A clamping device for a truss robot

Abstract

A clamping device for a truss robot relates to the field of clamping devices, and includes: a frame, a flange, and a transverse telescopic mechanism, wherein the transverse telescopic mechanism includes two connecting beams and a transverse telescopic cylinder, and a transverse telescopic cylinder is provided between the two connecting beams; a longitudinal support assembly, wherein the longitudinal support assembly includes two longitudinal long rods and a connecting baffle, wherein the two longitudinal long rods are horizontally fixed in parallel to and from two columns located on one side of the short side of a rectangle, and a connecting baffle is vertically fixed between the two sides of the two longitudinal long rods; a longitudinal telescopic grasping assembly, wherein the longitudinal telescopic grasping assembly includes a grasping block and a longitudinal telescopic cylinder, wherein the grasping block is slidably mounted on the longitudinal long rod located on the outside of the column, and the upper and lower ends of the grasping block slide through the two longitudinal long rods respectively, and the longitudinal telescopic cylinder is fixed in the middle of the column between the two longitudinal long rods, and the longitudinal telescopic cylinder is horizontally connected to the grasping block. The present application provides a clamping device for a truss robot, which has a wide range of clamped items and can meet actual production requirements.

Description

Technical Field

[0001] The invention relates to the field of clamping devices, and in particular to a clamping device for a truss robot. Background Art

[0002] Truss robots are also called rectangular coordinate robots and gantry robots. In industrial applications, they are multi-functional, multi-degree-of-freedom manipulators that can be automatically controlled, reprogrammed, and have multiple functions. They have a right-angle relationship between the degrees of freedom of motion, and are multi-purpose. They can carry objects and operate tools to complete various tasks. They are widely used in production workshops to grab and transfer objects. At present, the most common truss robots are gantry structures, that is, the two ends of a beam are slidably mounted on two parallel support beams, and a grabbing fixture is installed on the bottom side of the beam. In this way, after the grabbing fixture grabs the object, the beam moves along the support beam, thereby transferring the object from one position to another.

[0003] In recent years, with the rapid growth of the domestic automobile industry, domestic assembly line manufacturers have also developed rapidly. The application of industrial robots has freed workers from monotonous and repetitive physical labor in the process of large-scale production, improved the working environment, and improved product quality. Therefore, it has become an inevitable choice for enterprise automation transformation. Truss robots have unique advantages in the field of material transmission with their high reliability, high speed, large load, large stroke, and low cost. In actual production operations, parts of various sizes will appear on a single automobile assembly line, including some larger parts. However, the clamping devices of existing truss robots often have fixed structures, limited types of items to be transferred, and a narrow scope of application. Summary of the invention

[0004] In order to solve the defects of the clamping device of the truss robot in the above-mentioned prior art, the present application provides a clamping device for a truss robot, which can clamp a wide range of types of objects and meet actual production requirements.

[0005] In order to achieve the above technical effects, the specific technical solutions of the present invention are as follows:

[0006] A clamping device for a truss robot, comprising:

[0007] A frame, the frame comprising four columns, a slider, a linear guide rail, and a cross beam, the four columns are vertically distributed at each vertex of the rectangle, the slider is fixed above each column, the linear guide rail is slidably connected above two sliders located on one side of the long side of the rectangle, and two cross beams are horizontally connected between the two linear guide rails;

[0008] a flange for connecting with the truss robot, the flange being fixed above the crossbeam, the center of the flange being provided with an alignment circular hole for connecting with the truss robot, and a plurality of connection holes being provided around the alignment circular hole;

[0009] A transverse telescopic mechanism, the transverse telescopic mechanism comprising two connecting beams and a transverse telescopic cylinder, the two connecting beams being fixed between the two upright posts located on one side of the short side of the rectangle, the transverse telescopic cylinder being arranged between the two connecting beams, and the telescopic direction of the transverse telescopic cylinder being parallel to the linear guide rail;

[0010] Two longitudinal support components, the longitudinal support components include two longitudinal long rods and a connecting baffle, the two longitudinal long rods are horizontally arranged in parallel up and down and penetrate and are fixed on the two upright posts located on one side of the short side of the rectangle, and a connecting baffle is vertically fixed between the two sides of the two longitudinal long rods;

[0011] Four longitudinal telescopic grabbing components, the longitudinal telescopic grabbing components include a grabbing block and a longitudinal telescopic cylinder, the grabbing block is slidably installed on the longitudinal long rod located on the outside of the column, the upper and lower ends of the grabbing block slide through the two longitudinal long rods arranged vertically, respectively, a protruding support block is horizontally fixed to the bottom end of the grabbing block, the longitudinal telescopic cylinder is fixed in the middle of the column between the two longitudinal long rods, and the longitudinal telescopic cylinder is horizontally connected to the grabbing block.

[0012] Furthermore, a buffer is also included, and a buffer is fixedly installed at both ends of each linear guide rail, and the buffer includes a mounting seat and a horizontal buffer rod, and the horizontal buffer rod can contact the slider. When the column is pushed outward by the transverse telescopic cylinder, when it reaches the outermost limit position, it can stop smoothly and safely through the action of the buffer.

[0013] Furthermore, it also includes a control box, which is fixedly mounted on one of the beams by bolts, and is provided with a solenoid valve and a control valve, the solenoid valve is connected to the transverse telescopic cylinder and the longitudinal telescopic cylinder through an air circuit, and the control valve is connected to the solenoid valve signal. Through the control box, we can realize automatic program control of the clamping device to achieve intelligent and automated work.

[0014] Furthermore, the height of the transverse telescopic cylinder is lower than the height of the crossbeam. The height of the transverse telescopic cylinder is designed to be lower than the height of the crossbeam in order to avoid the transverse telescopic cylinder from contacting the crossbeam during operation, thereby affecting normal operation.

[0015] Furthermore, the grab block is hollowed out in the middle. The design of the hollow grab block reduces the weight of the overall clamping device, reduces the energy consumption of the truss robot and improves the stability of its overall support.

[0016] Working principle of a clamping device for a truss robot:

[0017] When the clamping device is installed on the truss robot, it is first docked with the truss robot based on the alignment circular hole of the flange, and then connected to the truss robot through the connecting hole; before clamping the object, the staff observes the volume of the object to be clamped, and then the distance between the two grabbing blocks on the same longitudinal side can be adjusted by pushing the grabbing block outward or inward along the longitudinal long rod through the longitudinal telescopic cylinder, and then the columns are driven together through the transverse telescopic cylinder, so that the grabbing block slowly approaches until it firmly grasps the object. When the object is firmly grasped, the support block at the bottom of the grabbing block supports the object, and at the same time, the inner side of the grabbing block is attached to the surface of the object.

[0018] According to the above technical scheme, compared with the prior art, the present invention can clamp large-sized and large-volume objects through a longer longitudinal rod, a grabbing block and a transverse telescopic cylinder, and the longitudinal telescopic cylinder can be used to adjust the spacing between the grabbing blocks, thereby greatly improving the size and range of the clamped objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 for Figure 1 A side schematic diagram of;

[0022] Figure 3 for Figure 1 Another side schematic diagram of;

[0023] Figure 4 for Figure 1 A schematic diagram of a bottom view;

[0024] Among them, 1. column; 2. slider; 3. linear guide; 4. beam; 5. flange; 51. alignment hole; 52. connecting hole; 6. connecting beam; 7. transverse telescopic cylinder; 8. longitudinal long rod; 9. connecting baffle; 10. grab block; 11. longitudinal telescopic cylinder; 12. support block; 13. buffer; 131. mounting seat; 132. horizontal buffer rod; 14. control box. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of this embodiment more clear, the technical solution in this embodiment will be clearly and completely described below in conjunction with the drawings in this embodiment. Obviously, the described embodiment is a part of the embodiment, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of this protection.

[0026] In the description of the present invention, it is necessary to understand that the terms "upper end", "lower end", "tail end", "left and right", "up and down" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Example

[0029] A clamping device for a truss robot, comprising:

[0030] like Figure 1 , Figure 2 As shown, a frame includes four columns 1, a slider 2, a linear guide 3, and a crossbeam 4. The four columns 1 are vertically distributed at the top corners of a rectangle, and a slider 2 is fixed above each column 1. A linear guide 3 is slidably connected above two sliders 2 located on one side of the long side of the rectangle, and two crossbeams 4 are horizontally connected between the two linear guides 3.

[0031] like Figure 1 , Figure 4 As shown, a flange 5 for connecting with the truss robot is fixed on the top of the beam 4. An alignment circular hole 51 for connecting with the truss robot is provided in the center of the flange 5, and a plurality of connection holes 52 are provided around the alignment circular hole 51.

[0032] like Figure 2As shown, a transverse telescopic mechanism includes two connecting beams 6 and a transverse telescopic cylinder 7. The two connecting beams 6 are fixed between the two columns 1 located on one side of the short side of the rectangle. The transverse telescopic cylinder 7 is arranged between the two connecting beams 6. The telescopic direction of the transverse telescopic cylinder 7 is parallel to the linear guide rail 3. The height of the transverse telescopic cylinder 7 is lower than the height of the crossbeam 4.

[0033] like Figure 1 As shown, two longitudinal support components include two longitudinal long rods 8 and a connecting baffle 9. The two longitudinal long rods 8 are horizontally arranged in parallel up and down and penetrate and are fixed on the two columns 1 located on one side of the short side of the rectangle. A connecting baffle 9 is vertically fixed between the two sides of the two longitudinal long rods 8.

[0034] like Figure 1 , Figure 2 As shown, four longitudinal telescopic grabbing assemblies include a grabbing block 10 and a longitudinal telescopic cylinder 11. The grabbing block 10 is slidably mounted on the longitudinal long rod 8 located on the outside of the column 1. The upper and lower ends of the grabbing block 10 slide through the two longitudinal long rods 8 arranged in parallel up and down respectively. A protruding support block 12 is horizontally fixed to the bottom end of the grabbing block 10. The longitudinal telescopic cylinder 11 is fixed in the middle of the column 1 between the two longitudinal long rods 8. The longitudinal telescopic cylinder 11 is horizontally connected to the grabbing block 10, and the middle of the grabbing block 10 is hollow.

[0035] like Figure 1 , Figure 3 As shown, the clamping device further includes a buffer 13 , and the two ends of each linear guide rail 3 are fixedly mounted with a buffer 13 , and the buffer 13 includes a mounting seat 131 and a horizontal buffer rod 132 , and the horizontal buffer rod 132 can contact the slider 2 .

[0036] In addition, Figure 1 , Figure 4 As shown, the present invention also includes a control box 14, which is fixedly mounted on the crossbeam 4 by bolts. The control box 14 is provided with a solenoid valve and a control valve (not shown in the figure). The solenoid valve is connected to the transverse telescopic cylinder 7 and the longitudinal telescopic cylinder 11 through an air circuit, and the control valve is connected to the solenoid valve signal.

[0037] Working principle of the present invention:

[0038] When the clamping device is installed on the truss robot, it is first docked with the truss robot based on the alignment circular hole 51 of the flange 5, and then connected to the truss robot through the connecting hole 52; before clamping the object, the staff observes the volume of the object to be clamped, and then the longitudinal telescopic cylinder 11 can be used to push the grasping block 10 to slide outward or inward along the longitudinal long rod 8 to adjust the distance between the two grasping blocks 10 on the same longitudinal side, and then the horizontal telescopic cylinder 7 is used to drive the column 1 closer, so that the grasping block 10 slowly approaches until it firmly grasps the object. When the object is firmly grasped, the support block 12 at the bottom of the grasping block 10 supports the object, and at the same time, the inner side of the grasping block 10 is attached to the surface of the object.

[0039] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the idea of ​​the present invention, several simple deductions, deformations or substitutions can be made.

Claims

1. A clamping device for a truss robot, characterized in that: include: A frame, the frame comprising four columns, a slider, a linear guide rail, and a cross beam, the four columns are vertically distributed at each vertex of the rectangle, the slider is fixed above each column, the linear guide rail is slidably connected above two sliders located on one side of the long side of the rectangle, and two cross beams are horizontally connected between the two linear guide rails; a flange for connecting with the truss robot, the flange being fixed above the crossbeam, the center of the flange being provided with an alignment circular hole for connecting with the truss robot, and a plurality of connection holes being provided around the alignment circular hole; A transverse telescopic mechanism, the transverse telescopic mechanism comprising two connecting beams and a transverse telescopic cylinder, the two connecting beams being fixed between the two upright posts located on one side of the short side of the rectangle, the transverse telescopic cylinder being arranged between the two connecting beams, and the telescopic direction of the transverse telescopic cylinder being parallel to the linear guide rail; Two longitudinal support components, the longitudinal support components include two longitudinal long rods and a connecting baffle, the two longitudinal long rods are horizontally arranged in parallel up and down and penetrate and are fixed on the two upright posts located on one side of the short side of the rectangle, and a connecting baffle is vertically fixed between the two sides of the two longitudinal long rods; Four longitudinal telescopic grabbing components, the longitudinal telescopic grabbing components include a grabbing block and a longitudinal telescopic cylinder, the grabbing block is slidably installed on the longitudinal long rod located on the outside of the column, the upper and lower ends of the grabbing block slide through the two longitudinal long rods arranged vertically, respectively, a protruding support block is horizontally fixed to the bottom end of the grabbing block, the longitudinal telescopic cylinder is fixed in the middle of the column between the two longitudinal long rods, and the longitudinal telescopic cylinder is horizontally connected to the grabbing block.

2. A clamping device for a truss robot as claimed in claim 1, characterized in that: It also includes a buffer, and buffers are fixedly installed at both ends of each linear guide rail. The buffer includes a mounting seat and a horizontal buffer rod, and the horizontal buffer rod can contact the slider.

3. A clamping device for a truss robot as claimed in claim 2, characterized in that: It also includes a control box, which is fixed on one of the beams by bolts. The control box is equipped with a solenoid valve and a control valve. The solenoid valve is connected to the transverse telescopic cylinder and the longitudinal telescopic cylinder through an air circuit, and the control valve is connected to the solenoid valve signal.

4. A clamping device for a truss robot as claimed in claim 1, characterized in that: The height of the transverse telescopic cylinder is lower than the height of the crossbeam.

5. A clamping device for a truss robot according to any one of claims 1 to 4, characterized in that: The grab block is hollow in the middle.

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