External integrated upper three-axis truss manipulator

Abstract

The utility model discloses an external integrated upper three-axis truss manipulator, which relates to the technical field of truss manipulators, including a transverse axis truss, wherein a deformation mechanism is provided at the bottom of the transverse axis truss to reduce the space occupancy rate of the device, and a support mechanism is provided at the bottom surface of the transverse axis truss near both ends to support the device, and the deformation mechanism includes: a rotating assembly, which is provided at the bottom of the transverse axis truss, and includes a fixed frame installed on a slider at the bottom of the transverse axis truss. The external integrated upper three-axis truss manipulator moves by starting an electric telescopic rod to push the rack, and the rack drives the spur gear to rotate ninety degrees, and drives the longitudinal axis truss to rotate through a connecting shaft. When the longitudinal axis truss is parallel to the transverse axis truss, the space occupancy rate of the device is greatly reduced, which facilitates the movement of the device in a narrow passage or space.

Description

Technical Field

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

[0002] The truss manipulator is a fully automatic industrial equipment based on the right-angle X, Y, Z three-coordinate system, which can adjust the workpiece position or realize the trajectory movement of the workpiece. Its control core is realized through an industrial controller (such as PLC, motion control, single-chip microcomputer, etc.). After the controller analyzes and processes various input signals (various sensors, buttons, etc.), makes certain logical judgments, and issues execution commands to various output components (relays, motor drivers, indicator lights, etc.) to complete the joint movement between the three axes of X, Y, and Z, thereby realizing a complete set of fully automatic operation processes.

[0003] In the prior art, for example, Chinese patent number: CN215920438U discloses a three-axis truss manipulator, which includes a truss manipulator body, columns are provided at the four corners of the truss manipulator body, the bottom of the columns are fixedly connected with universal wheels, the middle of the outer wall of the columns is fixedly connected with a hydraulic rod, the outer wall of the bottom of the columns is provided with a telescopic cylinder, the outer wall of the telescopic cylinder is fixedly connected with a mounting frame corresponding to the hydraulic rod, the bottom of the telescopic cylinder is fixedly connected with a base, the base includes a top plate and a bottom plate, and the four corners of the bottom of the top plate are fixedly connected with sleeves. The utility model cooperates with each other between the universal wheels, the hydraulic rod and the base. When the truss manipulator is moved, it is only necessary to use the hydraulic rod to drive the telescopic cylinders of the four column side walls to rise, so that the universal wheels replace the base to contact the ground, and there is no need to disassemble the truss manipulator, which saves a lot of manpower and time, improves work efficiency, and facilitates better use by users.

[0004] In the above patent, although the device can move the truss manipulator through the cooperation between the universal wheels, the hydraulic rod and the base, the device occupies a large area and is bulky during movement, making it difficult to pass through some narrow passages or spaces. For this reason, the utility model provides an external integrated upper three-axis truss manipulator. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides an external integrated upper three-axis truss manipulator, which solves the problems that the prior devices occupy a large area, are bulky during movement, and are difficult to pass through some narrow passages or spaces.

[0006] To achieve the above objectives, the utility model is implemented by the following technical solutions: including a transverse axis truss, the bottom of the transverse axis truss is provided with a deformation mechanism for reducing the space occupancy rate of the device, and the bottom surface of the transverse axis truss near both ends is provided with a support mechanism for supporting the device, and the deformation mechanism includes:

[0007] The rotating assembly is arranged at the bottom of the transverse axis truss, and includes a fixing frame installed on the slider at the bottom of the transverse axis truss, a plane bearing is fixedly installed near the middle of the inner bottom of the fixing frame, a spur gear is fixedly connected to the top of the plane bearing, a connecting shaft is fixedly connected to the bottom of the spur gear, and the bottom end of the connecting shaft passes through the inner bottom of the fixing frame and extends to the bottom;

[0008] A pushing component is arranged inside the fixing frame;

[0009] The limiting component is arranged below the fixing frame.

[0010] Preferably, a longitudinal axis truss is fixedly mounted on the bottom of the connecting shaft, a vertical axis truss is matched with the bottom of the longitudinal axis truss, and a manipulator body is matched with the outer surface of the vertical axis truss.

[0011] Preferably, the pushing assembly includes a bracket fixedly mounted on the bottom of the fixed frame, an electric telescopic rod is fixedly mounted on the outer wall of the bracket, the telescopic end of the electric telescopic rod movably passes through the outer wall of the bracket and extends to the interior, a rack is fixedly mounted on the telescopic end of the bracket, the rack is meshed with a spur gear, a limit block is movably provided on the outer surface of the rack, and the limit block is fixedly mounted on the inner bottom of the fixed frame.

[0012] Preferably, the limiting assembly includes an arc-shaped limiting groove extending through the bottom of the fixing frame, and the limiting assembly also includes a limiting rod fixedly mounted on the top of the longitudinal axis truss, and the outer surface of the limiting rod is movably arranged inside the arc-shaped limiting groove.

[0013] Preferably, the two supporting mechanisms each include a column, the column is fixedly connected to the bottom of the transverse axis truss near the edge, the first bearing seats are symmetrically fixedly installed on the outer walls of both sides of the column near the bottom, the axial hole of the first bearing seat is rotatably connected to the support frame through a bearing, the outer wall of the support frame is fixedly installed with a support column near the edge, the second bearing seats are symmetrically fixedly installed on the outside of both sides of the column near the top, the axial hole of the second bearing seat is rotatably connected to the hydraulic rod through a bearing, and the telescopic end of the hydraulic rod is arranged in the inner wall of the support frame through a bearing.

[0014] Preferably, a moving mechanism for moving the device is provided at the bottom of the column, and the moving mechanism comprises a bearing plate, the bearing plate is fixedly mounted on the bottom of the column, and moving wheels are symmetrically mounted on the bottom of the bearing plate.

[0015] Beneficial Effects

[0016] The utility model provides an external integrated upper three-axis truss manipulator. Compared with the prior art, it has the following beneficial effects:

[0017] (1) The external integrated upper three-axis truss manipulator moves by starting the electric telescopic rod to push the rack, which drives the spur gear to rotate ninety degrees and drives the longitudinal truss to rotate through the connecting shaft. When the longitudinal truss is parallel to the transverse truss, the space occupancy rate of the device is greatly reduced, making it easier for the device to move in narrow passages or spaces.

[0018] (2) The external integrated upper three-axis truss manipulator moves the support frame by starting the hydraulic rod. Under the constraint of the first bearing seat, the support frame folds downward until the support column contacts the ground, thereby replacing the support of the mobile wheel pair device and increasing the force-bearing area of ​​the device, thereby improving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional appearance schematic diagram of the utility model;

[0020] Figure 2 It is a three-dimensional appearance schematic diagram of the deformation mechanism of the utility model;

[0021] Figure 3 For this utility model Figure 2 A in the enlarged view;

[0022] Figure 4 This is a three-dimensional appearance schematic diagram of the support mechanism of the utility model;

[0023] Figure 5 It is a schematic diagram of the three-dimensional appearance of the support frame of the utility model.

[0024] In the figure: 1. horizontal axis truss; 2. deformation mechanism; 21. rotation assembly; 211. fixed frame; 212. plane bearing; 213. spur gear; 214. connecting shaft; 22. pushing assembly; 221. bracket; 222. electric telescopic rod; 223. rack; 224. limit block; 23. limit assembly; 231. arc limit groove; 232. limit rod; 3. supporting mechanism; 31. column; 32. first bearing seat; 33. second bearing seat; 34. hydraulic rod; 35. supporting frame; 36. supporting column; 4. moving mechanism; 41. load-bearing plate; 42. moving wheel; 5. longitudinal axis truss; 6. vertical axis truss; 7. manipulator body. DETAILED DESCRIPTION

[0025] 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.

[0026] The utility model provides two technical solutions:

[0027] Figure 1-Figure 5 The first embodiment is shown: an external integrated upper three-axis truss manipulator includes a transverse axis truss 1, a deformation mechanism 2 is provided at the bottom of the transverse axis truss 1 to reduce the space occupancy rate of the device, and a support mechanism 3 is provided at the bottom surface of the transverse axis truss 1 near both ends to support the device, and the deformation mechanism 2 includes:

[0028] The rotating assembly 21 is arranged at the bottom of the transverse axis truss 1, and includes a fixing frame 211 installed on the slider at the bottom of the transverse axis truss 1, a plane bearing 212 is fixedly installed near the middle of the inner bottom of the fixing frame 211, a spur gear 213 is fixedly connected to the top of the plane bearing 212, and a connecting shaft 214 is fixedly connected to the bottom of the spur gear 213, and the bottom end of the connecting shaft 214 passes through the inner bottom of the fixing frame 211 and extends to the bottom;

[0029] The pushing component 22 is disposed inside the fixing frame 211;

[0030] The limiting assembly 23 is disposed below the fixing frame 211 .

[0031] The pushing assembly 22 includes a bracket 221 fixedly mounted on the bottom of the fixed frame 211, an electric telescopic rod 222 is fixedly mounted on the outer wall of the bracket 221, the telescopic end of the electric telescopic rod 222 movably penetrates the outer wall of the bracket 221 and extends to the inside, a rack 223 is fixedly mounted on the telescopic end of the bracket 221, the rack 223 is meshed with the spur gear 213, a limit block 224 is movably provided on the outer surface of the rack 223, the limit block 224 plays a role of guiding the rack 223, the limit block 224 is fixedly mounted on the inner bottom of the fixed frame 211, the rack 223 is pushed to move by starting the electric telescopic rod 222, the rack 223 drives the spur gear 213 to rotate ninety degrees, and drives the longitudinal axis truss 5 to rotate through the connecting shaft 214, when the longitudinal axis truss 5 is in a parallel state with the transverse axis truss 1, the space occupancy rate of the device is greatly reduced.

[0032] The limit assembly 23 includes an arc-shaped limit groove 231 that passes through the bottom of the fixed frame 211, and the limit assembly 23 also includes a limit rod 232 fixedly installed on the top of the longitudinal axis truss 5. The outer surface of the limit rod 232 is movably arranged inside the arc-shaped limit groove 231, and the angle of the arc-shaped limit groove 231 is ninety degrees, corresponding to the rotation angle of the longitudinal axis truss 5. After the arc-shaped limit groove 231 and the limit rod 232 cooperate, the problem of overtravel of the longitudinal axis truss 5 can be effectively avoided.

[0033] Figure 1-Figure 5 A second embodiment is shown, which mainly differs from the first embodiment in that a longitudinal axis truss 5 is fixedly installed at the bottom of the connecting shaft 214, a vertical axis truss 6 is provided at the bottom of the longitudinal axis truss 5, a manipulator body 7 is provided on the outer surface of the vertical axis truss 6, and the manipulator body 7 is a device based on the coordinate system of the transverse axis truss 1, the longitudinal axis truss 5 and the vertical axis truss 6, and is a fully automatic industrial device for adjusting the workpiece position or realizing the trajectory movement of the workpiece. It is a prior art, and the two supporting mechanisms 3 both include a column 31, and the column 31 is fixedly connected to the bottom of the transverse axis truss 1 near the edge, and the first bearing seat 32 is symmetrically fixedly installed on the outer walls of both sides of the column 31 near the bottom, and the shaft hole of the first bearing seat 32 is rotatably connected to the support frame 35 through the bearing, and the support frame 3 5 is fixedly installed with a support column 36 near the edge of the outer wall, and second bearing seats 33 are symmetrically fixedly installed on the outer sides of the column 31 near the top. The axial hole of the second bearing seat 33 is rotatably connected with a hydraulic rod 34 through a bearing. The telescopic end of the hydraulic rod 34 is set in the inner wall of the support frame 35 through a bearing, and the support of the support frame 35 and the ground is controlled or the support frame 35 is vertically retracted through the expansion and contraction of the hydraulic rod 34 cylinder. In the retracted state, the floor space is effectively saved. A moving mechanism 4 is set at the bottom of the column 31 for moving the device. The moving mechanism 4 includes a bearing plate 41, which is fixedly installed at the bottom of the column 31. Moving wheels 42 are symmetrically installed at the bottom of the bearing plate 41. A self-locking mechanism is set on the moving wheel 42 to lock the moving wheel 42.

[0034] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0035] By starting the electric telescopic rod 222, the rack 223 is pushed to move, and the rack 223 drives the spur gear 213 to rotate ninety degrees, and drives the longitudinal truss 5 to rotate through the connecting shaft 214. When the longitudinal truss 5 is parallel to the transverse truss 1, the space occupancy rate of the device is greatly reduced, and the moving wheel 42 is rolled on the ground by the pushing device, so as to facilitate the movement of the device. When using the device, the support frame 35 is pushed to move by starting the hydraulic rod 34. Under the constraint of the first bearing seat 32, the support frame 35 is folded downward until the support column 36 contacts the ground, thereby replacing the support of the mobile wheel 42 for the device, and at the same time increasing the force area of ​​the device, and the stability is better. Then, by making the longitudinal truss 5 and the transverse truss 1 vertical, the manipulator body 7 can be operated for use.

[0036] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An external integrated upper three-axis truss manipulator, comprising a transverse axis truss (1), characterized in that: The bottom of the transverse axis truss (1) is provided with a deformation mechanism (2) for reducing the space occupancy rate of the device, and the bottom surface of the transverse axis truss (1) near both ends is provided with a support mechanism (3) for supporting the device, and the deformation mechanism (2) comprises: The rotating assembly (21) is arranged at the bottom of the transverse axis truss (1), and comprises a fixing frame (211) installed on a slider at the bottom of the transverse axis truss (1); a plane bearing (212) is fixedly installed near the middle of the inner bottom of the fixing frame (211); a spur gear (213) is fixedly connected to the top of the plane bearing (212); a connecting shaft (214) is fixedly connected to the bottom of the spur gear (213); and the bottom end of the connecting shaft (214) passes through the inner bottom of the fixing frame (211) and extends to the bottom. A pushing assembly (22) is disposed inside the fixing frame (211); The limiting assembly (23) is arranged below the fixing frame (211).

2. The external integrated upper three-axis truss manipulator according to claim 1 is characterized in that: A longitudinal axis truss (5) is fixedly mounted on the bottom of the connecting shaft (214), a vertical axis truss (6) is matched with the bottom of the longitudinal axis truss (5), and a manipulator body (7) is matched with the outer surface of the vertical axis truss (6).

3. The external integrated upper three-axis truss manipulator according to claim 1 is characterized in that: The pushing assembly (22) comprises a bracket (221) fixedly mounted on the bottom of a fixing frame (211); an electric telescopic rod (222) is fixedly mounted on the outer wall of the bracket (221); the telescopic end of the electric telescopic rod (222) movably penetrates the outer wall of the bracket (221) and extends to the inside; a rack (223) is fixedly mounted on the telescopic end of the bracket (221); the rack (223) is meshed with a spur gear (213); a limit block (224) is movably provided on the outer surface of the rack (223); and the limit block (224) is fixedly mounted on the inner bottom of the fixing frame (211).

4. The external integrated upper three-axis truss manipulator according to claim 1, characterized in that: The limiting assembly (23) comprises an arc-shaped limiting groove (231) extending through the bottom of the fixing frame (211), and the limiting assembly (23) further comprises a limiting rod (232) fixedly mounted on the top of the longitudinal axis truss (5), and the outer surface of the limiting rod (232) is movably arranged inside the arc-shaped limiting groove (231).

5. The external integrated upper three-axis truss manipulator according to claim 1, characterized in that: The two support mechanisms (3) each comprise a column (31), wherein the column (31) is fixedly connected to a position near the edge of the bottom of the transverse axis truss (1), and a first bearing seat (32) is symmetrically fixedly installed on the outer walls of both sides of the column (31) near the bottom, and the axial hole of the first bearing seat (32) is rotatably connected to a support frame (35) via a bearing, and a support column (36) is fixedly installed on the outer wall of the support frame (35) near the edge, and a second bearing seat (33) is symmetrically fixedly installed on the outer sides of the column (31) near the top, and the axial hole of the second bearing seat (33) is rotatably connected to a hydraulic rod (34) via a bearing, and the telescopic end of the hydraulic rod (34) is arranged in the inner wall of the support frame (35) via a bearing.

6. The external integrated upper three-axis truss manipulator according to claim 5, characterized in that: A moving mechanism (4) for moving the device is arranged at the bottom of the column (31), and the moving mechanism (4) comprises a bearing plate (41), wherein the bearing plate (41) is fixedly mounted at the bottom of the column (31), and moving wheels (42) are symmetrically mounted at the bottom of the bearing plate (41).

Images