Truss manipulator

Abstract

The utility model discloses a truss manipulator and relates to a manipulator. The truss manipulator system aims to solve the problems that an existing truss manipulator system adopts a single guide rail for guiding and is poor in weighing capacity and stability in actual use. The device comprises a walking mechanism, a suspension, a suction cup assembly, a synchronous hydraulic cylinder assembly, two rails and four stand columns. The two rails are arranged side by side in parallel, the two ends of each rail are fixedly connected with the ground through the two stand columns, the walking mechanism is installed on the two rails, the upper end of the suspension is connected with the walking mechanism, the synchronous hydraulic cylinder assembly is installed at the lower end of the suspension, and the suction cup assembly is connected with the telescopic end of the synchronous hydraulic cylinder assembly. The utility model belongs to the field of machinery.

Description

Technical Field

[0001] This utility model relates to a robotic arm and belongs to the field of machinery. Background Technology

[0002] With the continuous improvement of intelligence, robotic arms are widely used in machining processes. They can replace manual labor in many high-intensity and high-risk tasks, reducing the burden on workers and lowering the risk factor of the work.

[0003] Utility model patent CN207705219U, filed on September 20, 2017, discloses a truss manipulator system, specifically including a front truss manipulator system, a rear truss manipulator system, and a truss PLC controller. The front and rear truss manipulator systems are arranged in parallel, and each system is electrically connected to the truss PLC controller. However, this truss manipulator system uses a single guide rail, resulting in poor weighing capacity and stability during actual use. Utility Model Content

[0004] This invention addresses the problem that existing gantry manipulator systems using single-rail guidance suffer from poor weighing capacity and stability during actual use, and proposes a new type of gantry manipulator.

[0005] The technical solution adopted by this utility model to solve the above problems is as follows: This utility model includes a walking mechanism, a suspension, a suction cup assembly, a synchronous hydraulic cylinder assembly, two tracks and four columns;

[0006] Two tracks are set side by side in parallel. The two ends of each track are fixedly connected to the ground by two columns. The walking mechanism is installed on the two tracks. The upper end of the suspension is connected to the walking mechanism. The synchronous hydraulic cylinder assembly is installed at the lower end of the suspension. The suction cup assembly is connected to the telescopic end of the synchronous hydraulic cylinder assembly.

[0007] Furthermore, the walking mechanism includes a walking frame, a motor, a drive assembly, a driven assembly, two axles, and four walking wheels;

[0008] The travel frame is fixed to the upper end of the suspension, the motor is fixedly installed on the upper surface of the travel frame, two axles are installed at both ends of the travel frame and are arranged side by side in parallel, and a travel wheel is installed at the end of each axle. The travel wheel is rolledly connected to the track, the two axles are connected through a driven component, and the motor shaft of the motor is connected to one axle through a drive component.

[0009] Furthermore, the drive components include a drive sprocket, a drive sprocket, and a drive chain;

[0010] The drive sprocket is coaxially fixedly mounted on the motor shaft, and the drive sprocket is coaxially fixedly mounted on the axle. The drive sprocket is connected to the drive sprocket via the drive chain.

[0011] Furthermore, the driven component includes a driven chain and two driven sprockets;

[0012] Two driven sprockets are fixedly mounted on two axles, and the two driven sprockets are connected by a driven chain.

[0013] Furthermore, the suction cup assembly includes a suction cup bracket and multiple suction cups;

[0014] The suction cup bracket is fixed to the lower end of the suspension, and multiple suction cups are fixed to the lower surface of the suction cup bracket in a matrix.

[0015] The beneficial effects of this utility model are:

[0016] 1. This utility model uses a dual-track system to guide the robot arm, ensuring its load-bearing capacity and stability. The dual-track guidance can distribute the weight borne by the robot arm, thereby improving its load-bearing capacity.

[0017] 2. This utility model uses four synchronous hydraulic cylinders to form a synchronous hydraulic cylinder assembly as the lifting power of the suction cup assembly, which not only gives the suction cup assembly a high load-bearing capacity, but also improves its stability.

[0018] 3. This utility model has a simple structure, is easy to operate, and is convenient to maintain and install. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is an enlarged structural schematic diagram of the walking mechanism;

[0021] Figure 3 This is a schematic diagram of the suction cup assembly.

[0022] Figure 4 This is the front view of this utility model;

[0023] Figure 5 This is a schematic diagram of the walking mechanism;

[0024] Figures 1 to 5 In the middle, 1-suspension, 2-synchronous hydraulic cylinder assembly, 3-rail, 4-column, 5-travel frame, 6-drive sprocket, 7-drive sprocket, 8-drive sprocket, 9-drive chain, 10-driven chain, 11-axle, 12-driven sprocket, 13-travel wheel, 14-suction cup bracket, 15-suction cup. Detailed Implementation

[0025] Specific implementation method one: as follows Figures 1 to 5 As shown, a truss manipulator includes a walking mechanism, a suspension 1, a suction cup assembly, a synchronous hydraulic cylinder assembly 2, two tracks 3, and four columns 4.

[0026] Two tracks 3 are set side by side in parallel. The two ends of each track 3 are fixedly connected to the ground by two columns 4. The walking mechanism is installed on the two tracks 3. The upper end of the suspension 1 is connected to the walking mechanism. The synchronous hydraulic cylinder assembly 2 is installed at the lower end of the suspension 1. The suction cup assembly is connected to the telescopic end of the synchronous hydraulic cylinder assembly 2.

[0027] The walking mechanism includes a walking frame 5, a motor 6, a drive assembly, a driven assembly, two axles 11 and four walking wheels 13;

[0028] The walking frame 5 is fixed to the upper end of the suspension 1. The motor 6 is fixedly installed on the upper surface of the walking frame 5. Two axles 11 are respectively installed at both ends of the walking frame 5, and the two axles 11 are arranged side by side in parallel. A walking wheel 13 is installed at the end of each axle 11. The walking wheel 13 is rolledly connected to the track 3. The two axles 11 are connected through a driven component. The motor shaft of the motor 6 is connected to one axle 11 through a drive component.

[0029] The suspension 1 consists of a vertical frame and a bottom frame. The upper end of the vertical frame is fixedly connected to the traveling frame 5, and the lower end of the vertical frame is fixedly connected to the bottom frame.

[0030] The synchronous hydraulic cylinder assembly 2 consists of four hydraulic cylinders. The cylinder body of the hydraulic cylinder is fixed on the base frame, and the piston rod of the hydraulic cylinder is fixedly connected to the suction cup assembly.

[0031] Specific implementation method two: such as Figures 1 to 5 As shown, based on the first specific implementation method, in order to improve the power transmission efficiency, the drive assembly includes a drive sprocket 7, a drive sprocket 8, and a drive chain 9.

[0032] The drive sprocket 7 is coaxially fixedly mounted on the motor shaft of the motor 6, and the drive sprocket 8 is coaxially fixedly mounted on the axle 11. The drive sprocket 7 is connected to the drive sprocket 8 through the drive chain 9.

[0033] Specific implementation method three: such as Figures 1 to 5 As shown, based on the first specific implementation method, in order to achieve four-wheel drive, the driven component includes a driven chain 10 and two driven sprockets 12;

[0034] Two driven sprockets 12 are fixedly mounted on two axles 11 respectively, and the two driven sprockets 12 are connected by a driven chain 10.

[0035] Specific implementation method five: such as Figures 1 to 5As shown, based on the first specific embodiment, the suction cup assembly includes a suction cup bracket 14 and a plurality of suction cups 15;

[0036] The suction cup bracket 14 is fixed to the lower end of the suspension 1, and multiple suction cups 15 are fixed in a matrix on the lower surface of the suction cup bracket 14.

[0037] The suction cup holder 14 is a rectangular frame, and multiple suction cups 15 are arranged in a matrix on the lower surface of the suction cup holder 14.

[0038] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model's technical solution. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present utility model's technical solution, based on the technical essence of the present utility model and within the spirit and principles of the present utility model, shall still fall within the protection scope of the present utility model's technical solution.

Claims

1. A truss robot characterized by, The walking mechanism, the suspension (1), the suction cup assembly, the synchronous hydraulic cylinder assembly (2), two tracks (3) and four upright columns (4) are included. The two tracks (3) are arranged side by side in parallel, and the two ends of each track (3) are fixedly connected with the ground through two upright columns (4). The walking mechanism is installed on the two tracks (3). The upper end of the suspension (1) is connected with the walking mechanism. The synchronous hydraulic cylinder assembly (2) is installed at the lower end of the suspension (1). The suction cup assembly is connected with the telescopic end of the synchronous hydraulic cylinder assembly (2).

2. The truss robot according to claim 1, wherein The walking mechanism includes a walking frame (5), a motor (6), a driving assembly, a driven assembly, two wheel shafts (11) and four walking wheels (13). The walking frame (5) is fixed at the upper end of the suspension (1). The motor (6) is fixedly installed on the upper surface of the walking frame (5). The two wheel shafts (11) are respectively installed at the two ends of the walking frame (5), and the two wheel shafts (11) are arranged side by side in parallel. One walking wheel (13) is installed at the end of each wheel shaft (11). The walking wheels (13) are rollingly connected with the tracks (3). The two wheel shafts (11) are connected through the driven assembly. The motor shaft of the motor (6) is connected with one wheel shaft (11) through the driving assembly.

3. A gantry robot according to claim 2, wherein The driving assembly includes a driving sprocket (7), a driving chain sprocket (8) and a driving chain (9). The driving sprocket (7) is coaxially fixedly sleeved on the motor shaft of the motor (6). The driving chain sprocket (8) is coaxially fixedly sleeved on the wheel shaft (11). The driving sprocket (7) is connected with the driving chain sprocket (8) through the driving chain (9).

4. The gantry of claim 2 wherein, The driven assembly includes a driven chain (10) and two driven sprockets (12). The two driven sprockets (12) are respectively fixedly sleeved on the two wheel shafts (11). The two driven sprockets (12) are connected through the driven chain (10).

5. The gantry of claim 1 wherein, The suction cup assembly includes a suction cup bracket (14) and a plurality of suction cups (15). The suction cup bracket (14) is fixed at the lower end of the suspension (1). The plurality of suction cups (15) are fixed in a matrix manner on the lower surface of the suction cup bracket (14).

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