Anti-collision truss manipulator

Abstract

The utility model is suitable for the technical field of truss manipulators, and provides an anti-collision truss manipulator which comprises a supporting column, a plurality of connecting rods and a plurality of connecting rods, the Y-axis electric sliding rail is fixed to the top of the supporting column through a bolt; the X-axis electric sliding rail is fixed to the sliding end of the top of the Y-axis electric sliding rail through a bolt; the moving table is fixed to the sliding end of the outer side wall of the X-axis electric sliding rail through a bolt; the speed reducing motor is fixed on the outer side wall of the moving table through a bolt; the gear is fixed at the output end of the speed reducing motor; the toothed plate slides on the inner side wall of the movable table; the fixed disc is fixed at the bottom of the toothed plate through a bolt; the upper position and the lower position of the inner side of the circular workpiece are clamped in an expanding mode through the first clamping head and the second clamping head correspondingly, it can be guaranteed that the circular workpiece in the vertical state is stably clamped, the stability of the circular workpiece in the transferring and moving process is guaranteed, and the problem that the circular workpiece inclines and even falls off is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of truss manipulators, and in particular relates to an anti-collision 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 that can adjust the workpiece's position or realize the workpiece's trajectory movement. In the prior art, when a truss manipulator is used to clamp an object, the shape of the object clamped each time is different. When clamping a round object, the clamping is not stable enough, and the jaws are easily hit against other objects during movement, causing damage to the jaws.

[0003] In the prior art, a Chinese patent with a reference number of CN 217776966 U discloses an anti-collision truss manipulator, including a support leg and an internal expansion manipulator assembly, wherein a support leg is fixedly mounted with a pillar on the top, and the bottom diameter of the pillar is smaller than the top diameter of the support leg, and the internal expansion manipulator assembly for stably clamping and anti-collision circular objects is arranged inside the pillars on both sides, and the internal expansion manipulator assembly includes a frame, a fixed block, a middle hole, a driving cylinder, a trapezoidal block and a docking groove. On the one hand, the utility model is used for resetting the slide, and on the other hand, when the clamping claw encounters an impact, the spring can release part of the impact force, while preventing the circular object to be clamped from detaching from the clamping claw due to the impact.

[0004] The comparative document provides a collision-proof truss robot, but the above patent has difficulty in ensuring stability during transportation after clamping the circular workpiece. When the circular workpiece is long, the upper and lower ends of the circular workpiece will swing during transportation, which is not only prone to collision but also easy to fall off.

[0005] Therefore, an anti-collision truss manipulator is proposed. Utility Model Content

[0006] The utility model provides an anti-collision truss manipulator, aiming to solve the above-mentioned problem.

[0007] The utility model is implemented as follows: an anti-collision truss manipulator comprises: a support column; a Y-axis electric slide rail fixed to the top of the support column by bolts; an X-axis electric slide rail fixed to the top sliding end of the Y-axis electric slide rail by bolts; a moving platform fixed to the sliding end of the outer side wall of the X-axis electric slide rail by bolts; a reduction motor fixed to the outer side wall of the moving platform by bolts; a gear fixed to the output end of the reduction motor; a toothed plate sliding on the inner side wall of the moving platform; a fixed plate fixed to the bottom of the toothed plate by bolts; a fixed sleeve fixed to the bottom of the fixed plate by bolts; and a fixed sleeve embedded in the fixed plate. A first magnet at the center of the bottom of the fixed plate; a damper fixed to the inner wall of the fixed sleeve by bolts; a sleeve fixed to the driving end of the damper; a second magnet embedded in the center of the top of the sleeve; and a first micro electric push rod fixed to the inner wall of the sleeve by bolts; a first chuck fixed to the output end of the first micro electric push rod; a hydraulic cylinder fixed to the center of the top of the sleeve by bolts; a lifting head fixed to the output end of the hydraulic cylinder; a second micro electric push rod fixed to the inner wall of the lifting head by bolts; and a second chuck fixed to the output end of the second micro electric push rod.

[0008] Preferably, the gear and the toothed plate are connected via gear tooth meshing.

[0009] Preferably, the first magnet and the second magnet are connected by magnetic adsorption, and the cross-sections of the first magnet and the second magnet are both circular, and the outer diameters of the first magnet and the second magnet are the same.

[0010] Preferably, eight dampers are provided in total, and the eight dampers are symmetrically arranged on the inner side wall of the fixing sleeve.

[0011] Preferably, there are four first micro electric linear actuators in total, and the four first micro electric linear actuators are symmetrically arranged on the inner side wall of the outer casing.

[0012] Preferably, there are four second micro electric push rods in total, and the four second micro electric push rods are symmetrically arranged on the inner side wall of the lifting head.

[0013] Preferably, the sliding ends on the Y-axis electric slide rail and the X-axis electric slide rail are driven by electric push rods.

[0014] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0015] By using the first chuck and the second chuck to perform expansion clamping on the upper and lower positions on the inner side of the circular workpiece respectively, the circular workpiece in a vertical state can be stably clamped, and the stability of the circular workpiece during transportation and movement can be guaranteed to avoid problems such as tilting or even falling off. The damper between the outer sleeve and the fixed sleeve buffers the impact force to avoid collision damage to the workpiece and the manipulator, and the magnetic adsorption force is used to position the outer sleeve on the inner side of the fixed sleeve to reduce the shaking of the workpiece during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model;

[0017] Figure 2 It is a schematic diagram of the matching structure of the fixed sleeve and the outer sleeve of the utility model;

[0018] Figure 3 It is a schematic diagram of the structure of the fixed sleeve of the utility model;

[0019] Figure 4 It is a schematic diagram of the outer jacket structure of the utility model;

[0020] Figure 5 It is a cross-sectional view of a fixing sleeve of the utility model.

[0021] In the figure: 1. support column; 2. Y-axis electric slide; 3. X-axis electric slide; 4. moving table; 5. reduction motor; 6. gear; 7. tooth plate; 8. fixed plate; 9. fixed sleeve; 10. first magnet; 11. damper; 12. outer sleeve; 13. second magnet; 14. first micro electric push rod; 15. first chuck; 16. hydraulic cylinder; 17. lifting head; 18. second micro electric push rod; 19. second chuck. DETAILED DESCRIPTION

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0023] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] The utility model embodiment provides a collision-proof truss manipulator, such as Figure 1-5 As shown, it includes a support column 1, the top of the support column 1 is fixedly connected to a Y-axis electric slide rail 2 by bolts, the top sliding end of the Y-axis electric slide rail 2 is fixedly connected to an X-axis electric slide rail 3 by bolts, the sliding ends on the Y-axis electric slide rail 2 and the X-axis electric slide rail 3 are driven by an electric push rod, the outer wall sliding end of the X-axis electric slide rail 3 is fixedly connected to a moving table 4 by bolts, the outer wall of the moving table 4 away from the X-axis electric slide rail 3 is fixedly connected to a reduction motor 5 by bolts, the reduction motor 5 is fixedly connected to a gear 6 through an output end of one side, a tooth plate 7 is slidably connected to an inner wall of one side of the moving table 4, the bottom of the tooth plate 7 is fixedly connected to a fixed disk 8 by bolts, a total of eight dampers 11 are provided, and the eight dampers 11 are symmetrically arranged on the inner wall of a fixed sleeve 9, the bottom of the fixed disk 8 is fixedly connected to a fixed sleeve 9 by bolts, and a first magnet 10 is embedded in the central position of the bottom of the fixed disk 8 near the inner side of the fixed sleeve 9, and a first magnet 10 is embedded in the inner wall of one side of the fixed sleeve 9 A damper 11 is fixedly connected with the outer sleeve 12 by bolts, and a moving end of the damper 11 is fixedly connected with the outer sleeve 12, and a second magnet 13 is embedded in the top of the outer sleeve 12. A first micro electric push rod 14 is fixedly connected with the inner wall of one side of the outer sleeve 12 by bolts. There are four first micro electric push rods 14 in total, and the four first micro electric push rods 14 are symmetrically arranged on the inner wall of the outer sleeve 12. The first micro electric push rod 14 is fixedly connected with a first chuck 15 through the output end of one side thereof. A hydraulic cylinder 16 is fixedly connected with the inner top center position of the outer sleeve 12 by bolts, and the hydraulic cylinder 16 is fixedly connected with a lifting head 17 through the output end of one side thereof. A second micro electric push rod 18 is fixedly connected with the inner wall of one side of the lifting head 17 by bolts. There are four second micro electric push rods 18 in total, and the four second micro electric push rods 18 are symmetrically arranged on the inner wall of the lifting head 17. The second micro electric push rod 18 is fixedly connected with a second chuck 19 through the output end of one side thereof.

[0025] It should be noted that, since the existing anti-collision truss manipulator is difficult to ensure stability during transportation after clamping the circular workpiece, when the circular workpiece is long, the upper and lower ends of the circular workpiece will swing during transportation, which is not only prone to collision but also easy to fall off. This embodiment uses the first chuck 15 and the second chuck 19 to perform expansion clamping on the upper and lower positions on the inner side of the circular workpiece respectively, which can ensure that the vertical circular workpiece is stably clamped and the stability of the circular workpiece during transportation is ensured to avoid tilting or even falling off. The damper 11 between the outer sleeve 12 and the fixed sleeve 9 buffers the impact force to prevent the workpiece and the manipulator from being damaged by collision, and the magnetic adsorption force is used to realize the positioning of the outer sleeve 12 on the inner side of the fixed sleeve 9 to reduce the shaking of the workpiece during transportation.

[0026] Specifically, in the present embodiment, the present scheme mainly comprises a first magnet 10, a damper 11 and a second magnet 13. When in use, the X-axis electric slide 3 is moved on the Y-axis electric slide 2, and the moving platform 4 is moved on the X-axis electric slide 3, so as to realize the lateral and longitudinal movement of the moving platform 4 in the horizontal direction. When it is necessary to transfer a long cylindrical workpiece vertical to the ground, the fixed sleeve 9 is controlled to move to the top of the workpiece. At this time, the reduction motor 5 drives the gear 6 to rotate through the output end on one side thereof, and the gear plate 7 is meshed with the gear 6 and the toothed plate 7, so that the toothed plate 7 is lifted and lowered on the inner side of the moving platform 4, thereby realizing the lifting and lowering of the fixed sleeve 9. The outer sleeve 12 on the top of the fixed sleeve 9 is inserted into the inner side of the workpiece at the upper position, and the hydraulic cylinder 16 drives the lifting head 17 to move downward through the output end on one side thereof, and the lifting head 17 is inserted into the inner side of the workpiece at the lower position. When the workpiece is clamped, the first The micro electric push rod 14 and the second micro electric push rod 18 are working, the first micro electric push rod 14 drives the first chuck 15 to move through the output end on one side thereof, the first chuck 15 contacts the inner wall of the workpiece to achieve clamping, the second micro electric push rod 18 drives the second chuck 19 to move through the output end on one side thereof, the second chuck 19 contacts the inner wall of the workpiece to achieve clamping, the clamping and fixing of the workpiece at both ends are completed, and the stability of the workpiece during transportation is ensured. When the workpiece collides during transportation, the impact force exerted on the workpiece is transmitted to the outer sleeve 12, and the damper 11 between the outer sleeve 12 and the fixed sleeve 9 buffers the impact force to avoid the workpiece and the manipulator from being damaged by the collision, or even the problem of the workpiece falling. When the workpiece is not impacted, the magnetic adsorption connection between the first magnet 10 and the second magnet 13 can be used to achieve the positioning of the outer sleeve 12 on the inner side of the fixed sleeve 9, thereby reducing the shaking of the workpiece during transportation.

[0027] In a further preferred embodiment of the present invention, Figure 1 As shown, the gear 6 and the toothed plate 7 are connected via gear tooth meshing.

[0028] In this embodiment, the gear plate 7 can be raised and lowered by the rotation of the gear 6, thereby realizing the raising and lowering of the manipulator at the bottom of the gear plate 7, thereby realizing the lifting, transportation and lowering of the workpiece after grasping.

[0029] In a further preferred embodiment of the present invention, Figure 3-4 As shown, the first magnet 10 and the second magnet 13 are connected by magnetic adsorption, and the cross-sections of the first magnet 10 and the second magnet 13 are both circular, and the outer diameters of the first magnet 10 and the second magnet 13 are the same.

[0030] In this embodiment, the outer sleeve 12 can be positioned inside the fixing sleeve 9 by utilizing the magnetic adsorption force of the first magnet 10 and the second magnet 13 .

[0031] It should be noted that, for the above-mentioned embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the utility model is not limited by the described action sequence, because according to the utility model, some steps may be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the utility model.

[0032] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic, such as the division of the above-mentioned units. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be in the form of telecommunication or other forms.

[0033] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0034] The above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit the protection scope of the utility model. Obviously, the described embodiments are only some embodiments of the utility model, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. Although the utility model has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the utility model according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the utility model in essence, and these technical solutions also belong to the scope of protection of the utility model.

Claims

1. A collision-proof truss manipulator, characterized in that: include: Support column (1); A Y-axis electric slide rail (2) fixed to the top of the support column (1) by bolts; An X-axis electric slide rail (3) fixed to the top sliding end of the Y-axis electric slide rail (2) by bolts; A moving platform (4) fixed to the sliding end of the outer wall of the X-axis electric slide rail (3) by bolts; A reduction motor (5) fixed to the outer wall of the moving platform (4) by means of bolts; A gear (6) fixed to the output end of the reduction motor (5); A toothed plate (7) sliding on the inner wall of the moving platform (4); A fixing plate (8) fixed to the bottom of the tooth plate (7) by bolts; A fixing sleeve (9) fixed to the bottom of the fixing plate (8) by bolts; and a first magnet (10) embedded in the center of the bottom of the fixed plate (8); A damper (11) fixed to the inner wall of the fixing sleeve (9) by bolts; A jacket (12) fixed to the driving end of the damper (11); a second magnet (13) embedded in the center of the top of the outer sleeve (12); and A first micro electric push rod (14) fixed to the inner wall of the outer sleeve (12) by means of bolts; A first clamp (15) fixed to the output end of the first micro electric push rod (14); A hydraulic cylinder (16) fixed at the top center of the outer sleeve (12) by bolts; A lifting head (17) fixed to the output end of the hydraulic cylinder (16); A second micro electric push rod (18) fixed to the inner side wall of the lifting head (17) by means of bolts; A second clamp (19) is fixed to the output end of the second micro electric push rod (18).

2. The anti-collision truss manipulator according to claim 1, characterized in that: The gear (6) and the toothed plate (7) are connected via gear tooth meshing.

3. The anti-collision truss manipulator according to claim 1, characterized in that: The first magnet (10) and the second magnet (13) are connected by magnetic adsorption, and the cross-sections of the first magnet (10) and the second magnet (13) are both circular, and the outer diameters of the first magnet (10) and the second magnet (13) are the same.

4. The anti-collision truss manipulator according to claim 1, characterized in that: A total of eight dampers (11) are provided, and the eight dampers (11) are symmetrically arranged on the inner side wall of the fixing sleeve (9).

5. The anti-collision truss manipulator according to claim 1, characterized in that: A total of four first micro electric push rods (14) are provided, and the four first micro electric push rods (14) are symmetrically arranged on the inner side wall of the outer shell (12).

6. The anti-collision truss manipulator according to claim 1, characterized in that: A total of four second micro electric push rods (18) are provided, and the four second micro electric push rods (18) are symmetrically arranged on the inner side wall of the lifting head (17).

7. The anti-collision truss manipulator according to claim 1, characterized in that: The sliding ends on the Y-axis electric slide rail (2) and the X-axis electric slide rail (3) are both driven by electric push rods.

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