Truss manipulator suitable for machining two surfaces of shaft parts

Abstract

The utility model relates to a truss manipulator suitable for machining two surfaces of a shaft part, which is characterized by comprising a rotating cylinder, a 90-degree overturning cylinder, a first finger cylinder and a second finger cylinder, wherein the first finger cylinder and the second finger cylinder are arranged on a rotating bracket of the 90-degree overturning cylinder; the clamping direction of the first finger air cylinder and the clamping direction of the second finger air cylinder are perpendicular to the placing direction of the shaft parts, a connecting plate is arranged between the rotating air cylinder and the 90-degree overturning air cylinder, the 90-degree overturning air cylinder is arranged on one side of the connecting plate, the 90-degree overturning air cylinder and the connecting plate are driven by the rotating air cylinder to rotate synchronously, and a machining face is replaced. According to the utility model, through the cooperation among the rotating cylinder, the 90-degree overturning cylinder, the first finger cylinder and the second finger cylinder, specifically, the rotating cylinder drives the 90-degree overturning cylinder and the connecting plate to rotate synchronously and replace a processing surface, so that the requirement of processing two surfaces of shaft parts can be met, and the processing efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a truss manipulator suitable for processing both sides of shaft parts. Background Art

[0002] In recent years, robotic arms have developed rapidly in production lines in the fields of mechanical manufacturing, metallurgy, electronics, and other industries. In the process of working, grasping is a very important step. Whether the grasping can be realized accurately and flexibly is related to whether the work of the robotic arm can be successfully completed. In important links such as raw material clamping and finished product sorting, the grasping of the mechanical gripper plays an important role. The current robotic arm can only process one surface when processing shaft parts. When the opposite surface of the surface needs to be processed, it needs to be replaced manually, which is very inconvenient. Summary of the invention

[0003] The utility model aims to provide a truss manipulator suitable for processing both sides of shaft parts to solve the above technical problems.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A truss robot suitable for double-sided processing of shaft parts, characterized in that it includes a rotating cylinder, a 90° flip cylinder, and a first finger cylinder and a second finger cylinder arranged on a 90° flip cylinder rotating bracket, the clamping direction of the first finger cylinder and the second finger cylinder is perpendicular to the placement direction of the shaft parts, a connecting plate is arranged between the rotating cylinder and the 90° flip cylinder, the 90° flip cylinder is arranged on one side of the connecting plate, and the 90° flip cylinder and the connecting plate are driven by the rotating cylinder to rotate synchronously and change the processing surface.

[0006] The utility model is further arranged that the 90° flip cylinder includes a cylinder body, a rotating bracket is rotatably arranged outside the cylinder body, a first driving rack and a second driving rack are arranged inside the cylinder body, a rotating shaft is arranged between the first driving rack and the second driving rack, both ends of the rotating shaft extend outside the cylinder body and are rotatably connected to the rotating bracket, a rotating gear is arranged on the rotating shaft, one end of the first driving rack forms a first driving piston, one end of the second driving rack forms a second driving piston, the first driving piston and the second driving piston are arranged opposite to each other, the first driving rack and the second driving rack move away from or approach each other when rotating, a first air inlet and two second air inlets are arranged on the cylinder body, the first air inlet is communicated with the space where the rotating gear is located, the second air inlet acts on the first driving piston and the second driving piston respectively, when the first air inlet is inhaled, the first driving rack and the second driving rack move away from each other and drive the gear to rotate in the first direction, when the second air inlet is inhaled, the second driving rack and the second driving rack move close to each other and drive the gear to rotate in the second direction.

[0007] The utility model is further configured that a rack wear ring 1 is provided on an outer end surface of the first drive rack close to the second drive piston, and a rack wear ring 2 is provided on an outer end surface of the second drive rack close to the first drive piston.

[0008] The utility model is further arranged that the rotating bracket includes a secondary connecting plate and a main connecting plate that are fixedly connected, the secondary connecting plate and the main connecting plate are located on both sides of the cylinder body, the secondary connecting plate and the main connecting plate each have a groove, the groove cooperates with the two ends of the rotating shaft for rotation, the main connecting plate has a first rotating arm and a second rotating arm arranged at 90°, a first mounting plate is arranged between the first rotating arms and is located on the side of the cylinder body, a second mounting plate is arranged between the second rotating arms and is located on the side of the cylinder body, a first finger cylinder is arranged on the first mounting plate, and a second finger cylinder is arranged on the second mounting plate.

[0009] The utility model is further arranged that a first flow channel and a second flow channel are formed in the cylinder body, the first flow channel and the second flow channel are respectively communicated with the second air inlet, a connecting flow channel is formed between the first flow channel and the second flow channel, and a third flow channel communicated with the first air inlet is also formed in the cylinder body.

[0010] The utility model is further arranged that a slider and a piston assembly for driving the slider to move are arranged in the first finger cylinder and the second finger cylinder, and a dustproof assembly is arranged at the slider on the clamping side of the first finger cylinder and the second finger cylinder, and the dustproof assembly includes a dustproof plate, a dustproof gasket, a dustproof slider plate and a dustproof end cover, the dustproof end cover is arranged on the protruding side of the slider, the dustproof end cover is fixedly connected to the end of the dustproof plate, the dustproof plate is formed with an open groove at the slider, a positioning pin is arranged on the slider, the positioning pin moves with the slider in the open groove, the dustproof slider plate is sleeved on the positioning pin, the dustproof gasket is arranged close to the dustproof plate and sleeved outside the dustproof slider plate, the dustproof slider plate and the dustproof gasket move with the slider and cover the open groove during the movement.

[0011] The utility model is further arranged that a dustproof sealing ring is arranged between the dustproof gasket and the dustproof sliding block plate.

[0012] The beneficial effects of the utility model: the utility model cooperates between the rotating cylinder, the 90° flip cylinder, the first finger cylinder and the second finger cylinder. Specifically, the rotating cylinder drives the 90° flip cylinder and the connecting plate to rotate synchronously and change the processing surface, which can meet the needs of two-sided processing of shaft parts and improve the processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0014] Figure 1 It is a structural schematic diagram of an embodiment of the utility model.

[0015] Figure 2 It is a side view of an embodiment of the utility model.

[0016] Figure 3 for Figure 2 Cross-sectional view at AA in the middle.

[0017] Figure 4 This is a schematic diagram of an embodiment of the utility model with some structures removed.

[0018] Figure 5 This is a schematic structural diagram of a 90° flip cylinder according to an embodiment of the utility model.

[0019] Figure 6 It is a side view of a 90° flip cylinder according to an embodiment of the utility model.

[0020] Figure 7 for Figure 6 Cross-sectional view at the middle BB.

[0021] Figure 8 for Figure 6 Cross-sectional view at CC.

[0022] Fig. 9 It is a schematic diagram of the assembly of rack wear-resistant ring 1 or rack wear-resistant ring 2 according to an embodiment of the utility model.

[0023] Reference numerals:

[0024] A, 90° flip cylinder; A10, cylinder body; A101, A first flow channel; A102, second flow channel; A103, third flow channel; A104, connecting flow channel; A20, rotating bracket; A201, auxiliary connecting plate; A202, main connecting plate; A2021, first rotating arm; A2022, second rotating arm; A203, first mounting plate; A204, second mounting plate; A30, first driving rack; A40, second driving rack; A50, rotating shaft; A60, rotating gear; A70, first driving piston; A80, second driving piston; A90, first air inlet; A 100, second air inlet; A110, rack wear ring 1; A120, rack wear ring 2; A130, embedded groove 1; A140, embedded groove 2; A150, convex strip; A160, embedded strip; A170, slot; B, rotary cylinder; C, first finger cylinder; C20, slider; C30, dustproof assembly; C301, dustproof plate; C3011, opening groove; C302, dustproof gasket; C303, dustproof slider plate; C304, dustproof end cover; C40, piston assembly; C50, positioning pin; C60, dustproof sealing ring; D, second finger cylinder; E, connecting plate; DETAILED DESCRIPTION

[0025] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0026] like Figure 1-4 As shown, the utility model is a truss manipulator suitable for processing both sides of shaft parts, including a rotating cylinder B, a 90° flip cylinder A, and a first finger cylinder C and a second finger cylinder D arranged on a rotating bracket A20 of the 90° flip cylinder A. The clamping direction of the first finger cylinder C and the second finger cylinder D is perpendicular to the placement direction of the shaft parts. A connecting plate E is arranged between the rotating cylinder B and the 90° flip cylinder A. The 90° flip cylinder A is arranged on one side of the connecting plate E, and the rotating cylinder B drives the 90° flip cylinder A and the connecting plate E to rotate synchronously and change the processing surface. The rotating cylinder B has been disclosed in the patent announcement number CN217842197U, and no further description is given here.

[0027] The utility model cooperates among the rotating cylinder B, the 90° turning cylinder A, the first finger cylinder C and the second finger cylinder D. Specifically, the rotating cylinder B drives the 90° turning cylinder A and the connecting plate E to rotate synchronously and replace the processing surface, which can meet the needs of two-sided processing of shaft parts and improve the processing efficiency.

[0028] like Figure 5-9 As shown, the 90° flip cylinder A includes a cylinder body A10, a rotating bracket A20 is rotatably arranged outside the cylinder body A10, a first driving rack A30 and a second driving rack A40 are arranged inside the cylinder body A10, a rotating shaft A50 is arranged between the first driving rack A30 and the second driving rack A40, both ends of the rotating shaft A50 extend to the outside of the cylinder body A10 and are rotatably connected to the rotating bracket A20, a rotating gear A60 is arranged on the rotating shaft A50, one end of the first driving rack A30 forms a first driving piston A70, one end of the second driving rack A40 forms a second driving piston A80, and the first driving piston A70 and the second driving piston A80 are relatively It is arranged that the first driving rack A30 and the second driving rack A40 move away from or approach each other when rotating, and the cylinder body A10 is provided with a first air inlet A90 and two second air inlets A100, the first air inlet A90 is communicated with the space where the rotating gear A60 is located, and the second air inlet A100 acts on the first driving piston A70 and the second driving piston A80 respectively, and when the first air inlet A90 takes in air, the first driving rack A30 and the second driving rack A40 move away from each other and drive the gear to rotate in the first direction, and when the second air inlet A100 takes in air, the second driving rack A40 and the second driving rack A40 move towards each other and drive the gear to rotate in the second direction.

[0029] A rack wear ring 1 A110 is provided on the outer end surface of one side of the first driving rack A30 close to the second driving piston A80, and a rack wear ring 2 A120 is provided on the outer end surface of one side of the second driving rack A40 close to the first driving piston A70.

[0030] The rotating bracket A20 includes a fixedly connected auxiliary connecting plate EA201 and a main connecting plate EA202, the auxiliary connecting plate EA201 and the main connecting plate EA202 are located on both sides of the cylinder body A10, the auxiliary connecting plate EA201 and the main connecting plate EA202 each have a groove, and the groove cooperates with the two ends of the rotating shaft A50 to rotate, the main connecting plate EA202 has a first rotating arm A2021 and a second rotating arm A2022 set at 90°, a first mounting plate A203 is set between the first rotating arms A2021 and is located on the side of the cylinder body A10, a second mounting plate A204 is set between the second rotating arms A2022 and is located on the side of the cylinder body A10, a first finger cylinder C is set on the first mounting plate A203, and a second finger cylinder D is set on the second mounting plate A204.

[0031] A first flow channel and a second flow channel A102 are formed in the cylinder body A10. The first flow channel and the second flow channel A102 are respectively communicated with the second air inlet A100. A connecting flow channel A104 is formed between the first flow channel and the second flow channel A102. A third flow channel A103 communicated with the first air inlet A90 is also formed in the cylinder body A10.

[0032] In the above-mentioned 90° flip cylinder A, a bidirectional rack structure is adopted. When the first air inlet A90 is inletting air, the first drive rack A30 and the second drive rack A40 are separated from each other and drive the gear to rotate in the first direction. When the second air inlet A100 is inletting air, the second drive rack A40 and the second drive rack A40 are close to each other and drive the gear to rotate in the second direction. The gear is located near the ends of the two drive racks, so that the gear rotation process during the movement will be the distance of the entire rack. The longer the moving distance, the greater the torque. According to the formula M=FL (torque equals force multiplied by torque), the torque is increased and the torque is increased at the same time.

[0033] The first finger cylinder C and the second finger cylinder D are provided with a slider C20 and a piston assembly C40 for driving the slider C20 to move. The first finger cylinder C and the second finger cylinder D are provided with a dustproof assembly C30 at the slider C20 on the clamping side. The dustproof assembly C30 includes a dustproof plate C301, a dustproof gasket C302, a dustproof slider C20 plate and a dustproof end cover C304. The dustproof end cover C304 is provided on the extended side of the slider C20, and the dustproof end cover C304 is fixed to the end of the dustproof plate C301. The dustproof plate C301 is connected to the slider C20, and an open groove C3011 is formed on the slider C20. The slider C20 is provided with a positioning pin C50, and the positioning pin C50 moves with the slider C20 in the open groove C3011. The dustproof slider C20 plate is sleeved on the positioning pin C50. The dustproof gasket C302 is arranged close to the dustproof plate C301 and sleeved outside the dustproof slider C20 plate. The dustproof slider C20 plate and the dustproof gasket C302 move with the slider C20 and cover the open groove C3011 during the movement. A dustproof sealing ring C60 is provided between the dustproof gasket C302 and the dustproof slider C20 plate. The cooperation between the piston assembly C40 and the slider C20 has been disclosed in the patent announcement number CN217842198U, and no further description is given here.

[0034] The first finger cylinder C and the second finger cylinder D form a dustproof assembly C30 consisting of a dustproof plate C301, a dustproof gasket C302, a dustproof slider C20 plate and a dustproof end cover C304, thereby realizing a dustproof function during the movement of the slider C20. Since the dustproof slider C20 plate and the dustproof gasket C302 move with the slider C20 and cover the open groove C3011 during the movement, the entry channel for impurities or dust is closed, thereby avoiding the entry of impurities or dust, increasing the sealing performance, and significantly improving the dustproof effect.

[0035] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0036] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0037] The above description shows and describes several preferred embodiments of the utility model, but as before, it should be understood that the utility model is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept of this article through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the utility model, and should be within the scope of protection of the claims attached to the utility model.

Claims

1. A truss manipulator suitable for double-sided processing of shaft parts, characterized in that: It includes a rotating cylinder, a 90° flip cylinder, and a first finger cylinder and a second finger cylinder arranged on a rotating bracket of the 90° flip cylinder. The clamping direction of the first finger cylinder and the second finger cylinder is perpendicular to the placement direction of shaft parts. A connecting plate is arranged between the rotating cylinder and the 90° flip cylinder. The 90° flip cylinder is arranged on one side of the connecting plate, and the rotating cylinder drives the 90° flip cylinder and the connecting plate to rotate synchronously and change the processing surface. The 90° flip cylinder includes a cylinder body, a rotating bracket is rotatably arranged outside the cylinder body, a first driving rack and a second driving rack are arranged inside the cylinder body, a rotating shaft is arranged between the first driving rack and the second driving rack, and both ends of the rotating shaft extend outside the cylinder body and are rotatably connected to the rotating bracket. A rotating gear is provided on the rotating shaft, one end of the first driving rack forms a first driving piston, and one end of the second driving rack forms a second driving piston, the first driving piston and the second driving piston are arranged opposite to each other, and the first driving rack and the second driving rack move away from or approach each other during rotation, and a first air inlet and two second air inlets are provided on the cylinder body, the first air inlet is communicated with the space where the rotating gear is located, and the second air inlet acts on the first driving piston and the second driving piston respectively, when air is taken in through the first air inlet, the first driving rack and the second driving rack move away from each other and drive the gear to rotate in the first direction, and when air is taken in through the second air inlet, the second driving rack and the second driving rack move towards each other and drive the gear to rotate in the second direction.

2. A truss manipulator suitable for double-sided processing of shaft parts as claimed in claim 1, characterized in that: A rack wear ring 1 is provided on an outer end surface of the first drive rack close to the second drive piston, and a rack wear ring 2 is provided on an outer end surface of the second drive rack close to the first drive piston.

3. A truss manipulator suitable for double-sided processing of shaft parts as claimed in claim 2, characterized in that: The rotating bracket includes a fixedly connected auxiliary connecting plate and a main connecting plate, the auxiliary connecting plate and the main connecting plate are located on both sides of the cylinder body, the auxiliary connecting plate and the main connecting plate each have a groove, the groove cooperates with the two ends of the rotating shaft for rotation, the main connecting plate has a first rotating arm and a second rotating arm arranged at 90°, a first mounting plate is arranged between the first rotating arms and is located on the side of the cylinder body, a second mounting plate is arranged between the second rotating arms and is located on the side of the cylinder body, a first finger cylinder is arranged on the first mounting plate, and a second finger cylinder is arranged on the second mounting plate.

4. A truss manipulator suitable for double-sided processing of shaft parts as claimed in claim 1, characterized in that: A first flow channel and a second flow channel are formed in the cylinder body, the first flow channel and the second flow channel are communicated with the second air inlet respectively, a connecting flow channel is formed between the first flow channel and the second flow channel, and a third flow channel communicated with the first air inlet is also formed in the cylinder body.

5. A truss manipulator suitable for double-sided processing of shaft parts as claimed in claim 1, characterized in that: A slider and a piston assembly for driving the slider to move are arranged in the first finger cylinder and the second finger cylinder. A dustproof assembly is arranged at the slider on the clamping side of the first finger cylinder and the second finger cylinder. The dustproof assembly includes a dustproof plate, a dustproof gasket, a dustproof slider plate and a dustproof end cover. The dustproof end cover is arranged on the protruding side of the slider. The dustproof end cover is fixedly connected to the end of the dustproof plate. An open groove is formed on the dustproof plate at the slider. A positioning pin is arranged on the slider. The positioning pin moves in the open groove with the slider. The dustproof slider plate is sleeved on the positioning pin. The dustproof gasket is arranged close to the dustproof plate and sleeved outside the dustproof slider plate. The dustproof slider plate and the dustproof gasket move with the slider and cover the open groove during the movement.

6. A truss manipulator suitable for double-sided processing of shaft parts as claimed in claim 5, characterized in that: A dustproof sealing ring is arranged between the dustproof gasket and the dustproof slider plate.

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