A truss manipulator

Abstract

The utility model relates to the field of truss manipulators, and discloses a truss manipulator, including a support frame, an upper slide rail is fixedly connected to the top of the support frame, an upper slide groove is provided on the top of the upper slide rail, a guide slider is slidably connected inside the upper slide rail, a telescopic arm is fixedly connected to the inner side of the guide slider, a transverse movement component is fixedly connected to the left side of the telescopic arm, the transverse movement component is used to drive the telescopic arm to move, the outer side of the guide slider contacts a fixed plate, a connecting plate is fixedly connected to the top of the fixed plate, and a water storage component is fixedly connected to the outer side of the fixed plate. In the utility model, a water tank, a water suction rope, and a scraper are provided, and the water suction rope transfers the water in the water tank to the cleaning cloth to keep the cleaning cloth moist. When the equipment is turned on, the telescopic arm drives the cleaning cloth to move inside the upper slide groove, so that the cleaning of the upper slide groove can be completed without manual cleaning by workers, thereby ensuring the cleanliness of the interior of the upper slide groove.

Description

Technical Field

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

[0002] The truss manipulator is an important industrial automation equipment, which is based on the right-angle X, Y, Z three-coordinate system and can realize functions such as position adjustment and trajectory movement of the workpiece. It can realize automatic grasping, loading, unloading, clamping, shifting, flipping, and sequence processing of the workpiece, which can save labor costs and improve production efficiency.

[0003] After searching, Chinese patent announcement number: CN216266019U discloses a two-axis truss manipulator, including a frame, a guide track 1 is arranged on the frame, a linkage platform is arranged on the guide track 1, wherein the linkage platform is used to move along the guide track 1, a connecting arm is arranged on the linkage platform, and a driving unit is arranged at the end of the connecting arm, and the driving unit is used to drive two groups of clamps to clamp rod shaft workpieces, and is used to clamp two rod shaft workpieces, and each group of the clamps are provided with an electromagnet on the inner wall of the opposite side to attract and fix the workpiece. The two moving mechanisms and the one moving mechanism are moved to the machine platform under the drive of the servo motor, and two groups of clamps are further arranged to clamp and transport the rod shaft workpieces.

[0004] It can be seen from the technical solution that the existing truss manipulator usually uses a drag chain to drive the connecting arm to move horizontally left and right, and a guide track is set at the bottom of the connecting arm to guide the truss manipulator in the horizontal direction. In actual use, dust is easily accumulated inside the horizontal guide track. When the drag chain drives the connecting arm to move inside the guide track, the accumulated dust will be brought up, which will not only cause the connecting arm to get stuck inside the guide track, but also bring up dust when some workpieces with high cleanliness requirements are transported and moved, causing impact on the workpiece. Existing equipment usually requires workers to clean the inside of the guide track every day, which is troublesome to clean. For this reason, a truss manipulator is proposed to solve the above problems. Utility Model Content

[0005] In order to make up for the above shortcomings, the utility model provides a truss manipulator, which aims to improve the problem in the prior art that existing equipment usually requires workers to clean the inside of the guide track every day, which is troublesome to clean.

[0006] The top of the guide rail is fixedly connected to thesaurus and the top of the guide rail is provided with an upper slide groove. The top of the guide rail is slidably connected to a guide block inside the upper slide rail, and a telescopic arm is fixedly connected to the inner side of the guide block. The telescopic arm is fixedly connected to a transverse movement component on the left side of the telescopic arm, and the transverse movement component is used to drive the telescopic arm to move. The outer side of the guide block contacts with a fixed plate, the top of the fixed plate is fixedly connected to a connecting plate, the outer side of the fixed plate is fixedly connected to a water storage component, and the water storage component is used to store cleaning water. The bottom of the water storage component is fixedly connected to the upper support plate, the bottom of the upper support plate is fixedly connected to a scraper, the outer periphery of the bottom end of the scraper is fixedly connected to a cleaning cloth, the inner side of the scraper is fixedly connected to a lower support plate, a water absorption rope passes through and is fixedly connected to the inside of the scraper, and the outer periphery of the water absorption rope is fixedly connected to a fixed block.

[0007] As a further description of the above technical solution:

[0008] The front side of the telescopic arm is fixedly connected to a manipulator, the back side of the telescopic arm is fixedly connected to a counterweight block, the bottom of the counterweight block is fixedly connected to a support rod, the inner side of the support rod is fixedly connected to a diagonal support rod, the top front end of the support rod is fixedly connected to a T-block, and the bottom of the support frame is fixedly connected to a lower slide rail.

[0009] As a further description of the above technical solution:

[0010] It comprises a transverse drag chain, the left end of which is fixedly connected to the left side of the telescopic arm, a drag chain frame is arranged at the bottom of the transverse drag chain, and the front of the drag chain frame is fixedly connected to the back side of the upper slide rail.

[0011] As a further description of the above technical solution:

[0012] The inner side of the connecting plate is fixedly connected to the outer side of the guide sliding block by bolts.

[0013] As a further description of the above technical solution:

[0014] The water storage assembly comprises a water tank, the inner side of which is fixedly connected to the outer side of a fixed plate, a water inlet is provided on the top of the water tank, and the bottom of the water tank is fixedly connected to the top of an upper support plate.

[0015] As a further description of the above technical solution:

[0016] The inner side of the lower support plate is fixedly connected to the outer side of the fixed plate, the interior of the fixed plate passes through and is fixedly connected to the outer periphery of the water absorption rope, the top end of the water absorption rope is located inside the water tank, the inner side of the fixed block is fixedly connected to the outer side of the fixed plate, the bottom end of the water absorption rope contacts the inner side of the cleaning cloth, and the cleaning cloth is slidably connected to the inside of the upper slide groove.

[0017] As a further description of the above technical solution:

[0018] The support rod is L-shaped.

[0019] As a further description of the above technical solution:

[0020] The interior of the lower slide rail is slidably connected to the outer periphery of the T-block.

[0021] The utility model has the following beneficial effects:

[0022] 1. In the utility model, a water tank, a water suction rope and a scraper are provided. The water suction rope transfers the water in the water tank to the cleaning cloth to keep the cleaning cloth moist. When the equipment is turned on, the telescopic arm drives the cleaning cloth to move inside the upper chute, so that the upper chute can be cleaned without manual cleaning by workers, thereby ensuring the cleanliness of the interior of the upper chute.

[0023] 2. In the utility model, by providing support rods and diagonal support rods, when the manipulator picks up heavy objects, the upward force from the rear side is transmitted to the support frame through the support rods, thereby dispersing the pressure at the connection between the telescopic arm and the guide slider, ensuring the normal operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an overall front view of a truss manipulator proposed by the utility model;

[0025] Figure 2 This is a partial schematic diagram of the top of an upper slide rail of a truss manipulator proposed in the utility model;

[0026] Figure 3 This is a front cross-sectional schematic diagram of a fixing plate of a truss manipulator proposed in the utility model;

[0027] Figure 4 This is a schematic diagram of the left side of the lower slide rail of a truss manipulator proposed by the utility model.

[0028] Legend:

[0029] 1. Support frame; 2. Upper slide rail; 3. Upper slide trough; 4. Guide slider; 5. Telescopic arm; 6. Transverse drag chain; 7. Drag chain frame; 8. Manipulator; 9. Fixed plate; 10. Connecting plate; 11. Water tank; 12. Water inlet; 13. Upper support plate; 14. Scraper; 15. Cleaning cloth; 16. Lower support plate; 17. Water absorption rope; 18. Fixed block; 19. Counterweight block; 20. Support rod; 21. Diagonal support rod; 22. T-block; 23. Lower slide rail. DETAILED DESCRIPTION

[0030] 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.

[0031] Reference Figure 1-Figure 3 The utility model provides an embodiment of a truss manipulator, including a support frame 1 that plays a fixed supporting role, an upper slide rail 2 is fixedly connected to the top of the support frame 1, an upper slide groove 3 is opened on the top of the upper slide rail 2, two groups of upper slide grooves 3 are arranged symmetrically on the top of the upper slide rail 2, a guide slider 4 is slidably connected inside the upper slide rail 2, the upper slide rail 2 limits the guide slider 4 to only move left and right along the inner wall of the upper slide rail 2, two groups of guide sliders 4 are arranged symmetrically on the left and right, a telescopic arm 5 that plays a fixed connecting role is fixedly connected to the inner side of the guide slider 4, a transverse movement component is fixedly connected to the left side of the telescopic arm 5, the transverse movement component is used to drive the telescopic arm 5 to move, and the transverse movement component includes a transverse movement chain 6, the left end of the transverse movement chain 6 is fixedly connected to the left side of the telescopic arm 5, and the transverse movement chain 6 is opened, and the transverse movement chain 6 can drive The telescopic arm 5 moves left and right, and a drag chain frame 7 is provided at the bottom of the transverse drag chain 6. The front of the drag chain frame 7 is fixedly connected to the back of the upper slide rail 2. The outer side of the guide slider 4 contacts with a fixed plate 9. Two groups of fixed plates 9 are provided, which are symmetrically arranged on the outer side of the guide slider 4 and opposite to the position of the upper slide groove 3. A connecting plate 10 for fixing is fixedly connected to the top of the fixed plate 9. Two groups of connecting plates 10 are provided, which are symmetrically arranged front and back. The inner side of the connecting plate 10 is fixedly connected to the outer side of the guide slider 4 by bolts. A water storage component is fixedly connected to the outer side of the fixed plate 9. The water storage component is used to store clean water. The water storage component includes a water tank 11 for storing clean water. The inner side of the water tank 11 is fixedly connected to the outer side of the fixed plate 9. A water inlet 12 is provided on the top of the water tank 11 for conveniently adding water to the inside of the water tank 11.

[0032] Reference Figure 2-Figure 3The bottom of the water storage component is fixedly connected with an upper support plate 13 for fixed support, the bottom of the water tank 11 is fixedly connected to the top of the upper support plate 13, the bottom of the upper support plate 13 is fixedly connected with a scraper 14, the scraper 14 has a certain elasticity, and can be deformed and generate elastic force when subjected to pressure, the outer periphery of the bottom end of the scraper 14 is fixedly connected with a cleaning cloth 15 for cleaning the inside of the upper chute 3, the inner side of the scraper 14 is fixedly connected with a lower support plate 16 for fixed support, the scraper 14 is penetrated and fixedly connected with a water absorbing rope 17 with a certain water absorbing capacity, and the inner side of the lower support plate 16 is fixedly connected to the outer side of the fixed plate 9 The fixed plate 9 passes through and is fixedly connected to the outer periphery of the water-absorbing rope 17. The top end of the water-absorbing rope 17 is located inside the water tank 11 and contacts the clean water inside the water tank 11 to absorb the cleaning water. The outer periphery of the water-absorbing rope 17 is fixedly connected with a fixed block 18 for fixing the position of the water-absorbing rope 17. The inner side of the fixed block 18 is fixedly connected to the outer side of the fixed plate 9. The bottom end of the water-absorbing rope 17 contacts the inner side of the cleaning cloth 15 to keep the cleaning cloth 15 moist and to make the cleaning ability stronger. The cleaning cloth 15 is slidably connected to the inside of the upper slide 3. When the transverse drag chain 6 drives the telescopic arm 5 to move left and right, the dust inside the upper slide 3 is cleaned.

[0033] Reference Figure 1 and Figure 4 A manipulator 8 for grabbing the workpiece is fixedly connected to the front of the telescopic arm 5, and a counterweight block 19 for balancing the front and rear weights is fixedly connected to the back of the telescopic arm 5. A support rod 20 is fixedly connected to the bottom of the counterweight block 19. The support rod 20 is L-shaped, and an oblique support rod 21 is fixedly connected to the inner side of the support rod 20. The oblique support rod 21 is connected to the inner sides of the two arms of the support rod 20 to form a triangle to improve the stability of the support. A T-block 22 is fixedly connected to the top of the front end of the support rod 20, and a lower slide rail 23 is fixedly connected to the bottom of the support frame 1. The inner side of the lower slide rail 23 is slidably connected to the outer periphery of the T-block 22. The lower slide rail 23 limits the T-block 22 to move left and right only along the inner side of the lower slide rail 23. At the same time, the upward force from the rear side can be transmitted to the support frame 1 through the support rod 20, thereby reducing the pressure at the connection between the telescopic arm 5 and the guide slider 4.

[0034] Working principle: When you want to clean the inside of the upper chute 3 conveniently, add clean water to the water tank 11, and the clean water is absorbed by the water absorption rope 17 and penetrates into the cleaning cloth 15, so that the cleaning cloth 15 is always kept wet. When the equipment starts working, the transverse drag chain 6 moves left and right, driving the telescopic arm 5 to move left and right, the telescopic arm 5 drives the guide slider 4 to move left and right, the guide slider 4 drives the fixed plate 9 to move, the fixed plate 9 drives the scraper 14 to move, and the scraper 14 drives the cleaning cloth 15 to repeatedly wipe the inside of the upper chute 3, so that the inside of the upper chute 3 is kept clean, and there is no need for workers to climb up the truss for cleaning. When the manipulator 8 picks up heavy objects, the front end of the telescopic arm 5 is subjected to a large weight, so that the rear end of the telescopic arm 5 has a large upward force, and the force is transmitted to the support frame 1 through the support rod 20. At the same time, the diagonal support rod 21 ensures that the support rod 20 will not be deformed when subjected to a large pressure, thereby dispersing the pressure at the connection between the telescopic arm 5 and the guide slider 4, ensuring the normal operation of the equipment.

[0035] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can 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 should be included in the protection scope of the present invention.

Claims

1. A truss manipulator, comprising a support frame (1), characterized in that: The support frame (1) is fixedly connected to an upper slide rail (2) at the top, an upper slide groove (3) is provided at the top of the upper slide rail (2), a guide slider (4) is slidably connected inside the upper slide rail (2), a telescopic arm (5) is fixedly connected inside the guide slider (4), a transverse movement component is fixedly connected on the left side of the telescopic arm (5), and the transverse movement component is used to drive the telescopic arm (5) to move, the outer side of the guide slider (4) contacts with a fixed plate (9), the top of the fixed plate (9) is fixedly connected to a connecting plate (10), and the fixed A water storage component is fixedly connected to the outside of the plate (9), and the water storage component is used to store clean water. An upper support plate (13) is fixedly connected to the bottom of the water storage component. A scraper (14) is fixedly connected to the bottom of the upper support plate (13). A cleaning cloth (15) is fixedly connected to the outer periphery of the bottom end of the scraper (14). A lower support plate (16) is fixedly connected to the inside of the scraper (14). A water absorption rope (17) passes through and is fixedly connected to the inside of the scraper (14), and a fixing block (18) is fixedly connected to the outer periphery of the water absorption rope (17).

2. A truss manipulator according to claim 1, characterized in that: The front of the telescopic arm (5) is fixedly connected to a manipulator (8), the back of the telescopic arm (5) is fixedly connected to a counterweight (19), the bottom of the counterweight (19) is fixedly connected to a support rod (20), the inner side of the support rod (20) is fixedly connected to an oblique support rod (21), the front top of the support rod (20) is fixedly connected to a T-shaped block (22), and the bottom of the support frame (1) is fixedly connected to a lower slide rail (23).

3. A truss manipulator according to claim 1, characterized in that: The transverse movement assembly comprises a transverse movement drag chain (6), the left end of the transverse movement drag chain (6) is fixedly connected to the left side of the telescopic arm (5), a drag chain frame (7) is arranged at the bottom of the transverse movement drag chain (6), and the front side of the drag chain frame (7) is fixedly connected to the back side of the upper slide rail (2).

4. A truss manipulator according to claim 1, characterized in that: The inner side of the connecting plate (10) is fixedly connected to the outer side of the guide slide block (4) by means of bolts.

5. The truss manipulator according to claim 1, characterized in that: The water storage assembly comprises a water tank (11), the inner side of the water tank (11) being fixedly connected to the outer side of the fixing plate (9), the top of the water tank (11) being provided with a water inlet (12), and the bottom of the water tank (11) being fixedly connected to the top of the upper supporting plate (13).

6. A truss manipulator according to claim 5, characterized in that: The inner side of the lower support plate (16) is fixedly connected to the outer side of the fixed plate (9); the inner side of the fixed plate (9) passes through and is fixedly connected to the outer periphery of the water absorbing rope (17); the top end of the water absorbing rope (17) is located inside the water tank (11); the inner side of the fixed block (18) is fixedly connected to the outer side of the fixed plate (9); the bottom end of the water absorbing rope (17) contacts the inner side of the cleaning cloth (15); and the cleaning cloth (15) is slidably connected to the inner side of the upper slide groove (3).

7. A truss manipulator according to claim 2, characterized in that: The support rod (20) is L-shaped.

8. A truss manipulator according to claim 2, characterized in that: The lower lower rail (23) is internally slidably connected to the outer periphery of the T-shaped block (22).

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