A three-axis truss manipulator

Abstract

The utility model relates to the field of manipulator technology, and in particular to a three-axis truss manipulator. It includes a truss, a Y-axis beam, an X-axis beam, a Z-axis longitudinal beam and a manipulator assembly. The Y-axis beam is symmetrically arranged on the truss, an X-axis beam is movably mounted between two groups of Y-axis beams, a Z-axis longitudinal beam is movably mounted on the X-axis beam, and a manipulator assembly is movably mounted on the Z-axis beam, which has a fixing mechanism for driving it to center and clamp a workpiece and a limiting mechanism for adjusting the applicable clamping plate according to the shape of the clamped workpiece. In the utility model, clamping plates a and b are rotatably arranged in the manipulator assembly by rotating a rotating plate, and the positions of clamping plates a and b can be adjusted by rotating the rotating plate. The rotating plate can be limited after adjustment by the cooperation of the limiting mechanism, so that in the clamping process, clamping plates of suitable shapes can be used according to the shape of the workpiece to be clamped, thereby improving its adjustability and stability of clamping.

Description

Technical Field

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

[0002] A truss robot 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 achieve trajectory movement of the workpiece. Therefore, it is also called a three-axis truss robot and is widely used in the workpiece transportation process in major factories.

[0003] A Chinese patent with authorization announcement number CN218659123U discloses a three-axis truss manipulator device, which increases the space for logistics vehicles to enter and exit by lengthening the truss frame as a whole; adds a reinforced sub-beam to ensure that the truss frame has sufficient strength to support the operation of the mechanical clamp; the amount of material that can be put in by the logistics vehicle at one time is increased, and the mechanical clamp automatically and continuously moves to ensure the continuity of loading and unloading, improve the efficiency of loading and unloading, and at the same time, a braking device is provided to deal with emergencies to ensure safety inside the truss frame.

[0004] However, the shape of the manipulator of the truss manipulator device mentioned above is fixed, and the shape of the manipulator cannot be adjusted according to the shape of the workpiece to be transferred, resulting in insufficient stability in clamping workpieces of certain shapes, such as cylindrical workpieces. Utility Model Content

[0005] In view of the problems existing in the background technology, a three-axis truss manipulator is proposed. In the manipulator assembly, a clamping plate a and a clamping plate b are arranged by rotating a rotating plate, and the positions of the clamping plate a and the clamping plate b can be adjusted by rotating the rotating plate. The rotating plate can be limited after adjustment through the cooperation of a limiting mechanism, so that in the clamping process, a clamping plate of a suitable shape can be used according to the shape of the workpiece to be clamped, thereby improving its adjustability and the stability of clamping.

[0006] The utility model provides a three-axis truss manipulator, comprising

[0007] It has a truss and a Y-axis beam symmetrically arranged on the truss, an X-axis beam is movably mounted between two groups of Y-axis beams, and a Z-axis longitudinal beam is movably mounted on the X-axis beam;

[0008] A manipulator assembly is movably mounted on the Z-axis longitudinal beam, and has a fixing mechanism for driving the manipulator to center and clamp the workpiece; and

[0009] A limiting mechanism is provided on the manipulator assembly and is used for adjusting a suitable clamping plate according to the shape of the clamped workpiece.

[0010] Preferably, the manipulator assembly includes a mounting frame, a guide column, a moving block, a fixed shaft, a rotating plate, a clamping plate a and a clamping plate b, the mounting frame is movably arranged on the Z-axis longitudinal beam, the guide columns are symmetrically arranged laterally inside the mounting frame, and the moving block is symmetrically slidably connected between the two guide columns;

[0011] The fixed shaft is installed at the bottom of the moving block, and a rotating plate is rotatably connected thereon, and a clamping plate a and a clamping plate b are respectively arranged on both sides of the rotating plate.

[0012] Preferably, the cross-sectional shape of the clamping plate a is a straight strip, and the cross-sectional shape of the clamping plate b is a bent shape.

[0013] Preferably, the fixing mechanism comprises a rotating shaft, a rotating disk, a pull rod, a worm gear, a motor and a worm, the top of the mounting frame is rotatably connected with the rotating shaft, the bottom end of the rotating shaft extends to the inner side of the fixing frame and is connected with the rotating disk, and the two symmetrical eccentric parts on the rotating disk are rotatably connected with the pull rods between the two moving blocks respectively;

[0014] The motor is installed on one side of the top of the installation frame, and the output end of the motor is connected with a worm, one side of the worm is meshingly connected with a worm wheel, and the worm wheel is installed on the rotating shaft.

[0015] Preferably, the limiting mechanism includes a compression spring, a pressure plate, an insertion rod, a pull shaft and a pull ring, a circular groove is provided inside the moving block, the pressure plate is slidably arranged in the circular groove, the pull shaft passing through the moving block is connected to the pressure plate, and the bottom of the pressure plate is connected to the insertion rod for limiting the rotating plate;

[0016] The top end of the pull shaft is connected with a pull ring, and a compression spring located in a circular groove is sleeved on the pull shaft, and the bottom end of the compression spring is in contact with the pressure plate.

[0017] Preferably, insert rings are respectively provided on both sides of the rotating plate between the clamping plate a and the clamping plate b, and the insert rods are interlaced with the corresponding insert rings.

[0018] Through the above technical scheme, that is, the three-axis truss manipulator disclosed in the utility model, a clamp a and a clamp b are arranged in the manipulator assembly by rotating a rotating plate. The positions of the clamp a and the clamp b can be adjusted by rotating the rotating plate. The rotating plate can be limited after adjustment by the cooperation of the compression spring, the pressure plate, the insertion rod, the pull shaft and the pull ring, so that in the clamping process, a clamp of a suitable shape can be used according to the shape of the workpiece to be clamped, thereby improving its adjustability and clamping stability.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of a three-axis truss manipulator of the utility model;

[0021] Figure 2 for Figure 1 Schematic diagram of the structure of the robot assembly;

[0022] Figure 3 for Figure 2 A schematic diagram of a side cross-section structure;

[0023] Figure 4 for Figure 3 Schematic diagram of the side section structure of the moving block.

[0024] Figure numerals: 1. truss; 2. Y-axis crossbeam; 3. X-axis crossbeam; 4. Z-axis longitudinal beam; 5. mounting frame; 6. guide column; 7. moving block; 8. fixed axis; 9. rotating plate; 10. clamping plate a; 11. clamping plate b; 12. rotating shaft; 13. turntable; 14. pull rod; 15. worm gear; 16. motor; 17. worm; 18. compression spring; 19. pressure plate; 20. insertion rod; 21. pull shaft; 22. pull ring; 23. circular groove; 24. insertion ring. DETAILED DESCRIPTION

[0025] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0026] Embodiment 1

[0027] like Figure 1-Figure 4 As shown, the utility model proposes a three-axis truss manipulator, including a truss 1, a Y-axis crossbeam 2, an X-axis crossbeam 3, a Z-axis longitudinal beam 4 and a manipulator assembly, the Y-axis crossbeam 2 is symmetrically arranged on the truss 1, the X-axis crossbeam 3 is movably mounted between two groups of Y-axis crossbeams 2, the Z-axis longitudinal beam 4 is movably mounted on the X-axis crossbeam 3, and the manipulator assembly is movably mounted on the Z-axis crossbeam, which has a fixing mechanism for driving it to center and clamp the workpiece and a limiting mechanism for adjusting the applicable clamping plate according to the shape of the clamped workpiece.

[0028] Among them, the X-axis beam 3 and the Z-axis beam are both moved by the cooperation of the servo motor 16 and the crawler belt, which is the existing technology.

[0029] like Figure 2 and Figure 3 As shown, the manipulator assembly includes a mounting frame 5, a guide column 6, a moving block 7, a fixed shaft 8, a rotating plate 9, a clamp a10 and a clamp b11. The mounting frame 5 is movably arranged on the Z-axis longitudinal beam 4, and guide columns 6 are symmetrically and laterally arranged inside the frame, and the moving block 7 is symmetrically and slidingly connected between the two guide columns 6; the fixed shaft 8 is installed at the bottom of the moving block 7, and a rotating plate 9 is rotatably connected thereto, and clamps a10 and b11 are respectively arranged on both sides of the rotating plate 9.

[0030] like Figure 2As shown, the cross-sectional shape of the clamp a10 is a straight bar, and the cross-sectional shape of the clamp b11 is a bent shape. The bent clamp b11 is suitable for clamping and fixing workpieces with cylindrical cross-sections, and the straight bar clamp a10 is suitable for clamping and fixing workpieces with rectangular cross-sections.

[0031] like Figure 2 and Figure 3 As shown, the fixing mechanism includes a rotating shaft 12, a rotating disk 13, a pull rod 14, a worm gear 15, a motor 16 and a worm 17. The top of the mounting frame 5 is rotatably connected to the rotating shaft 12, and the bottom end of the rotating shaft 12 extends to the inner side of the fixed frame and is connected to the rotating disk 13. The pull rod 14 is rotatably connected to the two moving blocks 7 at two symmetrical eccentric positions on the rotating disk 13; the motor 16 is installed on one side of the top of the mounting frame 5, and the output end thereof is connected to the worm 17, and one side of the worm 17 is meshedly connected to the worm gear 15, and the worm gear 15 is installed on the rotating shaft 12.

[0032] The motor 16 drives the worm 17 to rotate, and the worm 17 meshes with the worm wheel 15 during the rotation. The meshing force drives the turntable 13 to rotate through the shaft 12. When the turntable 13 rotates, the pull rod 14 pulls the two moving blocks 7 to move toward each other along the guide column 6.

[0033] Embodiment 2

[0034] like Figure 1-Figure 4 As shown, the three-axis truss manipulator proposed by the utility model, based on the above embodiment, this embodiment also records in detail the specific components of the limiting mechanism and the matching mode between the limiting mechanism and the rotating plate 9.

[0035] like Figure 4 As shown, the limiting mechanism includes a compression spring 18, a pressure plate 19, an insertion rod 20, a pull shaft 21 and a pull ring 22. A circular groove 23 is opened inside the moving block 7. The pressure plate 19 is slidably set in the circular groove 23. The pull shaft 21 passing through the moving block 7 is connected to the pressure plate 19, and the bottom of the pressure plate 19 is connected to the insertion rod 20 for limiting the rotating plate 9; the top of the pull shaft 21 is connected to the pull ring 22, and the pull shaft 21 is sleeved with a compression spring 18 located in the circular groove 23, and the bottom end of the compression spring 18 abuts against the pressure plate 19.

[0036] like Figure 4 As shown, insert rings 24 are respectively provided on both sides of the rotating plate 9 between the clamping plate a10 and the clamping plate b11, and the inserting rod 20 is interlaced with the corresponding insert rings 24.

[0037] The elastic pressure of the compression spring 18 drives the insertion rod 20 to pass through the insertion ring 24 at the position, thereby limiting the position of the rotating plate 9.

[0038] In summary, during use, the utility model drives the worm 17 to rotate through the motor 16. During the rotation of the worm 17, it meshes with the worm wheel 15. The meshing force drives the turntable 13 to rotate through the rotating shaft 12. When the turntable 13 rotates, the two moving blocks 7 are pulled along the guide column 6 by the pull rod 14. The two moving blocks 7 then drive the two clamping plates a10 and the clamping plates b11 to be synchronously aligned and close to each other, so as to clamp and fix the workpiece. When the positions of the clamping plates a10 and b11 need to be changed, the pull ring 22 is manually pulled upward, and the tension spring drives the pressure plate 19 to rise through the pull shaft 21. During the rising process of the pressure plate 19, its upper end surface squeezes the compression spring 18, and its lower end surface drives the insertion rod 20 to disengage from the insertion ring 24 in the original position. At this time, the position limit of the rotating plate 9 is released. By manually rotating the rotating plate 9, the positions of the splint a10 and the splint b11 are replaced, and then the force applied to the pull ring 22 is released. Under the action of the elastic restoring force of the compression spring 18, the pressure plate 19 is driven to reset downward, and the insertion rod 20 can be driven to connect with the insertion ring 24 below, thus completing the replacement of the splint a10 and the splint b11. The overall operability and adjustability are strong.

[0039] The implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A three-axis truss manipulator, characterized in that: include It comprises a truss (1) and a Y-axis crossbeam (2) symmetrically arranged on the truss (1), an X-axis crossbeam (3) movably arranged between two groups of Y-axis crossbeams (2), and a Z-axis longitudinal beam (4) movably arranged on the X-axis crossbeam (3); A manipulator assembly is movably mounted on a Z-axis longitudinal beam (4), and has a fixing mechanism for driving the manipulator assembly to center and clamp a workpiece; and A limiting mechanism is provided on the manipulator assembly and is used for adjusting a suitable clamping plate according to the shape of the clamped workpiece.

2. A three-axis truss manipulator according to claim 1, characterized in that: The manipulator assembly comprises a mounting frame (5), a guide column (6), a moving block (7), a fixed shaft (8), a rotating plate (9), a clamping plate a (10) and a clamping plate b (11); the mounting frame (5) is movably arranged on a Z-axis longitudinal beam (4), a guide column (6) is symmetrically arranged in the interior thereof, and a moving block (7) is symmetrically slidably connected between two guide columns (6); The fixed shaft (8) is installed at the bottom of the moving block (7), and a rotating plate (9) is rotatably connected thereto. A clamping plate a (10) and a clamping plate b (11) are respectively arranged on both sides of the rotating plate (9).

3. A three-axis truss manipulator according to claim 2, characterized in that: The cross-sectional shape of the clamping plate a (10) is a straight strip, and the cross-sectional shape of the clamping plate b (11) is a bent shape.

4. A three-axis truss manipulator according to claim 2, characterized in that: The fixing mechanism comprises a rotating shaft (12), a rotating disk (13), a pull rod (14), a worm gear (15), a motor (16) and a worm gear (17); the top of the mounting frame (5) is rotatably connected to the rotating shaft (12); the bottom end of the rotating shaft (12) extends to the inner side of the fixing frame and is connected to the rotating disk (13); two symmetrical eccentric positions on the rotating disk (13) are rotatably connected to the pull rods (14) between the two moving blocks (7); The motor (16) is installed on one side of the top of the installation frame (5), and the output end of the motor (16) is connected to a worm (17), one side of the worm (17) is meshedly connected to a worm wheel (15), and the worm wheel (15) is installed on the rotating shaft (12).

5. A three-axis truss manipulator according to claim 2, characterized in that: The limiting mechanism comprises a compression spring (18), a pressure plate (19), an insertion rod (20), a pull shaft (21) and a pull ring (22); a circular groove (23) is provided inside the moving block (7); the pressure plate (19) is slidably arranged in the circular groove (23); a pull shaft (21) passing through the moving block (7) is connected to the pressure plate (19); and an insertion rod (20) for limiting the position of the rotating plate (9) is connected to the bottom thereof; The top end of the pull shaft (21) is connected with a pull ring (22), and a compression spring (18) located in a circular groove (23) is sleeved on the pull shaft (21), and the bottom end of the compression spring (18) is in contact with the pressure plate (19).

6. A three-axis truss manipulator according to claim 5, characterized in that: Insertion rings (24) are respectively arranged on both sides of the rotating plate (9) between the clamping plate a (10) and the clamping plate b (11), and the insertion rod (20) is interlaced with the corresponding insertion rings (24).

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