Truss manipulator

Abstract

The utility model discloses a truss manipulator, and belongs to the technical field of manipulators. Comprising a truss body, a moving rod is arranged in the middle of the end of the truss body, a manipulator mounting plate is arranged at the bottom end of the moving rod, micro air pump bodies are arranged at the four ends of the manipulator mounting plate, connecting pipes are arranged at the bottom ends of the micro air pump bodies, and adsorption discs are arranged at the bottom ends of the connecting pipes. Sliding open grooves are formed in the periphery of the manipulator mounting plate, and the connecting pipes are located in the sliding open grooves. The micro air pump main body can slide, so that the micro air pump main body drives the positions of the connecting pipe and the adsorption disc to be adjusted, then a workpiece is extruded by the adsorption disc, the workpiece can be adsorbed by the adsorption disc through the micro air pump main body, and grabbing of the workpiece is completed; and different workpieces can be adsorbed by adjusting the position of the adsorption disc, so that the adsorption effect is better.

Description

Technical Field

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

[0002] The truss robot is a fully automatic industrial equipment based on the rectangular X, Y, Z three-coordinate system, which can adjust the workpiece position or realize the trajectory movement of the workpiece. Its control core is realized through the industrial controller. The controller analyzes and processes various input signals, makes certain logical judgments, and then issues execution commands to each output element to complete the joint movement between the X, Y, and Z axes, thereby realizing a complete set of fully automatic operation processes.

[0003] The truss manipulator can grab objects, but the suction cups used in existing manipulators are usually set in fixed positions. Therefore, when the size of the workpiece changes, the position of the suction cup cannot find the grabbing point of the workpiece well, which easily makes the force points of the workpiece after grabbing different, resulting in tilting or displacement. For this reason, we propose a truss manipulator to solve the above problem. Utility Model Content

[0004] The utility model aims to solve the shortcomings of the prior art involved in the background technology and proposes a truss manipulator.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A truss manipulator comprises a truss body, a moving rod is arranged at the middle position of the end of the truss body, a manipulator mounting plate is arranged at the bottom end of the moving rod, a micro air pump body is arranged at the four ends of the manipulator mounting plate, a connecting pipe is arranged at the bottom end of the micro air pump body, a suction plate is arranged at the bottom end of the connecting pipe, sliding grooves are arranged around the manipulator mounting plate, and the connecting pipe is located inside the sliding grooves;

[0007] The adsorption plate can be pressed against the surface of the workpiece, and then the air is sucked through the micro air pump body, so that the adsorption plate forms a negative pressure to complete the adsorption of the workpiece. The workpiece can be grasped without the use of a clamp, avoiding deformation of the flexible material.

[0008] Preferably, both ends of the connecting pipe are provided with sliding blocks, both sides of the inner wall of the sliding slot are provided with limit slots, and the sliding blocks extend to the inside of the limit slots;

[0009] The micro air pump body can drive the connecting pipe to slide inside the sliding groove, thereby adjusting the position of the adsorption plate, so that the adsorption plate can adsorb workpieces of different sizes.

[0010] Preferably, a fixed shaft is provided inside the limit slot, and the sliding block is sleeved on the outside of the fixed shaft;

[0011] The connecting pipe can drive the sliding block to slide in the limiting groove with better stability, thereby preventing the connecting pipe from rotating and falling off.

[0012] Preferably, a connecting rod is inserted into the side wall of the manipulator mounting plate, the end of the connecting rod extends to the inside of the sliding slot, and the end of the connecting rod is fixedly connected to the side wall of the connecting pipe;

[0013] The personnel can directly adjust the position of the connecting pipe by pulling the connecting rod from the outside, and then the position of the connecting pipe can be fixed by simply fixing the connecting rod, making the use of the connecting pipe more convenient.

[0014] Preferably, fixed mounting plates are provided on both sides of the truss body, and both ends of the fixed mounting plates are fixedly connected to the ends of the two groups of connecting rods;

[0015] The connecting rods can be linked by a fixed mounting plate, so that when one group of connecting rods is adjusted, two groups of connecting rods can be adjusted synchronously, making the adjustment of the connecting pipe more convenient.

[0016] Preferably, threaded conveying rods are provided at the middle positions on both sides of the truss body, the middle of the fixed mounting plate is sleeved on the outside of the threaded conveying rods, and the fixed mounting plate is threadedly connected to the threaded conveying rods;

[0017] The fixed mounting plate can be moved by rotating the threaded conveying rod, thereby making the movement of the fixed mounting plate more convenient. At the same time, a self-locking mechanism is provided between the thread of the threaded conveying rod and the fixed mounting plate, which can fix the fixed mounting plate and prevent the fixed mounting plate from continuing to move after being fixed.

[0018] Preferably, a servo motor is provided at the middle position of both sides of the truss body, and the output end of the servo motor is fixedly connected to the threaded conveying rod;

[0019] The servo motor can drive the threaded conveying rod to move, thereby making the rotation of the threaded conveying rod more convenient.

[0020] Compared with the prior art, the beneficial effects of the utility model are:

[0021] 1. The utility model can slide the main body of the micro air pump, so that the main body of the micro air pump drives the position of the connecting pipe and the adsorption plate to be adjusted. Then the adsorption plate and the workpiece are squeezed. The adsorption plate can adsorb the workpiece through the main body of the micro air pump to complete the grasping of the workpiece. Different workpieces can be adsorbed by adjusting the position of the adsorption plate, so that the adsorption effect is better.

[0022] 2. The utility model can drive the threaded conveying rod to rotate through a servo motor, so that the threaded conveying rod drives the fixed mounting plate to move through the threaded structure, and the fixed mounting plate drives the connecting pipe to move through the connecting rod, so that the movement of the connecting pipe is more convenient. At the same time, the threaded conveying rod has a self-locking mechanism, which can prevent the micro air pump body and the adsorption plate from continuing to move after the position is adjusted, so that the grasping effect and stability are better. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A three-dimensional structural schematic diagram of a truss manipulator proposed in the utility model;

[0024] Figure 2 for Figure 1 A schematic diagram of the front cross-sectional structure of the middle manipulator mounting plate;

[0025] Figure 3 for Figure 2 A schematic diagram of a partial top-down cross-sectional structure;

[0026] Figure 4 for Figure 3 Enlarged structural diagram at A in the middle.

[0027] In the figure: 1. Truss body; 2. Moving rod; 3. Manipulator mounting plate; 4. Micro air pump body; 5. Adsorption plate; 6. Sliding slot; 7. Connecting pipe; 8. Sliding block; 9. Limiting slot; 10. Fixed shaft rod; 11. Connecting rod; 12. Fixed mounting plate; 13. Threaded conveying rod; 14. Servo motor. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0029] Reference Figure 1-4A truss manipulator is shown, in which a moving rod 2 is arranged at the middle position of the end of the truss body 1, and then a manipulator mounting plate 3 is arranged at the bottom end of the moving rod 2, and a micro air pump body 4 is arranged at the four ends of the manipulator mounting plate 3, and a connecting pipe 7 is arranged at the bottom end of the micro air pump body 4, so that an adsorption plate 5 is arranged at the bottom end of the connecting pipe 7, and then sliding grooves 6 are opened all around the manipulator mounting plate 3, and the connecting pipe 7 is located inside the sliding groove 6, and at the same time, sliding blocks 8 are arranged at both ends of the connecting pipe 7, so that limiting grooves 9 are opened on both sides of the inner wall of the sliding groove 6, and then the sliding block 8 extends to the inside of the limiting groove 9, and a fixed shaft rod 10 is arranged inside the limiting groove 9, and the sliding block 8 is sleeved on the outside of the fixed shaft rod 10.

[0030] For a detailed description of the connecting rod 11 in this embodiment, please refer to Figure 3 and Figure 4 A connecting rod 11 is inserted into the side wall of the manipulator mounting plate 3, and then the end of the connecting rod 11 extends to the inside of the sliding slot 6, and the end of the connecting rod 11 is fixedly connected to the side wall of the connecting pipe 7, and at the same time, a fixed mounting plate 12 is provided on both sides of the truss body 1, and the two ends of the fixed mounting plate 12 are fixedly connected to the ends of the two groups of connecting rods 11, so that a threaded conveying rod 13 is provided at the middle position of both sides of the truss body 1, and then the middle of the fixed mounting plate 12 is sleeved on the outside of the threaded conveying rod 13, and the fixed mounting plate 12 is threadedly connected to the threaded conveying rod 13, so that a servo motor 14 is provided at the middle position of both sides of the truss body 1, and the output end of the servo motor 14 is fixedly connected to the threaded conveying rod 13.

[0031] Working principle: When the utility model is in use, the manipulator mounting plate 3 can be moved through the truss body 1, and the manipulator mounting plate 3 can be lifted and lowered through the moving rod 2. The servo motor 14 can be started according to the size of the workpiece, so that the servo motor 14 drives the threaded conveying rod 13 to rotate, and the threaded conveying rod 13 drives the fixed mounting plate 12 to move, and the fixed mounting plate 12 drives the connecting tube 7 to move through the connecting rod 11, so that the connecting tube 7 drives the micro air pump body 4 and the adsorption plate 5 to move, so that the adsorption plate 5 moves to the four corners of the workpiece.

[0032] When the manipulator mounting plate 3 descends at any time, it can drive the adsorption plate 5 to come into extrusion contact with the workpiece, and then the micro air pump body 4 starts to work, so that the micro air pump body 4 extracts the gas inside the connecting pipe 7 and the adsorption plate 5, so that the adsorption plate 5 forms a negative pressure and completes the adsorption and grasping of the workpiece.

[0033] In the present invention, the installation method, connection method or setting method of all the components mentioned above are common mechanical methods, and the specific structures, models and coefficient indicators of all its components are its own technology. As long as it can achieve its beneficial effects, it can be implemented, so it will not be elaborated.

[0034] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

[0035] In the present utility model, unless otherwise stated, the directional words contained in the terms such as "up, down, left, right, front, back, inside, outside, vertical, horizontal" only represent the orientation of the term in normal use, or are common names understood by those skilled in the art, and should not be regarded as limitations on the term. At the same time, number series nouns such as "first", "second" and "third" do not represent specific quantities and orders, but are merely used to distinguish names. Moreover, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device.

Claims

1. A truss manipulator, comprising a truss body (1), characterized in that: A moving rod (2) is arranged at the middle position of the end of the truss body (1), a manipulator mounting plate (3) is arranged at the bottom end of the moving rod (2), a micro air pump body (4) is arranged at the four ends of the manipulator mounting plate (3), a connecting pipe (7) is arranged at the bottom end of the micro air pump body (4), a suction plate (5) is arranged at the bottom end of the connecting pipe (7), and sliding grooves (6) are arranged around the manipulator mounting plate (3), and the connecting pipe (7) is located inside the sliding groove (6).

2. A truss manipulator according to claim 1, characterized in that: Both ends of the connecting pipe (7) are provided with sliding blocks (8), and both sides of the inner wall of the sliding slot (6) are provided with limit slots (9), and the sliding blocks (8) extend into the interior of the limit slots (9).

3. A truss manipulator according to claim 2, characterized in that: A fixed shaft rod (10) is arranged inside the limit slot (9), and the sliding block (8) is sleeved on the outside of the fixed shaft rod (10).

4. A truss manipulator according to claim 1, characterized in that: A connecting rod (11) is inserted into the side wall of the manipulator mounting plate (3), the end of the connecting rod (11) extends into the interior of the sliding slot (6), and the end of the connecting rod (11) is fixedly connected to the side wall of the connecting pipe (7).

5. A truss manipulator according to claim 4, characterized in that: Both sides of the truss body (1) are provided with fixed installation plates (12), and the two ends of the fixed installation plates (12) are fixedly connected to the ends of the two groups of connecting rods (11).

6. A truss manipulator according to claim 5, characterized in that: Threaded conveying rods (13) are arranged at middle positions on both sides of the truss body (1), the middle of the fixed installation plate (12) is sleeved on the outside of the threaded conveying rod (13), and the fixed installation plate (12) is threadedly connected to the threaded conveying rod (13).

7. A truss manipulator according to claim 5, characterized in that: A servo motor (14) is provided at the middle position of both sides of the truss body (1), and the output end of the servo motor (14) is fixedly connected to the threaded conveying rod (13).

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