Truss type manipulator system

Abstract

The utility model discloses a truss type manipulator system which comprises a main body structure, the main body structure comprises a lathe, a milling machine, a working table and a control table, the milling machine is arranged on one side of the lathe, a cleaning mechanism is installed at one end of the milling machine, and a third guide rail is installed at the top end of a support. The third guide rail is installed at the top end of the support, when the third motor works, the moving block can be driven to move along the third guide rail, in this way, the moving block can be driven to move along the X axis, and the first motor works to drive the moving block to move along the first guide rail; the Z-axis position of the moving block can be adjusted by moving the moving block along the first guide rail, and the second motor works to drive the moving block to move along the second guide rail, so that the Y-axis position of the moving block can be adjusted, and the rotary pneumatic chuck can flexibly work to clamp and move parts. In this way, the purpose that the truss type mechanical arm system can conveniently adjust the mechanical arm is achieved.

Description

Technical Field

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

[0002] A manipulator is an automatic operating device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and having the advantages of both human and mechanical machines in terms of structure and performance. The truss-type manipulator is designed to improve the operating efficiency of the equipment. When the milling machine is completed, a completion signal is sent to the manipulator. After receiving the signal, the manipulator moves according to the point position set by the PLC to grab the finished product at the processing station and clamp the new product to be processed. After clamping is completed, a completion signal is sent to the milling machine, and the milling machine clamps the fixture for processing. The utility model discloses a truss-type manipulator, which aims to provide automatic positioning and clamping of turbocharger intermediate housing products on the milling machine fixture, thereby improving the operating efficiency of the milling machine equipment.

[0003] The above-mentioned existing technology still has many disadvantages, but 1. It is difficult to adjust the manipulator of the truss type robot system. The key points of its technical solution are that the X-axis, Y-axis, and Z-axis servo motors are controlled and driven by PLC to move, and a rotating pneumatic clamp is installed at the bottom of the Z-axis to automatically pick up and install the products on the milling machine station.

[0004] 2. It is difficult to clean the parts with the truss-type robot system. When the milling machine is processing, dust will be adsorbed on the parts, making it difficult to clean and unable to discharge the materials directly. Utility Model Content

[0005] The utility model aims to provide a truss type manipulator system, which is used to solve the defects of the existing truss type manipulator system that it is difficult to adjust the manipulator and to clean the parts.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions: a truss-type manipulator system, comprising a main structure;

[0007] The main structure includes a lathe, a milling machine, a workbench and a control console, a milling machine is arranged on one side of the lathe, a cleaning mechanism is installed on one end of the milling machine, and a workbench is installed on one end of the lathe;

[0008] A control console is installed on one side of the workbench, a discharging mechanism is installed on the top of the workbench, a bracket is installed on the top of the workbench, an adjustment structure is installed on the top of the bracket, and a rotating pneumatic chuck is installed on the bottom of the adjustment structure;

[0009] The adjustment structure comprises a first motor, a second motor, a third motor, a first guide rail, a second guide rail, a third guide rail and a moving block, and the third guide rail is installed on the top end of the bracket.

[0010] When in use, first when the third motor is working, it can drive the moving block to move along the third guide rail, so that the moving block can be driven to move along the X-axis. When the first motor is working, it can drive the moving block to move along the first guide rail. When the moving block moves along the first guide rail, the Z-axis position of the moving block can be adjusted. When the second motor is working, it can drive the moving block to move along the second guide rail, so that the Y-axis position of the moving block can be adjusted. In this way, the XYZ-axis position of the rotary pneumatic chuck at the bottom of the moving block can be adjusted, so that the rotary pneumatic chuck can work flexibly to clamp and move the parts.

[0011] Preferably, a photoelectric sensor is installed on the top of the workbench, and the photoelectric sensors are symmetrically distributed about the central axis of the workbench, and the photoelectric sensors can sense the position of the parts.

[0012] Preferably, a temporary placement platform is installed on the top of the workbench, and the temporary placement platforms are arranged at equal intervals on the top of the workbench, and parts can be placed on the temporary placement platforms.

[0013] Preferably, a moving block is installed at the top of the third guide rail, a third motor is installed on one side of the moving block, and a second motor is installed at one end of the moving block. When the third motor is working, it can drive the moving block to move along the third guide rail, thereby driving the moving block to move along the X-axis.

[0014] Preferably, a second guide rail is installed at one end of the second motor, a first motor is installed at one side of the moving block, and a first guide rail is installed at the top of the moving block. When the first motor is working, it can drive the moving block to move along the first guide rail. When the moving block moves along the first guide rail, the Z-axis position of the moving block can be adjusted. When the second motor is working, it can drive the moving block to move along the second guide rail, so that the Y-axis position of the moving block can be adjusted.

[0015] Preferably, a slide groove is provided at one end of the first guide rail, a slider is provided at one end of the moving block, the first guide rail and the moving block form a sliding structure, and the moving block can slide along the first guide rail.

[0016] Preferably, the cleaning mechanism includes a cleaning table, an air blowing pipe, a positioning cylinder and a positioning block. The cleaning table is installed at one end of the milling machine, a positioning cylinder is installed at the top of the cleaning table, and a positioning block is installed at one end of the positioning cylinder. An air blowing pipe is installed at one end of the top of the cleaning table. After the lathe and milling machine processing of the parts are completed, the parts can be clamped on the cleaning table by rotating the pneumatic chuck, and then the positioning cylinder works to position the parts through the positioning block. After positioning, the air blowing pipe can be connected through an air pump or a fan, and air can be blown through the air blowing pipe to blow away the dust on the parts and clean the parts.

[0017] Preferably, the discharging mechanism includes a conveyor belt, a guide block, a receiving tray and a guide tube. The conveyor belt is installed on the top of the workbench. Guide blocks are installed on both sides of the conveyor belt. A guide tube is installed at one end of the conveyor belt. After processing, the parts can be placed on a temporary platform. When discharging is required, the parts are clamped by rotating the pneumatic chuck and placed on the top of the conveyor belt. The conveyor belt can drive the parts to move when it works. The guide block can prevent the parts from shifting. After the parts move, they can be guided by the guide tube to fall on the receiving tray for recycling.

[0018] Preferably, a receiving tray is installed at one end of the guide tube, and the receiving tray rotates in a circular shape, so that the receiving tray can receive parts.

[0019] The truss type manipulator system provided by the utility model has the following advantages: by installing a third guide rail on the top of the bracket, when the third motor is working, it can drive the moving block to move along the third guide rail, so that the moving block can be driven to move along the X-axis, the first motor can drive the moving block to move along the first guide rail when it is working, and the Z-axis position of the moving block can be adjusted by moving the moving block along the first guide rail, and the second motor can drive the moving block to move along the second guide rail when it is working, so that the Y-axis position of the moving block can be adjusted, so that the rotary pneumatic chuck can work flexibly to clamp and move the parts, thereby achieving the purpose of facilitating the adjustment of the manipulator by the truss type manipulator system.

[0020] By installing a cleaning table at one end of the milling machine, when the parts are processed on the lathe and milling machine, the parts can be clamped on the cleaning table by rotating the pneumatic chuck, and then the positioning cylinder works to position the parts through the positioning block. After positioning, the air blow pipe can be connected through an air pump or a fan, and air can be blown through the air blow pipe to blow away the dust on the parts and clean the parts, thereby achieving the purpose of the truss robot system to facilitate the cleaning of parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0022] Figure 2It is a schematic diagram of a partial cross-sectional structure of the cleaning mechanism of the utility model when viewed from above;

[0023] Figure 3 For the utility model Figure 1 A partial cross-section at the center is an enlarged structural diagram;

[0024] Figure 4 It is a front view cross-sectional structural schematic diagram of the utility model;

[0025] Figure 5 It is a schematic diagram of a partial cross-sectional structure of a discharging mechanism of the utility model when viewed from above.

[0026] Explanation of the reference numerals in the figure: 1. Main structure; 101. Lathe; 102. Milling machine; 103. Workbench; 104. Control console; 2. Adjustment structure; 201. First motor; 202. Second motor; 203. Third motor; 204. First guide rail; 205. Second guide rail; 206. Third guide rail; 207. Moving block; 3. Bracket; 4. Cleaning mechanism; 401. Cleaning table; 402. Air blowing pipe; 403. Positioning cylinder; 404. Positioning block; 5. Discharging mechanism; 501. Conveyor belt; 502. Guide block; 503. Material receiving tray; 504. Guide tube; 6. Temporary placement platform; 7. Photoelectric sensor; 8. Rotary pneumatic chuck. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figure 1-Figure 5 The utility model provides an embodiment: a truss-type manipulator system, including a main structure 1.

[0029] The main structure 1 includes a lathe 101, a milling machine 102, a workbench 103 and a control console 104. The milling machine 102 is arranged on one side of the lathe 101. A cleaning mechanism 4 is installed at one end of the milling machine 102. The cleaning mechanism 4 includes a cleaning table 401, an air blowing pipe 402, a positioning cylinder 403 and a positioning block 404. The cleaning table 401 is installed at one end of the milling machine 102. The positioning cylinder 403 is installed at the top of the cleaning table 401, and the positioning block 404 is installed at one end of the positioning cylinder 403. The air blowing pipe 402 is installed at one end of the top of the cleaning table 401.

[0030] Refer to the attached Figure 1-2As shown, after the parts are processed by the lathe 101 and the milling machine 102, the parts can be clamped on the cleaning table 401 by rotating the pneumatic chuck 8, and then the positioning cylinder 403 works to position the parts through the positioning block 404. After positioning, the air blow pipe 402 can be connected through an air pump or a fan, and air can be blown through the air blow pipe 402 to blow away the dust on the parts and clean the parts.

[0031] A photoelectric sensor 7 is installed on the top of the workbench 103 , and the photoelectric sensors 7 are symmetrically distributed about the central axis of the workbench 103 .

[0032] A workbench 103 is installed at one end of the lathe 101 , and a temporary placement platform 6 is installed on the top of the workbench 103 , and the temporary placement platforms 6 are arranged at equal intervals on the top of the workbench 103 .

[0033] A control console 104 is installed on one side of the workbench 103, and a discharging mechanism 5 is installed on the top of the workbench 103. The discharging mechanism 5 includes a conveyor belt 501, a guide block 502, a receiving tray 503 and a guide tube 504. The conveyor belt 501 is installed on the top of the workbench 103, and guide blocks 502 are installed on both sides of the conveyor belt 501. A guide tube 504 is installed at one end of the conveyor belt 501, and a receiving tray 503 is installed at one end of the guide tube 504, and the receiving tray 503 rotates in a circular shape.

[0034] Refer to the attached Figure 1 and attached Figure 4-5 As shown, after the processing is completed, the parts can be placed on the temporary storage platform 6. When the material needs to be discharged, the parts can be clamped by rotating the pneumatic chuck 8 and placed on the top of the conveyor belt 501. The conveyor belt 501 can drive the parts to move, and the guide block 502 can prevent the parts from shifting. After the parts move, they can be guided by the guide tube 504 to fall on the receiving tray 503 for recycling.

[0035] A bracket 3 is installed at the top of the workbench 103 , an adjustment structure 2 is installed at the top of the bracket 3 , and a rotary pneumatic chuck 8 is installed at the bottom of the adjustment structure 2 .

[0036] The adjustment structure 2 includes a first motor 201, a second motor 202, a third motor 203, a first guide rail 204, a second guide rail 205, a third guide rail 206 and a moving block 207. The third guide rail 206 is installed at the top of the bracket 3. The moving block 207 is installed at the top of the third guide rail 206. The third motor 203 is installed on one side of the moving block 207. The second motor 202 is installed at one end of the moving block 207. The second guide rail 205 is installed at one end of the second motor 202. The first motor 201 is installed on one side of the moving block 207. The first guide rail 204 is installed at the top of the moving block 207. A slide groove is provided at one end of the first guide rail 204. A slider is provided at one end of the moving block 207. The first guide rail 204 and the moving block 207 constitute a sliding structure.

[0037] Refer to the attached Figure 1 and attached Figure 3 As shown, when the third motor 203 is working, it can drive the moving block 207 to move along the third guide rail 206, so that the moving block 207 can be driven to move along the X-axis. When the first motor 201 is working, it can drive the moving block 207 to move along the first guide rail 204. The moving block 207 moves along the first guide rail 204 to adjust the Z-axis position of the moving block 207. When the second motor 202 is working, it can drive the moving block 207 to move along the second guide rail 205, so that the Y-axis position of the moving block 207 can be adjusted. In this way, the XYZ-axis position of the rotary pneumatic chuck 8 at the bottom of the moving block 207 can be adjusted, so that the rotary pneumatic chuck 8 can work flexibly to clamp and move the parts, and the device can be controlled by the PLC console 104.

[0038] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A truss-type manipulator system, comprising a main structure (1); Features: The main structure (1) comprises a lathe (101), a milling machine (102), a workbench (103) and a control console (104); the milling machine (102) is arranged on one side of the lathe (101); a cleaning mechanism (4) is installed at one end of the milling machine (102); and the workbench (103) is installed at one end of the lathe (101); A control console (104) is installed on one side of the workbench (103); a discharging mechanism (5) is installed on the top of the workbench (103); a bracket (3) is installed on the top of the workbench (103); an adjustment structure (2) is installed on the top of the bracket (3); and a rotary pneumatic chuck (8) is installed on the bottom of the adjustment structure (2); The adjustment structure (2) comprises a first motor (201), a second motor (202), a third motor (203), a first guide rail (204), a second guide rail (205), a third guide rail (206) and a moving block (207); the third guide rail (206) is installed at the top end of the bracket (3).

2. A truss type manipulator system according to claim 1, characterized in that: A photoelectric sensor (7) is installed on the top of the workbench (103), and the photoelectric sensors (7) are symmetrically distributed about the central axis of the workbench (103).

3. A truss type manipulator system according to claim 1, characterized in that: A temporary placement platform (6) is installed on the top of the workbench (103), and the temporary placement platforms (6) are arranged at equal intervals on the top of the workbench (103).

4. A truss type manipulator system according to claim 1, characterized in that: A moving block (207) is installed at the top end of the third guide rail (206), a third motor (203) is installed on one side of the moving block (207), and a second motor (202) is installed at one end of the moving block (207).

5. The truss type manipulator system according to claim 1, characterized in that: A second guide rail (205) is installed at one end of the second motor (202), a first motor (201) is installed at one side of the moving block (207), and a first guide rail (204) is installed at the top end of the moving block (207).

6. A truss type manipulator system according to claim 1, characterized in that: One end of the first guide rail (204) is provided with a sliding groove, and one end of the moving block (207) is provided with a sliding block, and the first guide rail (204) and the moving block (207) form a sliding structure.

7. A truss type manipulator system according to claim 1, characterized in that: The cleaning mechanism (4) comprises a cleaning table (401), an air blowing pipe (402), a positioning cylinder (403) and a positioning block (404); the cleaning table (401) is installed at one end of the milling machine (102); the positioning cylinder (403) is installed at the top end of the cleaning table (401); and the positioning block (404) is installed at one end of the positioning cylinder (403); and the air blowing pipe (402) is installed at one end of the top end of the cleaning table (401).

8. The truss type manipulator system according to claim 1, characterized in that: The discharging mechanism (5) comprises a conveyor belt (501), a guide block (502), a receiving tray (503) and a guide tube (504); the conveyor belt (501) is installed on the top of the workbench (103); guide blocks (502) are installed on both sides of the conveyor belt (501); and a guide tube (504) is installed at one end of the conveyor belt (501).

9. A truss type manipulator system according to claim 8, characterized in that: A material receiving tray (503) is installed at one end of the guide tube (504), and the material receiving tray (503) rotates in a circular shape.

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