Truss manipulator

Abstract

A truss mechanical arm comprises two stand columns located on the ground, a first cross beam is fixedly connected to the upper portions of the two stand columns, the left end and the right end of the upper portion of the first cross beam are fixedly connected with vertically-arranged connecting columns correspondingly, and the upper portions of the two connecting columns are jointly connected with a second cross beam; a sliding beam arranged in the length direction of the first cross beam and the second cross beam in a sliding mode is arranged between the first cross beam and the second cross beam, a top beam fixedly connected with the sliding beam is arranged at the upper end of the sliding beam, the top beam is horizontally arranged, and a mounting base arranged in a front-back sliding mode along the top beam is arranged above the top beam. The mounting base is provided with a mechanical arm sliding up and down along the mounting base, and a manipulator used for grabbing workpieces is arranged below the mechanical arm.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial machinery manufacturing, in particular to a truss manipulator. Background Art

[0002] A truss manipulator is a fully automatic industrial equipment based on a rectangular X, Y, and Z three-coordinate system, which can adjust the workpiece's position or realize the trajectory movement of the workpiece. In the prior art, truss manipulators have the following problems: the vertical moving beam moving along the ground is structurally supported and fixed only at the lower end, while the upper end of the moving beam is unsupported, which can easily cause the moving beam to be unstable and tilt when moving. Utility Model Content

[0003] The technical problem to be solved by the utility model is to solve the deficiencies in the prior art and provide a truss manipulator with a stable moving beam that is not prone to tilting when walking.

[0004] The technical solution adopted by the utility model is that the truss manipulator comprises two upright posts located on the ground, a first cross beam is fixedly connected above the two upright posts, left and right ends above the first cross beam are respectively fixedly connected to vertically arranged connecting posts, a second cross beam is commonly connected above the two connecting posts, a sliding beam is provided between the first cross beam and the second cross beam and is slidably arranged along the length direction of the first cross beam and the second cross beam, a top beam fixedly connected to the sliding beam is provided at the upper end of the sliding beam, the top beam is horizontally arranged, a mounting seat is provided above the top beam and is slidably arranged along the top beam, a mechanical arm is provided on the mounting seat and slides up and down along the mounting seat, and a mechanical arm for grasping workpieces is provided below the mechanical arm.

[0005] The first crossbeam and the second crossbeam described in the utility model are both I-beams, and two first rollers are provided at the lower end of the sliding beam, and the two first rollers are respectively located at the left and right ends of the web of the first crossbeam; two second rollers are provided at the upper end of the sliding beam, and the two second rollers are respectively located at the left and right ends of the web of the second crossbeam; and a first motor for driving the first rollers to rotate is also included.

[0006] The utility model has a first slide rail above the top beam, and the mounting seat has a third roller matched with the first slide rail. The first slide rail and the third roller are slidingly arranged, and also includes a second motor for driving the mounting seat. A rack parallel to the first slide rail is provided on one side of the first slide rail, and the rack is meshed with the gear of the second motor for transmission.

[0007] One side of the mechanical arm of the utility model is provided with a second slide rail, the mounting seat is provided with a second sliding block matched with the second slide rail, and also includes a cylinder, and the cylinder drives the second sliding block to slide up and down along the second slide rail.

[0008] The utility model has two groups of columns, and also includes a first crossbeam, a second crossbeam, a connecting column and a sliding beam matched with each group of columns. The two ends of the top beam are respectively fixedly connected to the upper ends of the two sliding beams.

[0009] The number of the upright columns of the utility model is one group, one end of the top beam is fixedly connected to the upper end of the sliding beam, and the other end of the top beam is suspended.

[0010] The utility model provides a mounting plate combined with the ground below the column, and four corners of the mounting plate are respectively provided with adjusting bolts for adjusting the height of the column.

[0011] Compared with the prior art, the beneficial effects of the utility model are:

[0012] 1. The lower end of the sliding beam of the utility model is supported by the first cross beam, and the lower end of the sliding beam is supported by the second cross beam. Compared with the sliding beam in the prior art that only the lower end is supported, the sliding beam of the utility model is stable and is not prone to tilting during walking.

[0013] 2. The utility model slides along the first slide rail of the top beam through the third roller provided on the mounting seat, and the rack is meshed with the gear of the second motor for transmission, which doubly guarantees the walking track of the mounting seat along the top beam and prevents the mounting seat from tilting when sliding along the top beam.

[0014] 3. The utility model provides an adjusting bolt through the mounting plate under the column, which is used to adjust the height of the column so that all the columns are located at the same height, thereby ensuring the stability of the truss manipulator during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model.

[0016] Figure 2 It is a structural schematic diagram of another embodiment of the utility model.

[0017] Figure 3 yes Figure 1 A partial enlarged view of point A in the middle. DETAILED DESCRIPTION

[0018] The present invention will be further described below with reference to the accompanying drawings and by way of embodiments.

[0019] like Figures 1 to 3As shown, a truss manipulator described in this embodiment comprises two upright posts 1 located on the ground, a first cross beam 2 is fixedly connected above the two upright posts 1, a vertically arranged connecting post 3 is fixedly connected to the left and right ends above the first cross beam respectively, a second cross beam 4 is commonly connected above the two connecting posts 3, a sliding beam 5 is provided between the first cross beam 2 and the second cross beam 4 and is slidably arranged along the length direction of the first cross beam 2 and the second cross beam 4, a top beam 6 fixedly connected to the sliding beam 5 is provided at the upper end of the sliding beam 5, the top beam 6 is horizontally arranged, a mounting seat 7 is provided above the top beam 6 and is slidably arranged forward and backward along the top beam 6, the mounting seat 7 is provided with a mechanical arm 8 that slides up and down along the mounting seat, and a mechanical arm 8 is provided below the mechanical arm 8 for grasping a workpiece; in this embodiment, the lower end of the sliding beam 5 is supported by the first cross beam 2, and the lower end of the sliding beam 5 is supported by the second cross beam 4. Compared with the sliding beam in the prior art book in which only the lower end of the sliding beam is supported, the sliding beam of the utility model is stable and is not prone to tilting during walking.

[0020] The specific structure of the sliding beam 5 sliding along the first beam 2 and the second beam 4 in this embodiment is as follows: the first beam 2 and the second beam 4 are both I-beams, and two first rollers 51 are provided at the lower end of the sliding beam 5, and the two first rollers 51 are respectively located at the left and right ends of the web of the first beam 2, and two second rollers 52 are respectively provided at the left and right ends of the web of the second beam 4, and also include a first motor 53 for driving the first roller 51 to rotate; in this embodiment, two first rollers 51 are provided, and the two first rollers 51 are respectively located at the left and right ends of the web of the first beam 2; two second rollers 52 are provided, and the second rollers 52 are respectively located at the left and right ends of the web of the second beam 4, and the first roller 51 plays a role in limiting the left and right deviation of the lower end of the sliding beam 5, and the second roller 52 plays a role in limiting the left and right deviation of the upper end of the sliding beam, so as to ensure the stability of the sliding beam 5 when sliding along the first beam 2 and the second beam 4.

[0021] The specific structure of the mounting seat 7 driving the mechanical arm 8 to slide along the top beam 6 in this embodiment is as follows: a first slide rail 61 is provided above the top beam 6, and the mounting seat 7 has a third roller adapted to the first slide rail 61. The first slide rail 61 and the third roller are slidingly arranged, and also include a second motor 71 for driving the mounting seat 7. A rack 62 parallel to the first slide rail 61 is provided on one side of the first slide rail 61, and the rack 62 is meshed with the gear of the second motor 71 for transmission. In this embodiment, the third roller provided on the mounting seat 7 slides along the first slide rail 61 of the top beam 6, and the rack 62 is meshed with the gear of the second motor 71 for transmission, which doubly guarantees the walking trajectory of the mounting seat 7 along the top beam 6 and prevents the mounting seat 7 from tilting when sliding along the top beam 6.

[0022] Among them, the specific structure of the robot arm 8 sliding up and down along the mounting seat 7 is as follows: a second slide rail 81 is provided on one side of the robot arm 8, and the mounting seat 7 is provided with a second slider 72 adapted to the second slide rail 81, and also includes a cylinder 73, and the cylinder 73 drives the second slider 72 to slide up and down along the second slide rail 81.

[0023] The arrangement of the columns 1 in this embodiment has the following two implementation modes: one is: the number of the columns 1 is two groups, and also includes a first crossbeam 2, a second crossbeam 4, a connecting column 3, and a sliding beam 5 adapted to each group of columns 1, and the two ends of the top beam 6 are respectively fixedly connected to the upper ends of the two sliding beams 5. It is suitable for the situation where the tooling is located in two rows.

[0024] Another implementation of the column 1 is: the number of the columns 1 is one group, one end of the top beam 6 is fixedly connected to the upper end of the sliding beam 5, and the other end of the top beam 6 is suspended; it is suitable for the situation where the tooling is located in a row.

[0025] In this embodiment, a mounting plate 11 connected to the ground is provided below the column 1, and adjusting bolts 12 for adjusting the height of the column are provided at the four corners of the mounting plate 11; an adjusting bolt 12 is provided through the mounting plate 11 below the column 1, which is used to fine-tune the height of the column 1 so that all the columns 1 are located at the same height, thereby ensuring the stability of the truss manipulator during operation.

Claims

1. A truss manipulator, characterized in that: The invention comprises two upright posts (1) located on the ground, a first crossbeam (2) fixedly connected to the upper part of the two upright posts (1), vertically arranged connecting posts (3) fixedly connected to the left and right ends of the upper part of the first crossbeam, a second crossbeam (4) connected to the upper part of the two connecting posts (3), a sliding beam (5) slidably arranged along the length direction of the first crossbeam (2) and the second crossbeam (4) arranged between the first crossbeam (2) and the second crossbeam (4), a top beam (6) fixedly connected to the sliding beam (5) arranged at the upper end of the sliding beam (5), the top beam (6) being arranged horizontally, a mounting seat (7) slidably arranged forward and backward along the top beam (6) arranged above the top beam (6), a mechanical arm (8) sliding up and down along the mounting seat (7), and a mechanical hand for grasping a workpiece arranged below the mechanical arm (8).

2. A truss manipulator according to claim 1, characterized in that: The first crossbeam (2) and the second crossbeam (4) are both I-beams. The lower end of the sliding beam (5) is provided with two first rollers (51), and the two first rollers (51) are respectively located at the left and right ends of the web of the first crossbeam (2). The upper end of the sliding beam (5) is provided with two second rollers (52), and the two second rollers (52) are respectively located at the left and right ends of the web of the second crossbeam (4). The sliding beam (5) also includes a first motor (53) for driving the first rollers (51) to rotate.

3. A truss manipulator according to claim 1, characterized in that: A first slide rail (61) is provided above the top beam (6), the mounting seat (7) has a third roller matched with the first slide rail (61), the first slide rail (61) and the third roller are slidably arranged, and also includes a second motor (71) for driving the mounting seat (7), a rack (62) arranged parallel to the first slide rail (61) is provided on one side of the first slide rail (61), and the rack (62) is meshed with a gear of the second motor (71) for transmission.

4. A truss manipulator according to claim 1, characterized in that: A second slide rail (81) is provided on one side of the mechanical arm (8), and the mounting seat (7) is provided with a second sliding block (72) adapted to the second sliding rail (81), and further comprises a cylinder (73), wherein the cylinder (73) drives the second sliding block (72) to slide up and down along the second sliding rail (81).

5. The truss manipulator according to claim 1, characterized in that: The number of the upright posts (1) is two groups, and the upright posts (1) further include a first crossbeam (2), a second crossbeam (4), a connecting post (3), and a sliding beam (5) adapted to each group of upright posts (1), and the two ends of the top beam (6) are respectively fixedly connected to the upper ends of the two sliding beams (5).

6. A truss manipulator according to claim 1, characterized in that: The number of the uprights (1) is one group, one end of the top beam (6) is fixedly connected to the upper end of the sliding beam (5), and the other end of the top beam (6) is suspended in the air.

7. A truss manipulator according to claim 1, characterized in that: A mounting plate (11) coupled to the ground is provided below the column (1), and adjustment bolts (12) for adjusting the height of the column are respectively provided at four corners of the mounting plate (11).

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