A cross truss manipulator

Abstract

A cross truss manipulator comprises a fixed frame and a lifting frame, the lifting frame is connected to a working part, a transverse guide rail is arranged on the fixed frame, a slider of the transverse guide rail is connected to a vertical guide rail, and the lifting frame is slidingly arranged on the vertical guide rail; a first guide wheel group and a second guide wheel group are arranged on the slider, and the two guide wheel groups are respectively located on the left and right sides of the lifting frame, the first guide wheel group comprises a first guide wheel arranged up and down, and the second guide wheel group comprises a second guide wheel arranged up and down; a lifting wheel is rotatably arranged on the top of the lifting frame; a first servo motor and a second servo motor are arranged at both ends of the fixed frame, and are respectively connected to a first driving wheel and a second driving wheel; two ends of a synchronous belt are respectively fixed on the left and right sides of the bottom of the lifting frame, and the rest of the belt passes through the first guide wheel at the bottom, the first driving wheel, the first guide wheel at the top, the lifting wheel, the second guide wheel at the top, the second driving wheel and the second guide wheel at the bottom in sequence. The utility model has the characteristics of simple structure, easy control and low cost.

Description

Technical Field

[0001] The utility model belongs to the field of mechanical equipment, and in particular relates to a cross truss manipulator. Background Art

[0002] In the packaging industry, material handling requires mechanical arms or robots. Among them, the most widely used are multi-joint robots or mechanical arms. This type of equipment is large in size, complex in structure, difficult to control, and therefore expensive. For small and medium-sized enterprises, the investment in such equipment will bring great economic pressure to the enterprise. Utility Model Content

[0003] The utility model aims to provide a cross truss manipulator with simple structure, easy control and low cost, so as to meet the demand of small and medium-sized enterprises for such equipment.

[0004] In order to achieve the above-mentioned purpose, the technical scheme adopted by the utility model is: a cross truss manipulator, comprising a fixed frame and a lifting frame, the lifting frame is used to connect with the working part, a transverse guide rail is arranged on the fixed frame along its length direction, a slider on the transverse guide rail is connected with the vertical guide rail, and the lifting frame is slidably arranged on the vertical guide rail; a first guide wheel group and a second guide wheel group are arranged on the slider, the first guide wheel group and the second guide wheel group are respectively located on the left and right sides of the lifting frame, the first guide wheel group includes two first guide wheels arranged up and down, and the second guide wheel group includes two second guide wheels arranged up and down; a lifting wheel is rotatably arranged on the top of the lifting frame; a first servo motor and a second servo motor are respectively arranged at the two ends of the length direction of the fixed frame, the first servo motor is connected with the first driving wheel, and the second servo motor is connected with the second driving wheel; the two ends of the synchronous belt are respectively fixed on the left and right sides of the bottom of the lifting frame, and the remaining part is sequentially passed around the first guide wheel at the bottom, the first driving wheel, the first guide wheel at the top, the lifting wheel, the second guide wheel at the top, the second driving wheel and the second guide wheel at the bottom.

[0005] A first clamp and a second clamp are respectively arranged on the left and right sides of the bottom of the lifting frame, and both ends of the synchronous belt are clamped and fixed by the first clamp and the second clamp respectively.

[0006] The first guide wheel and the second guide wheel have the same specifications.

[0007] The first driving wheel, the second driving wheel and the lifting wheel are synchronous pulleys of the same specification.

[0008] Both ends of the transverse guide rail are respectively provided with proximity switches.

[0009] The lifting frame is provided with a proximity switch, and a detection piece for cooperating with the proximity switch is provided on one side of the vertical guide rail.

[0010] The beneficial effects of the utility model are as follows: the utility model has a simple structure, and the translation and lifting of the lifting frame are realized by two servo motors and a synchronous belt mechanism, thereby meeting the demand for material transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of the utility model;

[0012] Figure 2 It is a side view of the utility model;

[0013] Figure 3 for Figure 1 A in the middle shows a local enlarged view;

[0014] Figure 4 This is a schematic diagram of the structure of the bottom end of the lifting frame in the utility model;

[0015] Markings in the figure: 1. fixed frame, 2. first servo motor, 3. first driving wheel, 4. transverse guide rail, 5. synchronous belt, 6. first guide wheel, 7. lifting frame, 8. second guide wheel, 9. second driving wheel, 10. second servo motor, 11. vertical guide rail, 12. lifting wheel, 13. proximity switch, 14. first clamp, 15. second clamp, 16. detection piece. DETAILED DESCRIPTION

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention in any way.

[0017] Refer to the attached Figure 1 , 2As shown, a cross truss manipulator includes a fixed frame 1 and a lifting frame 7 arranged in a cross pattern. The fixed frame 1 is provided with a horizontally extending transverse guide rail 4, and a vertical guide rail 11 is fixedly provided on a slider of the transverse guide rail 4. The lifting frame 7 is slidably connected with the vertical guide rail 11; a first servo motor 2 and a second servo motor 10 are respectively provided at both ends of the fixed frame 1, and the first servo motor 2 drives a first driving wheel 3 installed on the fixed frame 1 to rotate, and the second servo motor 10 drives a second driving wheel 9 installed on the fixed frame 1 to rotate; two groups of first guide wheel groups and second guide wheel groups are also provided on the slider of the transverse guide rail 4, which are respectively located on both sides of the lifting frame 7, and the first guide wheel group includes two first guide wheel groups of the same specification and arranged up and down. Wheel 6, the second guide wheel group includes two second guide wheels 8 of the same specification arranged up and down; the top of the lifting frame 7 is also rotatably provided with a lifting wheel 12 which is lifted and lowered along the vertical guide rail 11 with the lifting frame 7; the first clamping piece 14 and the second clamping piece 15 are fixedly provided on both sides of the bottom end of the lifting frame 7, which are respectively located below the first guide wheel group and below the second guide wheel group; the first end of the synchronous belt 5 is clamped in the first clamping piece 14, and then passes through the first guide wheel 6 below, the first driving wheel 3, the first guide wheel 6 above, the lifting wheel 12 on the top of the lifting frame 7, the second guide wheel 8 above, the second driving wheel 9, and the second guide wheel 8 below in sequence, and finally the second end of the synchronous belt 5 is clamped in the second clamping piece 15 at the bottom of the lifting frame 7.

[0018] The first driving wheel 3, the second driving wheel 9 and the lifting wheel are synchronous pulleys of the same specifications.

[0019] Preferably, proximity switches 13 are respectively provided at both ends of the transverse guide rail 4 and on the lifting frame 7, and a detection piece 16 for cooperating with the proximity switch 13 on the lifting frame 7 is also provided on one side of the vertical guide rail 11. The proximity switch 13 is provided to ensure the safety of the lifting frame 7 moving left and right and vertically.

[0020] When the first servo motor 2 and the second servo motor 10 rotate clockwise, the lifting frame 7 and the vertical guide rail 11 as a whole move to the right along the transverse guide rail 4 driven by the slider through the cooperation of the synchronous belt 5 with the two driving wheels, the two sets of guide wheel groups and the lifting wheel 12; when the first servo motor 2 and the second servo motor 10 rotate counterclockwise at the same time, the lifting frame 7 and the vertical guide rail 11 as a whole move to the left along the transverse guide rail 4 driven by the slider.

[0021] When the first servo motor 2 and the second servo motor 10 rotate in opposite directions, the lifting frame 7 moves up and down along the vertical guide rail 11 through the cooperation of the synchronous belt 5 with the two driving wheels, the two sets of guide wheel groups and the lifting wheel 12 .

[0022] The bottom of the lifting frame 7 is used to connect with a working component (such as a clamp, a suction cup, etc.), so that the working component can move horizontally and vertically in space.

[0023] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Those skilled in the art should understand that the specific implementation methods of the present invention can be modified or replaced by equivalents with reference to the above embodiments. Any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention are within the scope of protection of the pending claims.

Claims

1. A cross truss manipulator, comprising a fixed frame and a lifting frame, wherein the lifting frame is used to connect with a working part, and is characterized in that: The fixed frame is provided with a transverse guide rail along its length direction, the slider on the transverse guide rail is connected to the vertical guide rail, and the lifting frame is slidably arranged on the vertical guide rail; the slider is provided with a first guide wheel group and a second guide wheel group, the first guide wheel group and the second guide wheel group are respectively located on the left and right sides of the lifting frame, the first guide wheel group includes two first guide wheels arranged up and down, and the second guide wheel group includes two second guide wheels arranged up and down; a lifting wheel is rotatably arranged on the top of the lifting frame; a first servo motor and a second servo motor are respectively provided at both ends in the length direction of the fixed frame, the first servo motor is connected to the first driving wheel, and the second servo motor is connected to the second driving wheel; two ends of the synchronous belt are respectively fixed on the left and right sides of the bottom of the lifting frame, and the remaining part passes around the first guide wheel at the bottom, the first driving wheel, the first guide wheel at the top, the lifting wheel, the second guide wheel at the top, the second driving wheel and the second guide wheel at the bottom in sequence.

2. A cross truss manipulator according to claim 1, characterized in that: A first clamp and a second clamp are respectively arranged on the left and right sides of the bottom of the lifting frame, and both ends of the synchronous belt are clamped and fixed by the first clamp and the second clamp respectively.

3. A cross truss manipulator according to claim 1, characterized in that: The first guide wheel and the second guide wheel have the same specifications.

4. A cross truss manipulator according to claim 1, characterized in that: The first driving wheel, the second driving wheel and the lifting wheel are synchronous pulleys of the same specification.

5. A cross truss manipulator according to claim 1, characterized in that: Both ends of the transverse guide rail are respectively provided with proximity switches.

6. A cross truss manipulator according to claim 1, characterized in that: The lifting frame is provided with a proximity switch, and a detection piece for cooperating with the proximity switch is provided on one side of the vertical guide rail.

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