails at the upper end and the lower end of the Y bottom plate assembly 232 are provided with sinking tables, the upper slide rail and the lower slide rail are mutually locked at the upper end surface and the lower end surface of the Y bottom plate assembly 232 through the sinking tables for positioning, and an upper slide block for sliding connection with the upper slide rail 238 is arranged at the bottom of the Y motor seat 231.
The material taking assembly 24 comprises an arm bottom plate 241, a lower sliding block which is used for being in sliding connection with the lower sliding rail 239 is arranged on the arm bottom plate 241, a belt pressing plate which is used for fixing the driven belt 234 is further arranged on the upper end face of the arm bottom plate 241, and an arm quick socket 243 which is used for abutting against the arm device 242 is arranged on the lower end face of the arm bottom plate 241.
The arm device 242 is connected with a suction cup, the vacuum ejector is connected with the vacuum suction cup through an air pipe, the vacuum ejector is not shown in the figure, the vacuum ejector sucks the air in the air pipe and the suction cup to generate negative pressure or vacuum state, and the workpiece is sucked through the suction cup, which is a well known content and will not be described in detail herein.
In one embodiment, two arm quick sockets 243 are provided and are mounted on the lower end surface of the arm base 241 in parallel, eight air connectors are provided on the arm quick sockets 243, and eight air connectors are also provided on the arm device 242.
Example 2
On the basis of embodiment 1, as shown in fig. 2-4, embodiment 2 provides a multi-stroke truss feeding manipulator, in embodiment 2, as shown in fig. 2, an X sliding rail 11 and an X rack 12 are arranged on a truss main beam 1, and a first sensor 13 for origin detection is arranged on the lower end surface of the truss main beam 1.
In one embodiment, truss girder 1 is composed of a plurality of transfer girders butted, wherein the length of the transfer girders may be the same or different, without limitation.
As shown in fig. 3 and 4, the feeding device 2 is provided with a connection bottom plate 25 for connecting the X-axis transferring assembly 21 and the Z-axis lifting assembly 22, an X sliding block 211 for sliding connection with the X sliding rail 11 is arranged on the back surface of the connection bottom plate 25, a power motor X212 is arranged on the front surface of the connection bottom plate 25, an output shaft of the power motor X212 is connected with an X gear 213 meshed with the X rack 12, and the power motor X212 rotates to drive the X gear 213 to rotate on the X rack 12, so that the feeding device 2 moves in the X axis direction relative to the truss girder 1.
In one embodiment, felt wheels are disposed on both sides of the X-gear 213 for lubricating the X-rack 12, and the felt wheel oil port design is not limited herein.
The front of the connection bottom plate 25 is provided with a Z sliding block, the Z sliding block is not shown in the figure, the Z-axis lifting assembly 22 comprises a lifting main beam 221, the lower end of the lifting main beam 221 is connected with a Y motor seat 231, the lifting main beam 221 is provided with a Z rack 222 and a Z sliding rail 223 which is in sliding connection with the Z sliding block, the back of the connection bottom plate 25 is provided with a power motor Z224, an output shaft of the power motor Z224 is connected with a Z gear meshed with the Z rack 222, and the Z gear is not shown in the figure.
In one embodiment, the upper end surface of the lifting main beam 221 is provided with a mechanical stop.
The connecting bottom plate 25 is also provided with an auxiliary Z-axis lifting assembly 22 for lifting, a Z-axis load reducing balance cylinder 225, a silencer is arranged at the upper end of the Z-axis balance cylinder 225, a quick-release valve with silencing is arranged at the lower end of the Z-axis balance cylinder 225, and the output end of the Z-axis balance cylinder 225 is fixed at the bottom seat of the lower end of the lifting main beam 221 through a floating joint.
Other device structures of this embodiment 2 are the same as those of embodiment 1.
Working principle: the power motor X212 rotates to drive the X gear 213 to rotate on the X rack 12, so that the feeding device 2 moves in the X axis direction relative to the truss girder 1, the power motor Z224 rotates to drive the Z gear to rotate on the Z rack 222, so that the Z-axis lifting assembly 22 moves in the Z axis direction relative to the connecting base plate 25, the driving belt 233 and the driving synchronous wheel in the Y-axis transferring assembly 23 are matched, the power motor Y236 provides a power source, the Y-axis transferring assembly 232 can be driven to transfer, the Y-axis transferring assembly 232 indirectly drives the material taking assembly 24 to move, and the vacuum ejector is connected with the vacuum chuck in the material taking assembly 24 through an air pipe to take a workpiece.
The foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (7)
1. The utility model provides a multi-stroke truss feeding manipulator, includes truss girder, its characterized in that: the automatic feeding device is characterized in that a feeding device is arranged on the truss girder, the feeding device comprises an X-axis transferring component which is in sliding connection with the truss girder, a Z-axis lifting component which is in sliding connection with the X-axis transferring component and a Y-axis transferring component which is connected with the Z-axis lifting component, the Y-axis transferring component comprises a Y motor seat, the Y motor seat is connected with the bottom of the Z-axis lifting component, a Y bottom plate component is in sliding connection with the bottom of the Y motor seat, a driving belt and a driven belt which is arranged on the periphery of the driving belt are arranged on the Y bottom plate component, driving pressing plates which are used for fixing the two ends of the driving belt are respectively arranged at two ends of the Y bottom plate component, a power motor Y which is matched with the driving belt and is used for providing a power source is also arranged at two ends of the Y motor seat, and a material taking component is arranged at the lower end of the Y bottom plate component.
2. The multi-stroke truss feed manipulator of claim 1, wherein: the X-shaped sliding rail and the X-shaped rack are arranged on the truss girder, and a first sensor for origin detection is arranged on the lower end face of the truss girder.
3. The multi-stroke truss feed manipulator of claim 2, wherein: the feeding device is provided with a connecting bottom plate for connecting the X-axis transferring assembly and the Z-axis lifting assembly, an X sliding block which is used for being in sliding connection with an X sliding rail is arranged on the back of the connecting bottom plate, a power motor X is arranged on the front of the connecting bottom plate, and an output shaft of the power motor X is connected with an X gear meshed with an X rack.
4. A multi-stroke truss feed manipulator according to claim 3, wherein: the Z-axis lifting assembly comprises a lifting main beam, the lower end of the lifting main beam is connected with a Y motor seat, a Z rack and a Z slide rail which is used for being in sliding connection with the Z-axis sliding block are arranged on the lifting main beam, a power motor Z is arranged on the back of the connecting bottom plate, and an output shaft of the power motor Z is connected with a Z gear meshed with the Z rack.
5. The multi-stroke truss feed robot of claim 4 wherein: and the connecting bottom plate is also provided with a Z balance cylinder for assisting the Z-axis lifting assembly to lift and reduce the Z-axis load.
6. The multi-stroke truss feed robot of claim 5, wherein: the upper end face of the Y bottom plate assembly is provided with an upper sliding rail, the lower end face of the Y bottom plate assembly is provided with a lower sliding rail, and the bottom of the Y motor seat is provided with an upper sliding block which is used for being in sliding connection with the upper sliding rail.
7. The multi-stroke truss feed robot of claim 6 wherein: the material taking assembly comprises an arm bottom plate, a lower sliding block which is used for being in sliding connection with a lower sliding rail is arranged on the arm bottom plate, a belt pressing plate used for fixing a driven belt is further arranged on the upper end face of the arm bottom plate, and an arm quick socket used for abutting against an arm device is arranged on the lower end face of the arm bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323030450.9U CN220992626U (en) | 2023-11-09 | 2023-11-09 | Multi-stroke truss feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323030450.9U CN220992626U (en) | 2023-11-09 | 2023-11-09 | Multi-stroke truss feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220992626U true CN220992626U (en) | 2024-05-24 |
Family
ID=91118102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323030450.9U Active CN220992626U (en) | 2023-11-09 | 2023-11-09 | Multi-stroke truss feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220992626U (en) |
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2023
- 2023-11-09 CN CN202323030450.9U patent/CN220992626U/en active Active
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